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https://github.com/wpilibsuite/allwpilib
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35 lines
1.6 KiB
C++
35 lines
1.6 KiB
C++
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "ReplaceMeProfiledPIDCommand.h"
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// NOTE: Consider using this command inline, rather than writing a subclass.
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// For more information, see:
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// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
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ReplaceMeProfiledPIDCommand::ReplaceMeProfiledPIDCommand()
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: CommandHelper(
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// The ProfiledPIDController that the command will use
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frc::ProfiledPIDController<units::meter>(
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// The PID gains
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0, 0, 0,
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// The motion profile constraints
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{0_mps, 0_mps_sq}),
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// This should return the measurement
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[] { return 0_m; },
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// This should return the goal state (can also be a constant)
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[] {
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return frc::TrapezoidProfile<units::meter>::State{0_m, 0_mps};
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},
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// This uses the output and current trajectory setpoint
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[](double output,
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frc::TrapezoidProfile<units::meter>::State setpoint) {
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// Use the output and setpoint here
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}) {}
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// Returns true when the command should end.
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bool ReplaceMeProfiledPIDCommand::IsFinished() { return false; }
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