fang::turret::PositionalAimCommand Class Reference

#include <positional_aim_command.hpp>

Inheritance diagram for fang::turret::PositionalAimCommand:

Collaboration diagram for fang::turret::PositionalAimCommand:

Classes
struct	Config

Public Member Functions
	PositionalAimCommand (FieldGimbalSubsystem &gimbal, ITurretInputHandler &input, const Config &config)
const char *	getName () const 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)
virtual bool	isReady ()

Additional Inherited Members
Protected Attributes inherited from tap::control::Command
command_scheduler_bitmap_t	commandRequirementsBitwise = 0

Detailed Description

Unlike aim command, it takes the raw position instead of velocity. Used for autonomous testing and as a precursor to general auto-aim commands

Constructor & Destructor Documentation

PositionalAimCommand()

fang::turret::PositionalAimCommand::PositionalAimCommand	(	FieldGimbalSubsystem &	gimbal,
		ITurretInputHandler &	input,
		const Config &	config
	)

Member Function Documentation

end()

void fang::turret::PositionalAimCommand::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::turret::PositionalAimCommand::execute ( )

overridevirtual

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

Implements tap::control::Command.

getName()

const char * fang::turret::PositionalAimCommand::getName ( ) const

inlineoverridevirtual

Returns

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

Implements tap::control::Command.

initialize()

void fang::turret::PositionalAimCommand::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::turret::PositionalAimCommand::isFinished ( ) const

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.

---

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

• fang-mcb-project/src/control/turret/gimbal/command/positional_aim_command.hpp
• fang-mcb-project/src/control/turret/gimbal/command/positional_aim_command.cpp