fang::chassis::FieldDriftCommand Class Reference

#include <field_drift_command.hpp>

Inheritance diagram for fang::chassis::FieldDriftCommand:

Collaboration diagram for fang::chassis::FieldDriftCommand:

Classes
struct	Config

Public Member Functions
	FieldDriftCommand (HolonomicSubsystem &holonomicSubsystem, ChassisInputHandler &inputHandler, const Config &config)
virtual	~FieldDriftCommand ()=default
const char *	getName () const override
void	initialize () override
void	execute () 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
physics::Velocity2D	getFieldTranslation () const
RPM	getFieldRotation () const

Protected Attributes
HolonomicSubsystem &	holonomicSubsystem_
ChassisInputHandler &	chassisInput_
const Config	kConfig_
Protected Attributes inherited from tap::control::Command
command_scheduler_bitmap_t	commandRequirementsBitwise = 0

Static Protected Attributes
static constexpr const char *	kName {"Field Drift"}

Detailed Description

Moves the holonomic drive relative to the field. The orientation of the field is generally set in the direction that the robot faces on startup.

Constructor & Destructor Documentation

FieldDriftCommand()

fang::chassis::FieldDriftCommand::FieldDriftCommand	(	HolonomicSubsystem &	holonomicSubsystem,
		ChassisInputHandler &	inputHandler,
		const Config &	config
	)

This takes a chassis subsystem and the respective inputHandler

~FieldDriftCommand()

virtual fang::chassis::FieldDriftCommand::~FieldDriftCommand ( )

virtualdefault

Member Function Documentation

end()

void fang::chassis::FieldDriftCommand::end ( bool  interrupted )

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()

void fang::chassis::FieldDriftCommand::execute ( )

overridevirtual

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

Implements tap::control::Command.

Reimplemented in fang::chassis::ShurikenCommand, and fang::chassis::TardisCommand.

getFieldRotation()

RPM fang::chassis::FieldDriftCommand::getFieldRotation ( ) const

protected

Scales the rotation input on the remote into a rotation where counterclockwise is positive

getFieldTranslation()

physics::Velocity2D fang::chassis::FieldDriftCommand::getFieldTranslation ( ) const

protected

Scales input translation into tangible values

getName()

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

overridevirtual

Returns

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

Implements tap::control::Command.

Reimplemented in fang::chassis::ShurikenCommand, and fang::chassis::TardisCommand.

initialize()

void fang::chassis::FieldDriftCommand::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()

bool fang::chassis::FieldDriftCommand::isFinished ( ) const

virtual

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.

Member Data Documentation

chassisInput_

ChassisInputHandler& fang::chassis::FieldDriftCommand::chassisInput_

protected

holonomicSubsystem_

HolonomicSubsystem& fang::chassis::FieldDriftCommand::holonomicSubsystem_

protected

kConfig_

const Config fang::chassis::FieldDriftCommand::kConfig_

protected

kName

constexpr const char* fang::chassis::FieldDriftCommand::kName {"Field Drift"}

staticconstexprprotected

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

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