Malefix/xyz.malefic.frc.swerve.command/TeleopSwerve

TeleopSwerve

class TeleopSwerve(swerveDrive: SwerveDrive, xSupplier: () -> Double, ySupplier: () -> Double, rotSupplier: () -> Double, fieldOriented: Boolean = true) : Command

Command for teleop swerve drive control with advanced input processing.

Provides features like:

Deadband filtering
Input squaring/cubing for finer control
Slew rate limiting for smooth acceleration
Field-oriented or robot-oriented driving

Usage Example:

val driveCommand = TeleopSwerve(
    swerveDrive = drive,
    xSupplier = { controller.leftY },
    ySupplier = { controller.leftX },
    rotSupplier = { controller.rightX },
    fieldOriented = true
).apply {
    configure {
        deadband = 0.05
        inputExponent = 2.0
        enableSlewRateLimiting = true
        translationSlewRate = 3.0
        rotationSlewRate = 3.0
    }
}

Constructors

constructor(swerveDrive: SwerveDrive, xSupplier: () -> Double, ySupplier: () -> Double, rotSupplier: () -> Double, fieldOriented: Boolean = true)

Types

data class Config(var deadband: Double = 0.05, var inputExponent: Double = 2.0, var enableSlewRateLimiting: Boolean = true, var translationSlewRate: Double = 3.0, var rotationSlewRate: Double = 3.0)

Configuration for teleop swerve control.

Properties

interruptionBehavior

open val interruptionBehavior: Command.InterruptionBehavior?

open val isFinished: Boolean

open val isScheduled: Boolean

open var name: String?

open val requirements: Set<Subsystem?>?

open var subsystem: String?

Functions

addRequirements

fun addRequirements(vararg requirements: Subsystem?)

fun addRequirements(requirements: Collection<Subsystem?>?)

open fun alongWith(vararg parallel: Command?): ParallelCommandGroup?

open fun andThen(vararg next: Command?): SequentialCommandGroup?

open fun andThen(toRun: Runnable?, vararg requirements: Subsystem?): SequentialCommandGroup?

open fun asProxy(): ProxyCommand?

open fun beforeStarting(before: Command?): SequentialCommandGroup?

open fun beforeStarting(toRun: Runnable?, vararg requirements: Subsystem?): SequentialCommandGroup?

open fun cancel()

fun configure(block: TeleopSwerve.Config.() -> Unit)

Configures the teleop swerve command using a DSL-style configuration block.

open fun deadlineFor(vararg parallel: Command?): ParallelDeadlineGroup?

open fun ~~deadlineWith~~(vararg parallel: Command?): ParallelDeadlineGroup?

open override fun end(interrupted: Boolean)

open override fun execute()

open fun finallyDo(end: BooleanConsumer?): WrapperCommand?

open fun finallyDo(end: Runnable?): WrapperCommand?

handleInterrupt

open fun handleInterrupt(handler: Runnable?): WrapperCommand?

open fun hasRequirement(requirement: Subsystem?): Boolean

ignoringDisable

open fun ignoringDisable(doesRunWhenDisabled: Boolean): WrapperCommand?

open override fun initialize()

open fun initSendable(builder: SendableBuilder?)

operator fun Command.invoke()

Operator invoke implementation for Command.

open fun onlyIf(condition: BooleanSupplier?): ConditionalCommand?

open fun onlyWhile(condition: BooleanSupplier?): ParallelRaceGroup?

open fun raceWith(vararg parallel: Command?): ParallelRaceGroup?

open fun repeatedly(): RepeatCommand?

runsWhenDisabled

open fun runsWhenDisabled(): Boolean

open fun ~~schedule~~()

fun Command.scheduleIf(condition: Boolean)

Schedule this command when the provided condition is true.

open fun unless(condition: BooleanSupplier?): ConditionalCommand?

open fun until(condition: BooleanSupplier?): ParallelRaceGroup?

open fun withDeadline(deadline: Command?): ParallelDeadlineGroup?

withInterruptBehavior

open fun withInterruptBehavior(interruptBehavior: Command.InterruptionBehavior?): WrapperCommand?

open fun withName(name: String?): WrapperCommand?

open fun withTimeout(time: Time?): ParallelRaceGroup?

open fun withTimeout(seconds: Double): ParallelRaceGroup?