Class MoveUnjamComprisedCommand

Inheritance Relationships

Base Type

Class Documentation

class MoveUnjamComprisedCommand : public tap::control::ComprisedCommand

A comprised command that combines the unjam and move commands.

Assuming no jams occur, this command behaves like a MoveCommand. It will schedule once and end once the target displacement is reached. If it gets jammed while trying to move then the command will then schedule a UnjamCommand. At this point the command will end when the UnjamCommand ends.

See UnjamCommand and MoveCommand for more details on their respective logic.

Public Functions

MoveUnjamComprisedCommand(tap::Drivers *drivers, SetpointSubsystem *setpointSubsystem, float moveDisplacement, uint32_t moveTime, uint32_t pauseAfterMoveTime, bool setToTargetOnEnd, float setpointTolerance, float unjamDisplacement, float unjamThreshold, uint32_t maxUnjamWaitTime, uint_fast16_t unjamCycleCount)
Parameters:

  • drivers – [in] A pointer to the Drivers struct.

  • setpointSubsystem – [in] The subsystem to interact with.

  • moveDisplacement – [in] The displacement the command will apply to the subsystem

  • moveTime – [in] See MoveCommand for more details, passed on directly to its constructor.

  • pauseAfterMoveTime – [in] See MoveCommand for more details, passed on directly to its constructor.

  • setToTargetOnEnd – [in] See MoveCommand for more details, passed on directly to its constructor.

  • setpointTolerance – [in] See MoveCommand for more details, passed on directly to its constructor.

  • unjamDisplacement – [in] See UnjamCommand’s constructor for more details, passed on directly to this command’s constructor.

  • unjamThreshold – [in] See UnjamCommand’s constructor for more details, passed on directly to this command’s constructor.

  • unjamCycleCount – [in] See UnjamCommand’s constructor for more details, passed on directly to this command’s constructor.

  • maxUnjamWaitTime – [in] See UnjamCommand’s constructor for more details, passed on directly to this command’s constructor.

virtual void initialize() override
virtual void execute() override
virtual void end(bool interrupted) override
virtual bool isFinished() const override
inline virtual const char *getName() const override

Protected Attributes

SetpointSubsystem *setpointSubsystem
MoveCommand agitatorRotateCommand
UnjamCommand agitatorUnjamCommand
bool unjamSequenceCommencing
bool agitatorDisconnectFault