public class TrapezoidProfileCommand extends CommandBase
A command that runs a
TrapezoidProfile. Useful for smoothly controlling mechanism motion.
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, cancel, deadlineWith, hasRequirement, isScheduled, perpetually, raceWith, runsWhenDisabled, schedule, schedule, withInterrupt, withTimeout
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.
profile- The motion profile to execute.
output- The consumer for the profile output.
requirements- The subsystems required by this command.
public void initialize()The initial subroutine of a command. Called once when the command is initially scheduled.
public void execute()The main body of a command. Called repeatedly while the command is scheduled.
public void end(boolean interrupted)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
interrupted- whether the command was interrupted/canceled
public boolean isFinished()Whether the command has finished. Once a command finishes, the scheduler will call its end() method and un-schedule it.
- whether the command has finished.