tap::control::setpoint::MoveIntegralCommand Class Reference

#include <move_integral_command.hpp>

Inheritance diagram for tap::control::setpoint::MoveIntegralCommand:

Collaboration diagram for tap::control::setpoint::MoveIntegralCommand:

Classes
struct	Config

Public Member Functions
	MoveIntegralCommand (IntegrableSetpointSubsystem &integrableSetpointSubsystem, const Config &config)
const char *	getName () const override
bool	isReady () 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)

Protected Member Functions
bool	targetIntegralReached () const

Protected Attributes
Config	config
IntegrableSetpointSubsystem &	integrableSetpointSubsystem
float	finalTargetIntegralSetpoint = 0
Protected Attributes inherited from tap::control::Command
command_scheduler_bitmap_t	commandRequirementsBitwise = 0

Detailed Description

A command that aims to keep the an IntegrableSetpointSubsystem's setpoint at some target value until the integral of the setpoint over time equals a specified value.

Ends if the subsystem is offline or jammed.

Constructor & Destructor Documentation

MoveIntegralCommand()

tap::control::setpoint::MoveIntegralCommand::MoveIntegralCommand	(	IntegrableSetpointSubsystem &	integrableSetpointSubsystem,
		const Config &	config
	)

Parameters

[in]	integrableSetpointSubsystem	The subsystem associated with the move integral command.
[in]	config	The move integral command's config struct,

See also

Config.

Member Function Documentation

end()

void tap::control::setpoint::MoveIntegralCommand::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 tap::control::setpoint::MoveIntegralCommand::execute ( )

inlineoverridevirtual

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

Implements tap::control::Command.

getName()

const char * tap::control::setpoint::MoveIntegralCommand::getName ( ) const

inlineoverridevirtual

Returns

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

Implements tap::control::Command.

initialize()

void tap::control::setpoint::MoveIntegralCommand::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 tap::control::setpoint::MoveIntegralCommand::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.

isReady()

bool tap::control::setpoint::MoveIntegralCommand::isReady ( )

inlineoverridevirtual

A check called right before a command is scheduled to determine whether or not a command should be scheduled. If return is true then the command is scheduled, if false then the command is not scheduled.

Not forced to be overridden, returns true by default.

Reimplemented from tap::control::Command.

targetIntegralReached()

bool tap::control::setpoint::MoveIntegralCommand::targetIntegralReached ( ) const

inlineprotected

Returns

True if the intgral setpoint has reached the target integral

Member Data Documentation

config

Config tap::control::setpoint::MoveIntegralCommand::config

protected

finalTargetIntegralSetpoint

float tap::control::setpoint::MoveIntegralCommand::finalTargetIntegralSetpoint = 0

protected

integrableSetpointSubsystem

IntegrableSetpointSubsystem& tap::control::setpoint::MoveIntegralCommand::integrableSetpointSubsystem

protected

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

• fang-mcb-project/taproot/src/tap/control/setpoint/commands/move_integral_command.hpp
• fang-mcb-project/taproot/src/tap/control/setpoint/commands/move_integral_command.cpp