Package edu.wpi.first.wpilibj2.command

Class TrapezoidProfileSubsystem

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

edu.wpi.first.wpilibj2.command.TrapezoidProfileSubsystem

All Implemented Interfaces:

Sendable, Subsystem

@Deprecated(forRemoval=true,
            since="2025")
public abstract class TrapezoidProfileSubsystem
extends SubsystemBase

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

Use a TrapezoidProfile instead

A subsystem that generates and runs trapezoidal motion profiles automatically. The user specifies how to use the current state of the motion profile by overriding the `useState` method.

This class is provided by the NewCommands VendorDep

Constructor Summary

Constructors

Constructor	Description
TrapezoidProfileSubsystem(TrapezoidProfile.Constraints constraints)	Deprecated, for removal: This API element is subject to removal in a future version. Creates a new TrapezoidProfileSubsystem.
TrapezoidProfileSubsystem(TrapezoidProfile.Constraints constraints, double initialPosition)	Deprecated, for removal: This API element is subject to removal in a future version. Creates a new TrapezoidProfileSubsystem.
TrapezoidProfileSubsystem(TrapezoidProfile.Constraints constraints, double initialPosition, double period)	Deprecated, for removal: This API element is subject to removal in a future version. Creates a new TrapezoidProfileSubsystem.

Method Summary

Modifier and Type	Method	Description
void	disable()	Deprecated, for removal: This API element is subject to removal in a future version. Disable the TrapezoidProfileSubsystem's output.
void	enable()	Deprecated, for removal: This API element is subject to removal in a future version. Enable the TrapezoidProfileSubsystem's output.
void	periodic()	Deprecated, for removal: This API element is subject to removal in a future version. This method is called periodically by the CommandScheduler.
final void	setGoal(double goal)	Deprecated, for removal: This API element is subject to removal in a future version. Sets the goal state for the subsystem.
final void	setGoal(TrapezoidProfile.State goal)	Deprecated, for removal: This API element is subject to removal in a future version. Sets the goal state for the subsystem.
protected abstract void	useState(TrapezoidProfile.State state)	Deprecated, for removal: This API element is subject to removal in a future version. Users should override this to consume the current state of the motion profile.

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

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

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.Subsystem

defer, getCurrentCommand, getDefaultCommand, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Constructor Details

TrapezoidProfileSubsystem

public TrapezoidProfileSubsystem(TrapezoidProfile.Constraints constraints,
 double initialPosition,
 double period)

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

Creates a new TrapezoidProfileSubsystem.

Parameters:

constraints - The constraints (maximum velocity and acceleration) for the profiles.

initialPosition - The initial position of the controlled mechanism when the subsystem is constructed.

period - The period of the main robot loop, in seconds.

TrapezoidProfileSubsystem

public TrapezoidProfileSubsystem(TrapezoidProfile.Constraints constraints,
 double initialPosition)

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

Creates a new TrapezoidProfileSubsystem.

Parameters:

constraints - The constraints (maximum velocity and acceleration) for the profiles.

initialPosition - The initial position of the controlled mechanism when the subsystem is constructed.

TrapezoidProfileSubsystem

public TrapezoidProfileSubsystem(TrapezoidProfile.Constraints constraints)

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

Creates a new TrapezoidProfileSubsystem.

Parameters:

constraints - The constraints (maximum velocity and acceleration) for the profiles.

Method Details

periodic

public void periodic()

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

Description copied from interface: Subsystem

This method is called periodically by the CommandScheduler. Useful for updating subsystem-specific state that you don't want to offload to a Command. Teams should try to be consistent within their own codebases about which responsibilities will be handled by Commands, and which will be handled here.

setGoal

public final void setGoal(TrapezoidProfile.State goal)

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

Sets the goal state for the subsystem.

Parameters:

goal - The goal state for the subsystem's motion profile.

setGoal

public final void setGoal(double goal)

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

Sets the goal state for the subsystem. Goal velocity assumed to be zero.

Parameters:

goal - The goal position for the subsystem's motion profile.

enable

public void enable()

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

Enable the TrapezoidProfileSubsystem's output.

disable

public void disable()

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

Disable the TrapezoidProfileSubsystem's output.

useState

protected abstract void useState(TrapezoidProfile.State state)

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

Users should override this to consume the current state of the motion profile.

Parameters:

state - The current state of the motion profile.