Package frc.team4373.swerve.commands

Class SwerveDriveWithJoystick

  • All Implemented Interfaces:
    edu.wpi.first.wpilibj.Sendable, java.lang.AutoCloseable
    public class SwerveDriveWithJoystick
extends edu.wpi.first.wpilibj.command.Command
    A default command for controlling a SwerveDrivetrain.

    • Constructor Summary

      Constructors 
      Constructor Description
      SwerveDriveWithJoystick​(java.util.function.DoubleSupplier xGetter, java.util.function.DoubleSupplier yGetter, java.util.function.DoubleSupplier twistGetter, SwerveDrivetrain drivetrain)
      Constructs a new SwerveDriveWithJoystick command.

    • Method Summary

      All Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      protected void end()  
      protected void execute()  
      protected void initialize()  
      protected void interrupted()  
      protected boolean isFinished()  

      • Methods inherited from class edu.wpi.first.wpilibj.command.Command

        cancel, clearRequirements, close, doesRequire, getGroup, getName, getSubsystem, initSendable, isCanceled, isCompleted, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setName, setRunWhenDisabled, setSubsystem, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled

      • Methods inherited from class java.lang.Object

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

      • Methods inherited from interface edu.wpi.first.wpilibj.Sendable

        addChild, setName, setName, setName

    • Constructor Detail

      • SwerveDriveWithJoystick

        public SwerveDriveWithJoystick​(java.util.function.DoubleSupplier xGetter,
                               java.util.function.DoubleSupplier yGetter,
                               java.util.function.DoubleSupplier twistGetter,
                               SwerveDrivetrain drivetrain)
        Constructs a new SwerveDriveWithJoystick command.
        Parameters:
        xGetter - a supplier of the x joystick input, [-1, 1].
        yGetter - a supplier of the y joystick input, [-1, 1].
        twistGetter - a supplier of the twist (z) joystick input, [-1, 1].
        drivetrain - the SwerveDrivetrain subsystem to drive.

    • Method Detail

      • initialize

        protected void initialize()
        Overrides:
        initialize in class edu.wpi.first.wpilibj.command.Command

      • execute

        protected void execute()
        Overrides:
        execute in class edu.wpi.first.wpilibj.command.Command

      • isFinished

        protected boolean isFinished()
        Specified by:
        isFinished in class edu.wpi.first.wpilibj.command.Command

      • end

        protected void end()
        Overrides:
        end in class edu.wpi.first.wpilibj.command.Command

      • interrupted

        protected void interrupted()
        Overrides:
        interrupted in class edu.wpi.first.wpilibj.command.Command