Package frc.robot.commands

Class ShootOnTheMoveCommand

java.lang.Object
edu.wpi.first.wpilibj2.command.Command
frc.robot.commands.ShootOnTheMoveCommand
All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable
public class ShootOnTheMoveCommand extends edu.wpi.first.wpilibj2.command.Command
Overrides the driver's rotational (Theta) control to perfectly track a specific field coordinate using Velocity-Added Kinematic Leading, while allowing them to freely strafe and sprint in X/Y.

Mathematical Architecture: Replaced entirely by the robust EliteShooterMath engine ported from Team 254. Solves exact Time-of-Flight quadratics and natively outputs required Cowl pitches, Flywheel speeds, and Chassis angular feedforwards.

  • 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
    ShootOnTheMoveCommand(SwerveDrive swerveDrive, MARSCowl cowl, MARSShooter shooter, DoubleSupplier joystickX, DoubleSupplier joystickY)
     

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    end(boolean interrupted)
     
    void
    execute()
     

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

    addRequirements, addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineFor, deadlineWith, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initialize, 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

  • Method Details

    • execute

      public void execute()
      Overrides:
      execute in class edu.wpi.first.wpilibj2.command.Command

    • end

      public void end(boolean interrupted)
      Overrides:
      end in class edu.wpi.first.wpilibj2.command.Command