Package frc.alotobots.library.subsystems.vision.photonvision.objectdetection.commands

Class DriveFacingBestObject

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

frc.alotobots.library.subsystems.vision.photonvision.objectdetection.commands.DriveFacingBestObject

All Implemented Interfaces:

Sendable

public class DriveFacingBestObject
extends Command

A command that automatically rotates the robot to face detected game objects while allowing manual translation control. The robot will face the highest priority detected game element while driving. If no objects are detected, or if manual rotation override is active, falls back to standard manual control.

Nested Class Summary

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

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
DriveFacingBestObject(ObjectDetectionSubsystem objectDetectionSubsystem, SwerveDriveSubsystem swerveDriveSubsystem, GameElement... targetGameElementNames)	Creates a new DriveFacingBestObject command.

Method Summary

Modifier and Type	Method	Description
void	execute()	Executes the command logic.
boolean	isFinished()	Determines if the command should end.

Methods inherited from class edu.wpi.first.wpilibj2.command.Command

addRequirements, addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineFor, deadlineWith, end, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initialize, 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

DriveFacingBestObject

public DriveFacingBestObject(ObjectDetectionSubsystem objectDetectionSubsystem,
 SwerveDriveSubsystem swerveDriveSubsystem,
 GameElement... targetGameElementNames)

Creates a new DriveFacingBestObject command.

Parameters:

objectDetectionSubsystem - Subsystem used for detecting game objects

swerveDriveSubsystem - Subsystem used for robot movement

targetGameElementNames - Array of game elements to target, in priority order

Method Details

execute

public void execute()

Executes the command logic. Gets the latest object detections and controls robot movement: - If objects are detected, rotates to face highest priority object while allowing manual translation - If no objects detected, allows full manual control - If manual rotation override active, starts timeout timer

Overrides:

execute in class Command

isFinished

public boolean isFinished()

Determines if the command should end.

Overrides:

isFinished in class Command

Returns:

true if manual rotation override timeout has elapsed