#include <shuriken_command.hpp>

Inheritance diagram for fang::chassis::ShurikenCommand:

[legend]

Collaboration diagram for fang::chassis::ShurikenCommand:

[legend]

Classes
struct	Config

Public Types
using	MotionConfig = CounterStrikeCommand::Config

Public Types inherited from fang::chassis::CounterStrikeCommand
using	Config = FieldDriftCommand::Config

Public Member Functions
	ShurikenCommand (HolonomicSubsystem &chassisSubsystem, const turret::FieldGimbalSubsystem &gimbal, IHolonomicInput &holonomicInput, const Config &config)

virtual	~ShurikenCommand ()=default

const char *	getName () const override

void	execute () override

Public Member Functions inherited from fang::chassis::CounterStrikeCommand
	CounterStrikeCommand (HolonomicSubsystem &holonomicSubsystem, const turret::FieldGimbalSubsystem &gimbal, IHolonomicInput &holonomicInput, const Config &config)

virtual	~CounterStrikeCommand ()=default

Public Member Functions inherited from fang::chassis::FieldDriftCommand
	FieldDriftCommand (HolonomicSubsystem &holonomicSubsystem, IHolonomicInput &holonomicInput, const Config &config)

virtual	~FieldDriftCommand ()=default

void	initialize () 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
RPM	getFieldRotation (const physics::Velocity2D &targetFieldTranslation) const

Protected Member Functions inherited from fang::chassis::CounterStrikeCommand
physics::Velocity2D	getFieldTranslation () const

RPM	getFieldRotation () const

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

RPM	getFieldRotation () const

Additional Inherited Members
Protected Attributes inherited from fang::chassis::CounterStrikeCommand
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 inherited from fang::chassis::CounterStrikeCommand
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

The holonomic drive will automatically spin

Member Typedef Documentation

◆ MotionConfig

using fang::chassis::ShurikenCommand::MotionConfig = CounterStrikeCommand::Config

Constructor & Destructor Documentation

◆ ShurikenCommand()

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

This takes a chassis subsystem and the respective inputHandler

◆ ~ShurikenCommand()

virtual fang::chassis::ShurikenCommand::~ShurikenCommand ( )

virtualdefault

Member Function Documentation

◆ execute()

void fang::chassis::ShurikenCommand::execute ( )

overridevirtual

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

Reimplemented from fang::chassis::CounterStrikeCommand.

Reimplemented in fang::chassis::TardisCommand.

◆ getFieldRotation()

RPM fang::chassis::ShurikenCommand::getFieldRotation ( const physics::Velocity2D & targetFieldTranslation ) const

protected

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

It also downscales the angular velocity inversly proportional to the targetFieldTranslation

◆ getName()

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

overridevirtual

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

Reimplemented from fang::chassis::CounterStrikeCommand.

Reimplemented in fang::chassis::TardisCommand.

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

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

Classes

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members