Package frc.robot.commands

Class DriveCommands

java.lang.Object

frc.robot.commands.DriveCommands

public class DriveCommands
extends Object

A file that should contain all the commands that relate to the drivetrain.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	DriveCommands.AltDriveDistance	Alternate implementation of the above method using a class instead of a command.
static class	DriveCommands.TurnDegrees

Constructor Summary

Constructors

Constructor	Description
DriveCommands()

Method Summary

Modifier and Type	Method	Description
static edu.wpi.first.wpilibj2.command.Command	arcadeDriveCommand(Supplier<Double> forwardSpeed, Supplier<Double> turnSpeed)	A command that sets the speed of the robot based on an arcade control scheme, using an Instant Command.
static edu.wpi.first.wpilibj2.command.Command	driveDistance(double distance)	Method that causes the XRP to drive a certain distance
static edu.wpi.first.wpilibj2.command.Command	sequentialExampleCommand()	Commands can also a part of command groups, which are sets of commands that run in certain ways.
static edu.wpi.first.wpilibj2.command.Command	turnDegreesCommand(double speed, double degrees)

Methods inherited from class java.lang.Object

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

Constructor Details

DriveCommands

public DriveCommands()

Method Details

driveDistance

public static edu.wpi.first.wpilibj2.command.Command driveDistance(double distance)

Method that causes the XRP to drive a certain distance

Parameters:

distance - Distance that the XRP drives in inches

Returns:

Command that causes the XRP to execute the functions below

arcadeDriveCommand

public static edu.wpi.first.wpilibj2.command.Command arcadeDriveCommand(Supplier<Double> forwardSpeed,
 Supplier<Double> turnSpeed)

A command that sets the speed of the robot based on an arcade control scheme, using an Instant Command. Because this value is something that changes based on controller input, we want the values to be rechecked periodically. For this, we use what is called a supplier, which is any function which returns a double. By using a supplier, instead of the drive speed being a constant 0, the command instead runs the supplier each time it runs to determine the correct speed.

Parameters:

forwardSpeed - Speed the robot goes forward. Is a supplier, and therefore must be a method or a lambda.

turnSpeed - Speed the robot turns. Is a supplier, and therefore must be a method or a lambda.

Returns:

Command to arcade drive the XRP

turnDegreesCommand

public static edu.wpi.first.wpilibj2.command.Command turnDegreesCommand(double speed,
 double degrees)

sequentialExampleCommand

public static edu.wpi.first.wpilibj2.command.Command sequentialExampleCommand()

Commands can also a part of command groups, which are sets of commands that run in certain ways. Sequential Command Groups are commands that execute one after another. This is useful for auto behavior.

Returns:

A command that drives forward 5 inches, turns 90 degrees, and drives forward 4 inches.