fang::chassis::CounterStrikeCommand Class Reference

#include <counter_strike_command.hpp>

Inheritance diagram for fang::chassis::CounterStrikeCommand:

Collaboration diagram for fang::chassis::CounterStrikeCommand:

Public Types
using	Config = FieldDriftCommand::Config

Public Member Functions
	CounterStrikeCommand (HolonomicSubsystem &holonomicSubsystem, const turret::FieldGimbalSubsystem &gimbal, IHolonomicInput &holonomicInput, const Config &config)
virtual	~CounterStrikeCommand ()=default
const char *	getName () const override
void	execute () override
Public Member Functions inherited from fang::chassis::FieldDriftCommand
	FieldDriftCommand (HolonomicSubsystem &holonomicSubsystem, IHolonomicInput &holonomicInput, const Config &config)
virtual	~FieldDriftCommand ()=default
const char *	getName () const override
void	initialize () override
void	execute () override
void	end (bool interrupted) override
bool	isFinished () const
Public Member Functions inherited from tap::control::Command
	Command ()
virtual	~Command ()
mockable subsystem_scheduler_bitmap_t	getRequirementsBitwise () const
int	getGlobalIdentifier () const
mockable void	addSubsystemRequirement (Subsystem *requirement)
virtual bool	isReady ()

Protected Member Functions
physics::Velocity2D	getFieldTranslation () const
RPM	getFieldRotation () const
Protected Member Functions inherited from fang::chassis::FieldDriftCommand
physics::Velocity2D	getFieldTranslation () const
RPM	getFieldRotation () const

Protected Attributes
const turret::FieldGimbalSubsystem &	gimbal_
const Config	kConfig_
Protected Attributes inherited from fang::chassis::FieldDriftCommand
HolonomicSubsystem &	holonomicSubsystem_
IHolonomicInput &	holonomicInput_
const Config	kConfig_
Protected Attributes inherited from tap::control::Command
command_scheduler_bitmap_t	commandRequirementsBitwise = 0

Static Protected Attributes
static constexpr const char *	kName {"Counter Strike Global!"}
Static Protected Attributes inherited from fang::chassis::FieldDriftCommand
static constexpr const char *	kName {"Field Drift"}

Detailed Description

First person shooter motion for holonomic drive. Plain and simple.

This pairs well with a mouse-supported DjiHolonomicInput.

If you face forward, a forward input on the remote will make the robot move forward. Every translation input is rotated to be relative to the turret head.

Member Typedef Documentation

Config

using fang::chassis::CounterStrikeCommand::Config = FieldDriftCommand::Config

Constructor & Destructor Documentation

CounterStrikeCommand()

fang::chassis::CounterStrikeCommand::CounterStrikeCommand	(	HolonomicSubsystem &	holonomicSubsystem,
		const turret::FieldGimbalSubsystem &	gimbal,
		IHolonomicInput &	holonomicInput,
		const Config &	config
	)

This takes a chassis subsystem and the respective inputHandler

~CounterStrikeCommand()

virtual fang::chassis::CounterStrikeCommand::~CounterStrikeCommand ( )

virtualdefault

Member Function Documentation

execute()

void fang::chassis::CounterStrikeCommand::execute ( )

overridevirtual

The main body of a command. Called repeatedly while the command is scheduled by a CommandScheduler.

Implements tap::control::Command.

Reimplemented in fang::chassis::ShurikenCommand, and fang::chassis::TardisCommand.

getFieldRotation()

RPM fang::chassis::CounterStrikeCommand::getFieldRotation ( ) const

protected

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

getFieldTranslation()

physics::Velocity2D fang::chassis::CounterStrikeCommand::getFieldTranslation ( ) const

protected

Returns the fieldwise translation, translating the translation input relative to the turret where forward will make the robot move forwward wherever the turret is looking

getName()

const char * fang::chassis::CounterStrikeCommand::getName ( ) const

overridevirtual

Returns

the name of the command, to be implemented by derived classes.

Implements tap::control::Command.

Reimplemented in fang::chassis::ShurikenCommand, and fang::chassis::TardisCommand.

Member Data Documentation

gimbal_

const turret::FieldGimbalSubsystem& fang::chassis::CounterStrikeCommand::gimbal_

protected

kConfig_

const Config fang::chassis::CounterStrikeCommand::kConfig_

protected

kName

constexpr const char* fang::chassis::CounterStrikeCommand::kName {"Counter Strike Global!"}

staticconstexprprotected

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The documentation for this class was generated from the following files:

• fang-mcb-project/src/control/chassis/drive/holonomic/command/counter_strike_command.hpp
• fang-mcb-project/src/control/chassis/drive/holonomic/command/counter_strike_command.cpp