ArcadeDrive.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package frc.robot.commands;
import frc.robot.subsystems.Drivetrain;
import edu.wpi.first.wpilibj2.command.CommandBase;
import java.util.function.Supplier;
public class ArcadeDrive extends CommandBase {
  private final Drivetrain m_drivetrain;
  private final Supplier<Double> m_xaxisSpeedSupplier;
  private final Supplier<Double> m_zaxisRotateSupplier;
  /**
   * Creates a new ArcadeDrive. This command will drive your robot according to the speed supplier
   * lambdas. This command does not terminate.
   *
   * @param drivetrain The drivetrain subsystem on which this command will run
   * @param xaxisSpeedSupplier Lambda supplier of forward/backward speed
   * @param zaxisRotateSupplier Lambda supplier of rotational speed
   */
  public ArcadeDrive(
      Drivetrain drivetrain,
      Supplier<Double> xaxisSpeedSupplier,
      Supplier<Double> zaxisRotateSupplier) {
    m_drivetrain = drivetrain;
    m_xaxisSpeedSupplier = xaxisSpeedSupplier;
    m_zaxisRotateSupplier = zaxisRotateSupplier;
    addRequirements(m_drivetrain);

  }
  // Called when the command is initially scheduled.
  @Override
  public void initialize() {}
  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
    m_drivetrain.arcadeDrive(m_xaxisSpeedSupplier.get(), m_zaxisRotateSupplier.get());
  }
  // Called once the command ends or is interrupted.
  @Override
  public void end(boolean interrupted) {}
  // Returns true when the command should end.
  @Override
  public boolean isFinished() {
    return false;
  }
}