DriveFacingBestObject Command

A command that automatically rotates the robot to face detected game objects while allowing manual translation control. The command enables semi-automated gameplay by handling rotation while letting drivers control forward/backward and sideways movement.

Required Subsystems

• Object Detection Subsystem
• Swerve Drive Subsystem

Constructor Parameters

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

Parameters: - objectDetectionSubsystem: The subsystem handling object detection - swerveDriveSubsystem: The subsystem controlling robot movement - targetGameElementNames: Array of game elements to target, in priority order. The robot will face the highest-priority detected element.

Behavior Details

• Automatically rotates to face the highest-priority detected game element
• Allows full manual control of translation (forward/backward/sideways)
• Falls back to standard manual drive when no objects are detected
• Includes brief manual rotation override capability with 0.1s timeout
• Integrates with both DriveFacingPose and DefaultDrive commands

For detailed method documentation, refer to the JavaDoc reference.