Package frc.robot.commands.autonomous

Class AutonomousSwitch

java.lang.Object

edu.wpi.first.wpilibj2.command.CommandBase

edu.wpi.first.wpilibj2.command.CommandGroupBase

edu.wpi.first.wpilibj2.command.SequentialCommandGroup

frc.robot.commands.autonomous.AutonomousSwitch

All Implemented Interfaces:

edu.wpi.first.wpilibj.Sendable, edu.wpi.first.wpilibj2.command.Command

public class AutonomousSwitch
extends edu.wpi.first.wpilibj2.command.SequentialCommandGroup

Creates an autonomous according to the choices chosen in Shuffleboard.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	AutonomousSwitch.IntakeSource
static class	AutonomousSwitch.StartingPosition

Field Summary

Fields

Modifier and Type	Field	Description
double	delay
java.lang.String	description
AutonomousSwitch.IntakeSource	intakeSource
boolean	pushRobot
double	robotLength
AutonomousSwitch.StartingPosition	startingPosition

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

m_requirements

Constructor Summary

Constructors

Constructor	Description
AutonomousSwitch(AutonomousSwitch.StartingPosition StartingPosition, double Delay, boolean PushRobot, AutonomousSwitch.IntakeSource IntakeSource)	Creates an autonomous according to the choices chosen in Shuffleboard.

Method Summary

Modifier and Type	Method	Description
static boolean	doChoicesWork(AutonomousSwitch.StartingPosition StartingPosition, AutonomousSwitch.IntakeSource IntakeSource)	Checks if this is a valid choice.
boolean	matchesSettings(AutonomousSwitch.StartingPosition StartingPosition, double Delay, boolean PushRobot, AutonomousSwitch.IntakeSource IntakeSource)

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

addCommands, end, execute, initialize, isFinished, runsWhenDisabled

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

clearGroupedCommand, clearGroupedCommands, deadline, parallel, race, requireUngrouped, requireUngrouped, sequence

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

addRequirements, getName, getRequirements, getSubsystem, initSendable, setName, setSubsystem, withName

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.Command

alongWith, andThen, andThen, asProxy, beforeStarting, cancel, deadlineWith, getName, getRequirements, hasRequirement, isScheduled, perpetually, raceWith, schedule, schedule, withInterrupt, withTimeout

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

addChild, setName, setName, setName

Field Details

startingPosition

public final AutonomousSwitch.StartingPosition startingPosition

delay

public final double delay

pushRobot

public final boolean pushRobot

intakeSource

public final AutonomousSwitch.IntakeSource intakeSource

description

public java.lang.String description

robotLength

public final double robotLength

See Also:

Constant Field Values

Constructor Details

AutonomousSwitch

public AutonomousSwitch(AutonomousSwitch.StartingPosition StartingPosition, double Delay, boolean PushRobot, AutonomousSwitch.IntakeSource IntakeSource)

Creates an autonomous according to the choices chosen in Shuffleboard.

Parameters:

StartingPosition - Where the robot starts on the field (right of power port, left of it, or directly in front of it).

Delay - How long the robot should delay starting its automous, in seconds.

PushRobot - Whether our robot will push another robot across the initiation line.

IntakeSource - Where we intake power cells from after shooting (trench, rendezvous, or a mix of the two).

Method Details

matchesSettings

public boolean matchesSettings(AutonomousSwitch.StartingPosition StartingPosition, double Delay, boolean PushRobot, AutonomousSwitch.IntakeSource IntakeSource)

Parameters:

StartingPosition -

Delay -

PushRobot -

IntakeSource -

Returns:

Whether these inputs would create the same autonomous as currently exists (i.e. all settings match exactly).

doChoicesWork

public static boolean doChoicesWork(AutonomousSwitch.StartingPosition StartingPosition, AutonomousSwitch.IntakeSource IntakeSource)

Checks if this is a valid choice.

Parameters:

StartingPosition -

IntakeSource -

Returns:

Whether this can create an autonomous.