tap::control::setpoint::MoveUnjamIntegralComprisedCommand Class Reference

#include <move_unjam_integral_comprised_command.hpp>

Inheritance diagram for tap::control::setpoint::MoveUnjamIntegralComprisedCommand:

Collaboration diagram for tap::control::setpoint::MoveUnjamIntegralComprisedCommand:

Public Member Functions
	MoveUnjamIntegralComprisedCommand (tap::Drivers &drivers, IntegrableSetpointSubsystem &subsystem, MoveIntegralCommand &moveIntegralCommand, UnjamCommandInterface &unjamCommand)
bool	isReady () override
void	initialize () override
void	execute () override
void	end (bool interrupted) override
bool	isFinished () const override
const char *	getName () const override
Public Member Functions inherited from tap::control::ComprisedCommand
	ComprisedCommand (Drivers *drivers)
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::ComprisedCommand
CommandScheduler	comprisedCommandScheduler
Protected Attributes inherited from tap::control::Command
command_scheduler_bitmap_t	commandRequirementsBitwise = 0

Detailed Description

A comprised command that combines the integral unjam and rotate commands. Will schedule the move command when not jammed. When jammed, will switch to the unjam command.

See also

UnjamIntegralCommand

MoveIntegralCommand

Constructor & Destructor Documentation

MoveUnjamIntegralComprisedCommand()

tap::control::setpoint::MoveUnjamIntegralComprisedCommand::MoveUnjamIntegralComprisedCommand	(	tap::Drivers &	drivers,
		IntegrableSetpointSubsystem &	subsystem,
		MoveIntegralCommand &	moveIntegralCommand,
		UnjamCommandInterface &	unjamCommand
	)

Parameters

[in]	drivers	A reference to the Drivers struct.
[in]	subsystem	The IntegrableSetpointSubsystem that will be rotated or unjammed.
[in]	moveIntegralCommand	A command that rotates the agitator forward.
[in]	unjamCommand	A command that unjams the agitator.

Note

The move integral and unjam integral commands must have the same subsystem requirement. This subsystem requirement must be the subsystem passed in.

Member Function Documentation

end()

void tap::control::setpoint::MoveUnjamIntegralComprisedCommand::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::MoveUnjamIntegralComprisedCommand::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::MoveUnjamIntegralComprisedCommand::getName ( ) const

inlineoverridevirtual

Returns

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

Implements tap::control::Command.

initialize()

void tap::control::setpoint::MoveUnjamIntegralComprisedCommand::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::MoveUnjamIntegralComprisedCommand::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::MoveUnjamIntegralComprisedCommand::isReady ( )

overridevirtual

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