Create ScoringAlign.java

src/main/java/frc/robot/commands/ScoringAlign.java

@@ -0,0 +1,82 @@
+package frc.robot.commands;
+
+import frc.robot.subsystems.SwerveDrivetrain;
+import edu.wpi.first.wpilibj2.command.Command;
+
+// How to make Command: https://compendium.readthedocs.io/en/latest/tasks/commands/commands.html (ignore image instructions, code is out of date, just look at written general instructions)
+// Command based programming: https://docs.wpilib.org/en/stable/docs/software/commandbased/what-is-command-based.html
+// Code documentations https://docs.wpilib.org/en/stable/docs/software/commandbased/commands.html 
+
+/** An example command that uses an example subsystem. */
+public class ScoringAlign extends Command {
+	private final SwerveDrivetrain drivetrain;
+
+	/**
+	 * The constructor creates a new command and is automatically called one time
+	 * when the command is created (with 'new' keyword).
+	 * It should set up the initial state and properties of the object to ensure
+	 * it's ready for use.
+	 * This can take in any arguments you need. It normally uses 1 subsystem (but an
+	 * take multiple when necessary),
+	 * as wells as arguments for what to do, such as a joystick in the drive command
+	 * or a desired position in an auto command.
+	 * Example uses include saving parameters passed to the command, creating and
+	 * configuring objects for the class like PID controllers, and adding subsystem
+	 * requirements
+	 */
+	public ScoringAlign(SwerveDrivetrain drivetrain) {
+		// use "this" to access member variable subsystem rather than local subsystem
+		this.drivetrain = drivetrain;
+
+		// Use addRequirements() here to declare subsystem dependencies.
+		// This makes sure no other commands try to do stuff with your subsystem while
+		// you are using it.
+		addRequirements(this.drivetrain);
+	}
+
+	/**
+	 * initialize() is used to prepare a command for execution and is called once
+	 * when the command is scheduled.
+	 * It should reset the command's state since command objects can be used
+	 * multiple times.
+	 * Example uses include setting motor to constant speed, setting a solenoid to a
+	 * certain state, and resetting variables
+	 */
+	@Override
+	public void initialize() {
+
+	}
+
+	@Override
+	public void execute() {
+
+	}
+
+	/**
+	 * isFinished() finished is called repeatedly while a command is scheduled,
+	 * right after execute.
+	 * It should return true when you want the command to finish. end(false) is
+	 * called directly after isFinished() returns true.
+	 * Example uses include checking if control loop is at set point, and always
+	 * returning false to end after just 1 call to execute.
+	 */
+	@Override
+	public boolean isFinished() {
+		return true;
+	}
+
+	/**
+	 * end(boolean interrupted) is called once when a command ends, regardless of
+	 * whether it finishes normally or is interrupted.
+	 * It should wrap up the command since other commands might use the same
+	 * subsystems.
+	 * Once end runs the command will no longer be in the command scheduler loop.
+	 * It takes in a boolean interrupted which is set to true when the command is
+	 * ended without isFinished() returning true.
+	 * Example uses include setting motor speeds back to zero, and setting a
+	 * solenoid back to a "default" state.
+	 */
+	@Override
+	public void end(boolean interrupted) {
+	}
+}