Initial commit

src/main/java/frc4388/robot/commands/MoveUntilSuply.java

@@ -0,0 +1,45 @@
+package frc4388.robot.commands;
+
+import java.util.function.Supplier;
+
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc4388.robot.subsystems.swerve.SwerveDrive;
+
+// Command to repeat a joystick movement for a specific time.
+public class MoveUntilSuply extends Command {
+    private final SwerveDrive swerveDrive;
+    private final Translation2d leftStick;
+    private final Translation2d rightStick;
+    private final Supplier<Boolean> truth;
+    private final boolean robotRelative;
+
+    public MoveUntilSuply(
+        SwerveDrive swerveDrive, 
+        Translation2d leftStick, 
+        Translation2d rightStick, 
+        Supplier<Boolean> truth,
+        boolean robotRelative) {
+            addRequirements(swerveDrive);
+
+        this.swerveDrive = swerveDrive;
+        this.leftStick = leftStick;
+        this.rightStick = rightStick;
+        this.truth = truth;
+        this.robotRelative = robotRelative;
+    }
+
+    @Override
+    public void initialize() {
+    }
+
+    @Override
+    public void execute() {
+        swerveDrive.driveWithInput(leftStick, rightStick, !robotRelative);
+    }
+
+    @Override
+    public boolean isFinished() {
+        return truth.get();
+    }
+}