frc.team670.robot.commands.arm.armTransitions

Class ArmTransition

java.lang.Object

CommandGroup

frc.team670.robot.commands.arm.armTransitions.ArmTransition

All Implemented Interfaces:

Edge, java.lang.Comparable<Edge>

Direct Known Subclasses:

CommonTransition, GrabBallIntakeToBackCargo, GrabBallIntakeToNeutral, NeutralToGrabBallIntake, NeutralToStow

public abstract class ArmTransition
extends CommandGroup
implements Edge

The base for arm transitions. All iterations of this class should be made so that they can be rerun each time initialize is called. Essentially, initialize should reset all necessary values within the object.

Method Summary

Modifier and Type	Method and Description
abstract CommandGroup	getCommand()
int	getCost() Returns the sum of the number of inches that the arm must move to travel the path.
Arm.ArmState	getDest() Example for a specified transition where you would need to take certain steps to optimize it.
Arm.ArmState	getSource() The LegalState that this Command will end at.
abstract void	initTransition()

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface java.lang.Comparable

compareTo

Method Detail

getSource

public Arm.ArmState getSource()

The LegalState that this Command will end at.

Specified by:

getSource in interface Edge

Returns:

the source node (where this edge starts)

getDest

public Arm.ArmState getDest()

Example for a specified transition where you would need to take certain steps to optimize it.

Specified by:

getDest in interface Edge

getCost

public int getCost()

Returns the sum of the number of inches that the arm must move to travel the path.

Specified by:

getCost in interface Edge

Returns:

the "cost" of travelling over this edge

initTransition

public abstract void initTransition()

getCommand

public abstract CommandGroup getCommand()