Malefix/xyz.malefic.frc.vision.command/AlignToTarget

AlignToTarget

class AlignToTarget(swerveDrive: SwerveDrive, camera: Camera, translationSpeed: () -> Double = { 0.0 }, strafeSpeed: () -> Double = { 0.0 }) : Command

Command to align the robot to a vision target using rotational control.

This command uses PID control to rotate the robot until it is aligned with a detected target from any camera implementing the Camera interface.

Usage Example:

val alignCommand = AlignToTarget(
    swerveDrive = drive,
    camera = frontCamera,
    translationSpeed = { 0.0 },
    strafeSpeed = { 0.0 }
).apply {
    configure {
        kP = 0.05
        toleranceDegrees = 2.0
    }
}

Constructors

constructor(swerveDrive: SwerveDrive, camera: Camera, translationSpeed: () -> Double = { 0.0 }, strafeSpeed: () -> Double = { 0.0 })

Types

object Companion

data class Config(var kP: Double = 0.05, var kI: Double = 0.0, var kD: Double = 0.005, var toleranceDegrees: Double = 2.0, var maxRotationSpeed: Double = 0.4, var minRotationSpeed: Double = 0.05, var fieldOriented: Boolean = true)

Configuration for target alignment.

Properties

interruptionBehavior

open val interruptionBehavior: Command.InterruptionBehavior?

open override 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: AlignToTarget.Config.() -> Unit): AlignToTarget

Configures the alignment 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 override fun isFinished(): Boolean

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?