Package com.marslib.swerve

Class TeleopDriveCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

com.marslib.swerve.TeleopDriveCommand

All Implemented Interfaces:

edu.wpi.first.util.sendable.Sendable

public class TeleopDriveCommand
extends edu.wpi.first.wpilibj2.command.Command

Command to handle Teleop Swerve Driving.

Evaluates joysticks using the TeleopDriveMath.computeFieldRelativeSpeeds logic for field-oriented control and executes trajectory adjustments based on current inputs and deadbands. Also handles conditional heading lock implementation.

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj2.command.Command

edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
TeleopDriveCommand(SwerveDrive swerveDrive, SwerveConfig config, DoubleSupplier xSupplier, DoubleSupplier ySupplier, DoubleSupplier omegaSupplier)

Method Summary

Modifier and Type	Method	Description
void	execute()
void	initialize()

Methods inherited from class edu.wpi.first.wpilibj2.command.Command

addRequirements, addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineFor, deadlineWith, end, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initSendable, isFinished, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, runsWhenDisabled, schedule, setName, setSubsystem, unless, until, withDeadline, withInterruptBehavior, withName, withTimeout, withTimeout

Methods inherited from class java.lang.Object

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

Constructor Details

TeleopDriveCommand

public TeleopDriveCommand(SwerveDrive swerveDrive,
 SwerveConfig config,
 DoubleSupplier xSupplier,
 DoubleSupplier ySupplier,
 DoubleSupplier omegaSupplier)

Method Details

initialize

public void initialize()

Overrides:

initialize in class edu.wpi.first.wpilibj2.command.Command

execute

public void execute()

Overrides:

execute in class edu.wpi.first.wpilibj2.command.Command