Package frc.alotobots.library.subsystems.swervedrive.commands

Class WheelRadiusCharacterization

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

frc.alotobots.library.subsystems.swervedrive.commands.WheelRadiusCharacterization

All Implemented Interfaces:

Sendable

public class WheelRadiusCharacterization
extends Command

Command that measures the robot's wheel radius by spinning in a circle. This command will run until interrupted, then calculate and print the results.

Nested Class Summary

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

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
WheelRadiusCharacterization(SwerveDriveSubsystem swerveDriveSubsystem)	Creates a new WheelRadiusCharacterization 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

WheelRadiusCharacterization

public WheelRadiusCharacterization(SwerveDriveSubsystem swerveDriveSubsystem)

Creates a new WheelRadiusCharacterization 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