Reefscape2025/frc.robot.commands/AlignToPose

AlignToPose

public class AlignToPose extends Command

Command to align the robot to a specific pose.

Constructors

AlignToPose

public AlignToPose AlignToPose(Direction offsetSide)

Properties

controllersAtSetpoint

private final Boolean controllersAtSetpoint

currentPose

private Pose2d currentPose

offsetSide

private Direction offsetSide

The direction to offset the alignment.

rotationalController

private ProfiledPIDController rotationalController

targetPose

private Pose2d targetPose

timer

private Timer timer

xController

private ProfiledPIDController xController

yController

private ProfiledPIDController yController

Functions

alignLogs

public final Unit alignLogs()

Logs alignment data for debugging purposes.

end

public Unit end(Boolean interrupted)

Ends the command, stopping the swerve drive.

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.

getControllersAtSetpoint

public final Boolean getControllersAtSetpoint()

getCurrentPose

public final Pose2d getCurrentPose()

getOffsetSide

public final Direction getOffsetSide()

The direction to offset the alignment.

getRotationalController

public final ProfiledPIDController getRotationalController()

getTargetPose

public final Pose2d getTargetPose()

getTimer

public final Timer getTimer()

getXController

public final ProfiledPIDController getXController()

getYController

public final ProfiledPIDController getYController()

initialize

public Unit initialize()

Initializes the command, setting up the controllers and target pose.

isFinished

public Boolean isFinished()

Checks if the command is finished.

setCurrentPose

public final Unit setCurrentPose(Pose2d currentPose)

setOffsetSide

public final Unit setOffsetSide(Direction offsetSide)

The direction to offset the alignment.

setRotationalController

public final Unit setRotationalController(ProfiledPIDController rotationalController)

setTargetPose

public final Unit setTargetPose(Pose2d targetPose)

setTimer

public final Unit setTimer(Timer timer)

setXController

public final Unit setXController(ProfiledPIDController xController)

setYController

public final Unit setYController(ProfiledPIDController yController)