FRC-Swerve-Template/frc.robot.commands/AlignSwerve

AlignSwerve

public final class AlignSwerve extends Command

Constructors

AlignSwerve

public AlignSwerve AlignSwerve(Direction offsetSide)

Creates a new AlignSwerve using the Direction Enum.

Properties

isFinished

public final Boolean isFinished

Functions

end

public Unit end(Boolean interrupted)

The action to take when the command ends. Called when either the command finishes normally -- that is called when .isFinished returns true -- or when it is interrupted/canceled. This is where you may want to wrap up loose ends, like shutting off a motor that was being used in the command.

execute

public Unit execute()

The main body of a command. Called repeatedly while the command is scheduled. (That is, it is called repeatedly until .isFinished) returns true.)

initialize

public Unit initialize()

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

isFinished

public Boolean isFinished()

Returns whether this command has finished. Once a command finishes -- indicated by this method returning true -- the scheduler will call its .end method.