#include <tardis_command.hpp>

Inheritance diagram for fang::chassis::TardisCommand:

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Collaboration diagram for fang::chassis::TardisCommand:

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Classes
struct	Config

Public Types
using	MotionConfig = CounterStrikeCommand::Config

Public Types inherited from fang::chassis::ShurikenCommand
using	MotionConfig = CounterStrikeCommand::Config

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

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

const char *	getName () const override

void	execute () override

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

virtual	~ShurikenCommand ()=default

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::ShurikenCommand
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

This utilizes the Raziel Shredder, an family of anti-Kalman algorithms designed to induce a bias which is infinitely differentiable i.e. everything up to acceleratino is under constant change which makes linear prediction more difficult.

It does not randomize spin since Kalman Filters do overcome them.

Member Typedef Documentation

◆ MotionConfig

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

Constructor & Destructor Documentation

◆ TardisCommand()

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

This takes a chassis subsystem and the respective inputHandler

Member Function Documentation

◆ execute()

void fang::chassis::TardisCommand::execute ( )

overridevirtual

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

Reimplemented from fang::chassis::ShurikenCommand.

◆ getFieldRotation()

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

protected

◆ getName()

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

overridevirtual

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

Reimplemented from fang::chassis::ShurikenCommand.

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

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

Classes

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members