#include <calibrate_command.hpp>
Public Member Functions | |
| CalibrateCommand (SetpointSubsystem *setpointSubsystem) | |
| 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
Default command that can be used to calibrate the setpoint subsystem (spam calls calibrateHere, which upon success will cause the setpoints current position to be the new zero point (i.e.: setpointSubsystem->getCurrentValue() will return 0 at the current position)). By default, the setpoint subsystem will keep calling calibrateHere until the setpoint subsystem is connected, however this command is for the following:
- A placeholder command initially.
- Allows you to recalibrate an setpoint subsystem that has already been calibrated if necessary.
The command will not complete until it has successfully calibrated the subsystem (or is interrupted)
Constructor & Destructor Documentation
◆ CalibrateCommand()
|
explicit |
- Parameters
-
[in] setpointSubsystem The subsystem this command is dependent upon.
Member Function Documentation
◆ end()
|
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()
|
overridevirtual |
The main body of a command. Called repeatedly while the command is scheduled by a CommandScheduler.
Implements tap::control::Command.
◆ getName()
|
inlineoverridevirtual |
- Returns
- the name of the command, to be implemented by derived classes.
Implements tap::control::Command.
◆ 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()
|
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()
|
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.
The documentation for this class was generated from the following files:
- fang-mcb-project/taproot/src/tap/control/setpoint/commands/calibrate_command.hpp
- fang-mcb-project/taproot/src/tap/control/setpoint/commands/calibrate_command.cpp
