Create AutonomousMovement.java

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

@@ -0,0 +1,70 @@
+package frc.robot.commands;
+
+import frc.robot.subsystems.SwerveDrivetrain;
+import edu.wpi.first.wpilibj2.command.Command;
+
+// How to make Command (ignore image instructions, code is out of date, just look at written general instructions): https://compendium.readthedocs.io/en/latest/tasks/commands/commands.html
+// 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 AutonomousMovement 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 AutonomousMovement(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() {
+        drivetrain.toDefaultStates();
+    }
+
+    /**
+     * execute() is called repeatedly while a command is scheduled, about every 20ms.
+     * It should handle continuous tasks specific to the command, like updating motor outputs based on joystick inputs or utilizing control loop results.
+     * Example uses include adjusting motor speeds for real-time control, processing sensor data within a scheduled command, and using the output of a control loop.
+     */
+    @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) {
+    }
+}