Class ShurikenCommand¶
Defined in File shuriken_command.hpp
Nested Relationships¶
Nested Types¶
Inheritance Relationships¶
Base Type¶
public fang::chassis::CounterStrikeCommand(Class CounterStrikeCommand)
Derived Type¶
public fang::chassis::TardisCommand(Class TardisCommand)
Class Documentation¶
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class ShurikenCommand : public fang::chassis::CounterStrikeCommand¶
The holonomic drive will automatically spin
Subclassed by fang::chassis::TardisCommand
Public Types
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using MotionConfig = CounterStrikeCommand::Config¶
Public Functions
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ShurikenCommand(HolonomicSubsystem &chassisSubsystem, const turret::FieldGimbalSubsystem &gimbal, ChassisInputHandler &input, const Config &config)¶
This takes a chassis subsystem and the respective inputHandler
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virtual ~ShurikenCommand() = default¶
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virtual const char *getName() const override¶
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virtual void execute() override¶
Protected Functions
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RPM getFieldRotation(const physics::Velocity2D &targetFieldTranslation) const¶
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
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struct Config¶
Positive shuriken speed is counterclockwise
The higher the downscale coefficient, the less it will downscale with respect to speed
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using MotionConfig = CounterStrikeCommand::Config¶