move_unjam_comprised_command.hpp

Go to the documentation of this file.

/*****************************************************************************/
/********** !!! WARNING: CODE GENERATED BY TAPROOT. DO NOT EDIT !!! **********/
/*****************************************************************************/
 
/*
 * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
 *
 * This file is part of Taproot.
 *
 * Taproot is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Taproot is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef TAPROOT_MOVE_UNJAM_COMPRISED_COMMAND_HPP_
#define TAPROOT_MOVE_UNJAM_COMPRISED_COMMAND_HPP_
 
#include "tap/control/comprised_command.hpp"
 
#include "move_command.hpp"
#include "unjam_command.hpp"
 
namespace tap
{
namespace control
{
namespace setpoint
{
// Forward declarations
class SetpointSubsystem;
 
class MoveUnjamComprisedCommand : public tap::control::ComprisedCommand
{
public:
    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);
 
    void initialize() override;
 
    void execute() override;
 
    void end(bool interrupted) override;
 
    bool isFinished() const override;
 
    const char* getName() const override { return "agitator shoot"; }
 
protected:
    SetpointSubsystem* setpointSubsystem;
 
    MoveCommand agitatorRotateCommand;
 
    UnjamCommand agitatorUnjamCommand;
 
    bool unjamSequenceCommencing;
 
    bool agitatorDisconnectFault;
};  // class MoveUnjamComprisedCommand
 
}  // namespace setpoint
 
}  // namespace control
 
}  // namespace tap
 
#endif  // TAPROOT_MOVE_UNJAM_COMPRISED_COMMAND_HPP_