FeedforwardCharacterization (5152_Template API)

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

frc.alotobots.library.subsystems.swervedrive.commands.FeedforwardCharacterization

All Implemented Interfaces:: Sendable

public class FeedforwardCharacterization extends Command

Command that measures the velocity feedforward constants for the drive motors. This command should only be used in voltage control mode.

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj2.command.Command
Command.InterruptionBehavior
Constructor Summary

Constructors

Constructor

Description

FeedforwardCharacterization(SwerveDriveSubsystem swerveDriveSubsystem)

Creates a new FeedforwardCharacterization command.
Method Summary

Modifier and Type

Method

Description

void

end(boolean interrupted)

void

execute()

void

initialize()

boolean

isFinished()

Methods inherited from class edu.wpi.first.wpilibj2.command.Command
addRequirements, addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineFor, deadlineWith, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initSendable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, runsWhenDisabled, schedule, setName, setSubsystem, unless, until, withInterruptBehavior, withName, withTimeout, withTimeout

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details
- FeedforwardCharacterization
  
  public FeedforwardCharacterization(SwerveDriveSubsystem swerveDriveSubsystem)
  
  Creates a new FeedforwardCharacterization command.
  
  Parameters:
  
  swerveDriveSubsystem - The subsystem to characterize
Method Details
- initialize
  
  public void initialize()
  
  Overrides:
  
  initialize in class Command
- execute
  
  public void execute()
  
  Overrides:
  
  execute in class Command
- end
  
  public void end(boolean interrupted)
  
  Overrides:
  
  end in class Command
- isFinished
  
  public boolean isFinished()
  
  Overrides:
  
  isFinished in class Command