Package frc.robot.commands

Class DriveCommands.AltDriveDistance

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

frc.robot.commands.DriveCommands.AltDriveDistance

All Implemented Interfaces:

edu.wpi.first.util.sendable.Sendable

Enclosing class:

DriveCommands

public static class DriveCommands.AltDriveDistance
extends edu.wpi.first.wpilibj2.command.Command

Alternate implementation of the above method using a class instead of a command. Slightly more verbose, but easier to read. Our team usually uses code that looks like the above command. Usage is basically the same, however add new in front of the function call. Example: new DriveCommands.AltDriveDistance(5) NOTE: Class Commands do not extend FunctionalCommand, however Function Commands do return FunctionalCommand.

Nested Class Summary

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

edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior

Field Summary

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

m_requirements

Constructor Summary

Constructors

Constructor	Description
AltDriveDistance(double distance)	Constructor, or what parameters the code takes in.

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)	Called once the command ends or is interrupted.
void	execute()	Called every time the scheduler runs while the command is scheduled.
void	initialize()	Called when the command is initially scheduled.
boolean	isFinished()	Returns true when the command should end.

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

addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, 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

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

AltDriveDistance

public AltDriveDistance(double distance)

Constructor, or what parameters the code takes in.

Parameters:

distance - The distance the XRP drives in inches

Method Details

initialize

public void initialize()

Called when the command is initially scheduled. Sets the XRP's speed to zero to prepare it for moving, and resets the sensors that detect how much the wheels have turned.

Overrides:

initialize in class edu.wpi.first.wpilibj2.command.Command

execute

public void execute()

Called every time the scheduler runs while the command is scheduled. Makes the XRP drive forward.

Overrides:

execute in class edu.wpi.first.wpilibj2.command.Command

end

public void end(boolean interrupted)

Called once the command ends or is interrupted. Stops the XRP.

Overrides:

end in class edu.wpi.first.wpilibj2.command.Command

isFinished

public boolean isFinished()

Returns true when the command should end. Checks if the average distance traveled by the XRP's wheels is high enough.

Overrides:

isFinished in class edu.wpi.first.wpilibj2.command.Command