Package edu.wpi.first.wpilibj2.command

Class TrapezoidProfileCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

edu.wpi.first.wpilibj2.command.TrapezoidProfileCommand

All Implemented Interfaces:

Sendable

public class TrapezoidProfileCommand
extends Command

A command that runs a TrapezoidProfile. Useful for smoothly controlling mechanism motion.

This class is provided by the NewCommands VendorDep

Nested Class Summary

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

Command.InterruptionBehavior

Field Summary

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

m_requirements

Constructor Summary

Constructors

Constructor	Description
TrapezoidProfileCommand(TrapezoidProfile profile, Consumer<TrapezoidProfile.State> output, Subsystem... requirements)	Deprecated, for removal: This API element is subject to removal in a future version. The new constructor allows you to pass in a supplier for desired and current state.
TrapezoidProfileCommand(TrapezoidProfile profile, Consumer<TrapezoidProfile.State> output, Supplier<TrapezoidProfile.State> goal, Supplier<TrapezoidProfile.State> currentState, Subsystem... requirements)	Creates a new TrapezoidProfileCommand that will execute the given TrapezoidProfile.

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)	The action to take when the command ends.
void	execute()	The main body of a command.
void	initialize()	The initial subroutine of a command.
boolean	isFinished()	Whether the command has finished.

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

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

Methods inherited from class java.lang.Object

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

Constructor Details

TrapezoidProfileCommand

public TrapezoidProfileCommand(TrapezoidProfile profile, Consumer<TrapezoidProfile.State> output, Supplier<TrapezoidProfile.State> goal, Supplier<TrapezoidProfile.State> currentState, 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.

goal - The supplier for the desired state

currentState - The current state

requirements - The subsystems required by this command.

TrapezoidProfileCommand

@Deprecated(since="2024", forRemoval=true) public TrapezoidProfileCommand(TrapezoidProfile profile, Consumer<TrapezoidProfile.State> output, Subsystem... requirements)

Deprecated, for removal: This API element is subject to removal in a future version.

The new constructor allows you to pass in a supplier for desired and current state. This allows you to change goals at runtime.

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 Details

initialize

public void initialize()

Description copied from class: Command

The initial subroutine of a command. Called once when the command is initially scheduled.

Overrides:

initialize in class Command

execute

public void execute()

Description copied from class: Command

The main body of a command. Called repeatedly while the command is scheduled.

Overrides:

execute in class Command

end

public void end(boolean interrupted)

Description copied from class: 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.

Overrides:

end in class Command

Parameters:

interrupted - whether the command was interrupted/canceled

isFinished

public boolean isFinished()

Description copied from class: Command

Whether the command has finished. Once a command finishes, the scheduler will call its end() method and un-schedule it.

Overrides:

isFinished in class Command

Returns:

whether the command has finished.