Package frc.robot.commands

Class MechanismCommands

java.lang.Object

frc.robot.commands.MechanismCommands

public class MechanismCommands
extends Object

Constructor Summary

Constructors

Constructor	Description
MechanismCommands(Arm arm, Head head, HapticController driverHapticController, HapticController operatorHapticController)

Method Summary

Modifier and Type	Method	Description
Command	AutonomousPrepareShoot(Supplier<Double> distance)
Command	AutonomousShoot(Constants.ShootingConstants.ShootingPosition position)
Command	AutonomousShoot(Drivetrain drivetrain)
Command	AutoStowAndStopIntake()
Command	IntakeGround()	Will finish after the piece has been intaken.
Command	IntakeGround(boolean stopShooter)	Will finish after the piece has been intaken.
Command	IntakePiece(boolean stopShooter, boolean ground)	Will finish after piece has been intaken.
Command	IntakeSource()	Will finish after the piece has been intaken.
Command	IntakeSource(boolean stopShooter)	Will finish after the piece has been intaken.
Command	PrepareShoot(Constants.ShootingConstants.ShootingPosition position)	will finish when ready
Command	PrepareShoot(Supplier<Double> distance)	will finish when ready
Command	Shoot()	will finish after piece has been shot
Command	Shoot(boolean stopShooter)
Command	StowStopIntakeAndShooter()	cancel shoot and intake and stow

Methods inherited from class java.lang.Object

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

Constructor Details

MechanismCommands

public MechanismCommands(Arm arm,
 Head head,
 HapticController driverHapticController,
 HapticController operatorHapticController)

Method Details

IntakePiece

public Command IntakePiece(boolean stopShooter,
 boolean ground)

Will finish after piece has been intaken.

Parameters:

stopShooter - Should the shooter be stopped before intaking a piece?

ground - Should the piece be intaken from the ground or the source?

Returns:

Command

IntakeSource

public Command IntakeSource(boolean stopShooter)

Will finish after the piece has been intaken.

Parameters:

stopShooter - Should the shooter be stopped before intaking a piece?

Returns:

Command

IntakeSource

public Command IntakeSource()

Will finish after the piece has been intaken.

Returns:

Command

IntakeGround

public Command IntakeGround(boolean stopShooter)

Will finish after the piece has been intaken.

Parameters:

stopShooter - Should the shooter be stopped before intaking a piece?

Returns:

Command

IntakeGround

public Command IntakeGround()

Will finish after the piece has been intaken.

Returns:

Command

StowStopIntakeAndShooter

public Command StowStopIntakeAndShooter()

cancel shoot and intake and stow

Returns:

AutoStowAndStopIntake

public Command AutoStowAndStopIntake()

PrepareShoot

public Command PrepareShoot(Constants.ShootingConstants.ShootingPosition position)

will finish when ready

Parameters:

position -

PrepareShoot

public Command PrepareShoot(Supplier<Double> distance)

will finish when ready

Parameters:

distance -

AutonomousPrepareShoot

public Command AutonomousPrepareShoot(Supplier<Double> distance)

Shoot

public Command Shoot()

will finish after piece has been shot

Returns:

Command

Shoot

public Command Shoot(boolean stopShooter)

AutonomousShoot

public Command AutonomousShoot(Constants.ShootingConstants.ShootingPosition position)

AutonomousShoot

public Command AutonomousShoot(Drivetrain drivetrain)