fang::turret::FieldGimbal Class Reference

#include <field_gimbal.hpp>

Inheritance diagram for fang::turret::FieldGimbal:

Collaboration diagram for fang::turret::FieldGimbal:

Public Member Functions
	FieldGimbal (Drivers &drivers, std::unique_ptr< IFieldPitchSystem > pitchSystem, std::unique_ptr< IFieldYawSystem > yawSystem)
virtual	~FieldGimbal ()=default
void	initialize () override
void	update () override
void	refresh () override
void	setTargetFieldPitch (const Radians &pitch) override
void	setTargetFieldYaw (const Radians &yaw) override
Radians	getTargetFieldPitch () const override
Radians	getTargetFieldYaw () const override
Public Member Functions inherited from fang::turret::FieldGimbalSubsystem
	FieldGimbalSubsystem (tap::Drivers &drivers)
virtual	~FieldGimbalSubsystem ()
Public Member Functions inherited from tap::control::Subsystem
	Subsystem (Drivers *drivers)
virtual	~Subsystem ()
void	registerAndInitialize ()
mockable void	setDefaultCommand (Command *defaultCommand)
mockable Command *	getDefaultCommand () const
virtual void	refreshSafeDisconnect ()
mockable void	setTestCommand (Command *testCommand)
mockable Command *	getTestCommand () const
virtual const char *	getName () const
mockable int	getGlobalIdentifier () const

Additional Inherited Members
Protected Attributes inherited from tap::control::Subsystem
Drivers *	drivers

Detailed Description

Takes a field and pitch system

Constructor & Destructor Documentation

FieldGimbal()

fang::turret::FieldGimbal::FieldGimbal	(	Drivers &	drivers,
		std::unique_ptr< IFieldPitchSystem >	pitchSystem,
		std::unique_ptr< IFieldYawSystem >	yawSystem
	)

~FieldGimbal()

virtual fang::turret::FieldGimbal::~FieldGimbal ( )

virtualdefault

Member Function Documentation

getTargetFieldPitch()

Radians fang::turret::FieldGimbal::getTargetFieldPitch ( ) const

override

getTargetFieldYaw()

Radians fang::turret::FieldGimbal::getTargetFieldYaw ( ) const

override

initialize()

void fang::turret::FieldGimbal::initialize ( )

overridevirtual

Called once when you add the Subsystem to the commandScheduler stored in the Drivers class.

Implements fang::turret::FieldGimbalSubsystem.

refresh()

void fang::turret::FieldGimbal::refresh ( )

overridevirtual

Called in the scheduler's run function assuming this command has been registered with the scheduler. This function should contain code that must be periodically updated and is generic to the subsystem (i.e. updating a control loop generic to this subsystem). This function should not contain command specific control code. When you create a subclass of Subsystem, you should overwrite this virtual function.

Must be virtual otherwise scheduler will refer to this function rather than looking in child for this function.

Reimplemented from tap::control::Subsystem.

setTargetFieldPitch()

void fang::turret::FieldGimbal::setTargetFieldPitch ( const Radians &  pitch )

override

setTargetFieldYaw()

void fang::turret::FieldGimbal::setTargetFieldYaw ( const Radians &  yaw )

override

update()

void fang::turret::FieldGimbal::update ( )

override

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

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