Class CounterStrikeCommand¶

Defined in File counter_strike_command.hpp

Inheritance Relationships¶

Base Type¶

public fang::chassis::FieldDriftCommand (Class FieldDriftCommand)

Derived Type¶

public fang::chassis::ShurikenCommand (Class ShurikenCommand)

Class Documentation¶

class CounterStrikeCommand : public fang::chassis::FieldDriftCommand ¶

First person shooter motion for holonomic drive. Plain and simple.

This pairs well with a mouse-supported ChassisInputHandler.

If you face forward, a forward input on the remote will make the robot move forward. Every translation input is rotated to be relative to the turret head.

Subclassed by fang::chassis::ShurikenCommand

Public Types

using Config = FieldDriftCommand::Config ¶

Public Functions

CounterStrikeCommand(HolonomicSubsystem &holonomicSubsystem, const turret::FieldGimbalSubsystem &gimbal, ChassisInputHandler &inputHandler, const Config &config)¶: This takes a chassis subsystem and the respective inputHandler

virtual ~CounterStrikeCommand() = default¶

virtual const char *getName() const override¶

virtual void execute() override¶

Protected Functions

physics::Velocity2D getFieldTranslation() const¶: Returns the fieldwise translation, translating the translation input relative to the turret where forward will make the robot move forwward wherever the turret is looking

RPM getFieldRotation() const¶: Translates the rotation input on the remote into a rotation where counterclockwise is positive

Protected Attributes

const turret::FieldGimbalSubsystem &gimbal_¶

const Config kConfig_¶

Protected Static Attributes

static constexpr const char *kName = {"Counter Strike Global!"}¶