47 lines
1.6 KiB
Java
47 lines
1.6 KiB
Java
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot.commands;
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import static edu.wpi.first.units.Units.*;
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import com.ctre.phoenix6.swerve.SwerveRequest;
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import edu.wpi.first.wpilibj2.command.Command;
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import frc.robot.TunerConstants.TunerConstants;
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/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
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public class AvancerAuto extends Command {
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private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
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private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of
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private final SwerveRequest.RobotCentric drive = new SwerveRequest.RobotCentric()
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.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1);
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/** Creates a new AvancerAuto. */
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public AvancerAuto(SwerveRequest.RobotCentric drive) {
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// Use addRequirements() here to declare subsystem dependencies.
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}
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// Called when the command is initially scheduled.
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@Override
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public void initialize() {}
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// Called every time the scheduler runs while the command is scheduled.
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@Override
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public void execute() {
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drive.withVelocityX(0.2);
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}
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// Called once the command ends or is interrupted.
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@Override
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public void end(boolean interrupted) {
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drive.withVelocityX(0);
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}
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// Returns true when the command should end.
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@Override
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public boolean isFinished() {
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return false;
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}
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}
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