Package frc.robot.commands

Class DriveCommands.TurnDegrees

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

frc.robot.commands.DriveCommands.TurnDegrees

All Implemented Interfaces:

edu.wpi.first.util.sendable.Sendable

Enclosing class:

DriveCommands

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

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
TurnDegrees(double speed, double degrees)	Creates a new TurnDegrees.

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, 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

TurnDegrees

public TurnDegrees(double speed,
 double degrees)

Creates a new TurnDegrees. This command will turn your robot for a desired rotation (in degrees) and rotational speed.

Parameters:

speed - The speed which the robot will drive. Negative is in reverse.

degrees - Degrees to turn. Leverages encoders to compare distance.

Method Details

initialize

public void initialize()

Overrides:

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

execute

public void execute()

Overrides:

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

end

public void end(boolean interrupted)

Overrides:

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

isFinished

public boolean isFinished()

Overrides:

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