Package org.mort11.auton

Class TurnDegrees

java.lang.Object

edu.wpi.first.wpilibj.SendableBase

edu.wpi.first.wpilibj.command.Command

org.mort11.auton.TurnDegrees

public final class TurnDegrees
extends edu.wpi.first.wpilibj.command.Command

An auton command to turn the robot a specified number of degrees.

Version:

06/08/2018

Author:

Seven Kurt, Joshua Ciffer

Field Summary

Fields

Modifier and Type	Field	Description
private double	desiredAngle	The angle to turn the robot.
private double	yaw	The current yaw the robot has turned.

Constructor Summary

Constructors

Constructor	Description
TurnDegrees(double desiredAngle)	Constructs a new TurnDegrees command.

Method Summary

Modifier and Type	Method	Description
protected void	end()	Upon completion of the command, the drivetrain is halted, and the AHRS is set to zero yaw.
protected void	execute()	Turns the robot until the desired angle is reached.
protected void	initialize()	Initializes the AHRS to zero degrees.
protected boolean	isFinished()	Command is finished if the yaw turned is at the finished angle.

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

cancel, clearRequirements, doesRequire, getGroup, initSendable, interrupted, isCanceled, isCompleted, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj.Sendable

getName, getSubsystem, setName, setName, setSubsystem

Methods inherited from class edu.wpi.first.wpilibj.SendableBase

addChild, free, getName, getSubsystem, setName, setName, setName, setSubsystem

Field Detail

desiredAngle

private double desiredAngle

The angle to turn the robot.

yaw

private double yaw

The current yaw the robot has turned.

Constructor Detail

TurnDegrees

public TurnDegrees(double desiredAngle)

Constructs a new TurnDegrees command.

Parameters:

desiredAngle - The angle to turn the robot.

Method Detail

initialize

protected void initialize()

Initializes the AHRS to zero degrees.

Overrides:

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

execute

protected void execute()

Turns the robot until the desired angle is reached.

Overrides:

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

isFinished

protected boolean isFinished()

Command is finished if the yaw turned is at the finished angle.

Specified by:

isFinished in class edu.wpi.first.wpilibj.command.Command

end

protected void end()

Upon completion of the command, the drivetrain is halted, and the AHRS is set to zero yaw.

Overrides:

end in class edu.wpi.first.wpilibj.command.Command