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38 lines
825 B
C
38 lines
825 B
C
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#ifndef SetDistanceToBox_H
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#define SetDistanceToBox_H
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#include "WPILib.h"
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#include "Commands/Command.h"
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/**
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* Drive until the robot is the given distance away from the box. Uses a local
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* PID controller to run a simple PID loop that is only enabled while this
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* command is running. The input is the averaged values of the left and right
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* encoders.
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*/
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class SetDistanceToBox: public Command {
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public:
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SetDistanceToBox(double distance);
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void Initialize();
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void Execute();
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bool IsFinished();
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void End();
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void Interrupted();
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private:
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PIDController* pid;
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};
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class SetDistanceToBoxPIDSource: public PIDSource {
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public:
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virtual ~SetDistanceToBoxPIDSource();
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double PIDGet();
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};
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class SetDistanceToBoxPIDOutput: public PIDOutput {
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public:
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virtual ~SetDistanceToBoxPIDOutput();
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void PIDWrite(float d);
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};
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#endif
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