Class TrapezoidProfileCommand

    • Constructor Detail

      • 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 Detail

      • 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.