HoldVelocity
class HoldVelocity @JvmOverloads constructor(val controllable: Controllable, val controller: Controller, val subsystems: Set<Subsystem> = setOf()) : Command
This implements a PID controller to hold a motor at its current velocity. This command never finishes, so it should be implemented as a DefaultCommand in your subsystem.
Parameters
controllable
the Controllable to control
controller
the Controller to implement
subsystems
the list of Subsystems this command interacts with (should be whatever subsystem holds this command)
Constructors
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constructor(controllable: Controllable, controller: Controller, subsystems: Set<Subsystem> = setOf())