Class FieldDriftCommand

• Defined in File field_drift_command.hpp

Nested Relationships

Nested Types

• Struct FieldDriftCommand::Config

Inheritance Relationships

Base Type

• public tap::control::Command (Class Command)

Derived Type

• public fang::chassis::CounterStrikeCommand (Class CounterStrikeCommand)

Class Documentation

class FieldDriftCommand : public tap::control::Command

Moves the holonomic drive relative to the field. The orientation of the field is generally set in the direction that the robot faces on startup.

Subclassed by fang::chassis::CounterStrikeCommand

Public Functions

FieldDriftCommand(HolonomicSubsystem &holonomicSubsystem, ChassisInputHandler &inputHandler, const Config &config)

This takes a chassis subsystem and the respective inputHandler

virtual ~FieldDriftCommand() = default

virtual const char *getName() const override

virtual void initialize() override

virtual void execute() override

virtual void end(bool interrupted) override

virtual bool isFinished() const

Protected Functions

physics::Velocity2D getFieldTranslation() const

Scales input translation into tangible values

RPM getFieldRotation() const

Scales the rotation input on the remote into a rotation where counterclockwise is positive

Protected Attributes

HolonomicSubsystem &holonomicSubsystem_

ChassisInputHandler &chassisInput_

const Config kConfig_

Protected Static Attributes

static constexpr const char *kName = {"Field Drift"}

struct Config

maxVelocity: This needs to have both components greater than or equal to zero. Each component represents the maximum speed each the robot will move

maxRotation is the angular velocity that will be achieved if full throttle is utilized

Public Members

physics::Velocity2D maxTranslation

RPM maxRotation