frc.team670.robot.commands.arm.armTransitions

Class CommonTransition

java.lang.Object

CommandGroup

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

frc.team670.robot.commands.arm.armTransitions.CommonTransition

All Implemented Interfaces:

Edge, java.lang.Comparable<Edge>

public class CommonTransition
extends ArmTransition

A common transition that can be used to move the arm straight to any position. Use this if you are not concerned about the arm hitting anything on its path between the start and destination ArmStates

Constructor Summary

Constructors

Constructor and Description
CommonTransition(Arm.LegalState start, Arm.LegalState destination, Arm arm, BaseIntake intake)

Method Summary

Modifier and Type	Method and Description
int	compareTo(Edge o)
CommandGroup	getCommand()
void	initTransition()

Methods inherited from class frc.team670.robot.commands.arm.armTransitions.ArmTransition

getCost, getDest, getSource

Methods inherited from class java.lang.Object

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

Constructor Detail

CommonTransition

public CommonTransition(Arm.LegalState start,
                        Arm.LegalState destination,
                        Arm arm,
                        BaseIntake intake)

Parameters:

start - The start ArmState (the ArmState that holds this transitions)

destination - The ending ArmState (where this transition should go to)

arm - The Arm. Should be the static instance of Arm held in Robot

intake - The Intake. Should be the static instance of Intake held in Robot

Method Detail

initTransition

public void initTransition()

Specified by:

initTransition in class ArmTransition

getCommand

public CommandGroup getCommand()

Specified by:

getCommand in class ArmTransition

compareTo

public int compareTo(Edge o)