tap::control::setpoint::MoveCommand Class Reference

#include <move_command.hpp>

Inheritance diagram for tap::control::setpoint::MoveCommand:

Collaboration diagram for tap::control::setpoint::MoveCommand:

Public Member Functions
	MoveCommand (SetpointSubsystem *setpointSubsystem, float targetDisplacement, uint32_t moveTime, uint32_t pauseAfterMoveTime, bool setToTargetOnEnd, float setpointTolerance)
const char *	getName () const override
bool	isReady () override
void	initialize () override
void	execute () override
void	end (bool interrupted) override
bool	isFinished () const override
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)

Additional Inherited Members
Protected Attributes inherited from tap::control::Command
command_scheduler_bitmap_t	commandRequirementsBitwise = 0

Detailed Description

Displaces the connected subsystem some value in some desired time. Currently pass in a displacement and time to move and it uses tap::arch::getTimeMilliseconds() to determine the speed to move at.

Ends if subsystem is offline.

Constructor & Destructor Documentation

MoveCommand()

tap::control::setpoint::MoveCommand::MoveCommand	(	SetpointSubsystem *	setpointSubsystem,
		float	targetDisplacement,
		uint32_t	moveTime,
		uint32_t	pauseAfterMoveTime,
		bool	setToTargetOnEnd,
		float	setpointTolerance
	)

Parameters

[in]	setpointSubsystem	The subsystem associated with the rotate command.
[in]	targetDisplacement	The desired change in subsystem value in subsystem units.
[in]	moveTime	The time it takes to move the subsystem to the desired value in milliseconds.
[in]	pauseAfterMoveTime	Time in milliseconds that the command will wait after reaching the target displacement before the command is considered complete.
[in]	setToTargetOnEnd	if true the command will set the subsystem setpoint to the ideal target value on an uninterrupted end() if subsystem is online and unjammed, otherwise the subsystem will always set the setpoint to the its current value on end().
[in]	setpointTolerance	The difference between current and desired value when the command will be considered to be completed (used in the isFinished function). Uses the same units as the subsystem's setpoint.

Attention

the ramp value is calculated by finding the rotation speed ( ), and then multiplying this by the period (how often the ramp is called)

Member Function Documentation

end()

void tap::control::setpoint::MoveCommand::end ( bool  interrupted )

overridevirtual

The action to take when the command ends. Called when either the command finishes normally, or when it interrupted/canceled.

Parameters

[in]

interrupted

whether the command was interrupted/canceled.

Implements tap::control::Command.

execute()

void tap::control::setpoint::MoveCommand::execute ( )

overridevirtual

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

Implements tap::control::Command.

getName()

const char * tap::control::setpoint::MoveCommand::getName ( ) const

inlineoverridevirtual

Returns

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

Implements tap::control::Command.

initialize()

void tap::control::setpoint::MoveCommand::initialize ( )

overridevirtual

The initial subroutine of a command. Called once when the command is initially scheduled by a CommandScheduler.

Note that command instances are re-used: a single command could be initialized, run, finished, then later initialized again. Ensure that initialize() resets any state stored in the command!

Implements tap::control::Command.

isFinished()

bool tap::control::setpoint::MoveCommand::isFinished ( ) const

overridevirtual

Whether the command has finished. Once a Command finishes, the scheduler will call the end() function and un-schedule it. If a Command is naturally finished (i.e. isFinished() == true), then the CommandScheduler will pass in false to end(). If, for example, another Command is added that in turn stops the Command from executing, then the CommandScheduler will pass in true to end().

Returns

whether the command has finished.

Implements tap::control::Command.

isReady()

bool tap::control::setpoint::MoveCommand::isReady ( )

inlineoverridevirtual

A check called right before a command is scheduled to determine whether or not a command should be scheduled. If return is true then the command is scheduled, if false then the command is not scheduled.

Not forced to be overridden, returns true by default.

Reimplemented from tap::control::Command.

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

• fang-mcb-project/taproot/src/tap/control/setpoint/commands/move_command.hpp
• fang-mcb-project/taproot/src/tap/control/setpoint/commands/move_command.cpp