Package frc.robot.commands

Class DriveCommand

  • All Implemented Interfaces:
    edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Command
    public class DriveCommand
extends edu.wpi.first.wpilibj2.command.CommandBase

    • Field Summary

      Fields 
      Modifier and Type Field Description
      DriveTrainSubsystem driveTrain  
      java.util.function.DoubleSupplier leftSpeed  
      java.util.function.DoubleSupplier rightSpeed  

      • Fields inherited from class edu.wpi.first.wpilibj2.command.CommandBase

        m_requirements

    • Constructor Summary

      Constructors 
      Constructor Description
      DriveCommand​(DriveTrainSubsystem subsystem, java.util.function.DoubleSupplier leftInput, java.util.function.DoubleSupplier rightInput, java.util.function.BooleanSupplier partyModeInput, java.util.function.BooleanSupplier precisionModeInput)
      Constructor for the DriveCommand class

    • Method Summary

      All Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      boolean checkBooleans​(boolean randomBool)
      A very, very important method.
      void end​(boolean interrupted)  
      void execute()  
      void initialize()  
      boolean isFinished()  

      • Methods inherited from class edu.wpi.first.wpilibj2.command.CommandBase

        addRequirements, getName, getRequirements, getSubsystem, initSendable, setName, setSubsystem, withName

      • Methods inherited from class java.lang.Object

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

      • Methods inherited from interface edu.wpi.first.wpilibj2.command.Command

        alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, hasRequirement, isScheduled, perpetually, raceWith, runsWhenDisabled, schedule, schedule, withInterrupt, withTimeout

    • Field Detail

      • leftSpeed

        public java.util.function.DoubleSupplier leftSpeed

      • rightSpeed

        public java.util.function.DoubleSupplier rightSpeed

    • Constructor Detail

      • DriveCommand

        public DriveCommand​(DriveTrainSubsystem subsystem,
                    java.util.function.DoubleSupplier leftInput,
                    java.util.function.DoubleSupplier rightInput,
                    java.util.function.BooleanSupplier partyModeInput,
                    java.util.function.BooleanSupplier precisionModeInput)
        Constructor for the DriveCommand class
        Parameters:
        subsystem - Subsystem for drive train
        leftInput - Left motors input
        rightInput - Right motors input
        partyModeInput - Speed mofifier input. If this boolean is true, the speed of the motors will change.

    • Method Detail

      • initialize

        public void initialize()

      • execute

        public void execute()

      • end

        public void end​(boolean interrupted)

      • isFinished

        public boolean isFinished()

      • checkBooleans

        public boolean checkBooleans​(boolean randomBool)
        A very, very important method.
        Parameters:
        randomBool - This boolean is never used in the method. It is just a parameter.
        Returns:
        Always returns true.