Package edu.wpi.first.wpilibj2.command

Class TrapezoidProfileCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.CommandBase

edu.wpi.first.wpilibj2.command.TrapezoidProfileCommand

All Implemented Interfaces:

Sendable, Command

public class TrapezoidProfileCommand
extends CommandBase

A command that runs a TrapezoidProfile. Useful for smoothly controlling mechanism motion.

Field Summary

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

m_requirements

Constructor Summary

Constructors

Constructor	Description
TrapezoidProfileCommand(TrapezoidProfile profile, Consumer<TrapezoidProfile.State> output, Subsystem... requirements)	Creates a new TrapezoidProfileCommand that will execute the given TrapezoidProfile.

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)	The action to take when the command ends.
void	execute()	The main body of a command.
void	initialize()	The initial subroutine of a command.
boolean	isFinished()	Whether the command has finished.

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

Constructor Details

TrapezoidProfileCommand

public TrapezoidProfileCommand(TrapezoidProfile profile, Consumer<TrapezoidProfile.State> output, Subsystem... requirements)

Creates a new TrapezoidProfileCommand that will execute the given TrapezoidProfile. Output will be piped to the provided consumer function.

Parameters:

profile - The motion profile to execute.

output - The consumer for the profile output.

requirements - The subsystems required by this command.

Method Details

initialize

public void initialize()

Description copied from interface: Command

The initial subroutine of a command. Called once when the command is initially scheduled.

execute

public void execute()

Description copied from interface: Command

The main body of a command. Called repeatedly while the command is scheduled.

end

public void end(boolean interrupted)

Description copied from interface: Command

The action to take when the command ends. Called when either the command finishes normally, or when it interrupted/canceled.

Do not schedule commands here that share requirements with this command. Use Command.andThen(Command...) instead.

Parameters:

interrupted - whether the command was interrupted/canceled

isFinished

public boolean isFinished()

Description copied from interface: Command

Whether the command has finished. Once a command finishes, the scheduler will call its end() method and un-schedule it.

Returns:

whether the command has finished.