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24 lines
529 B
C
24 lines
529 B
C
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#ifndef SetWristSetpoint_H
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#define SetWristSetpoint_H
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#include "Commands/Command.h"
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/**
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* Move the wrist to a given angle. This command finishes when it is within
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* the tolerance, but leaves the PID loop running to maintain the position.
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* Other commands using the wrist should make sure they disable PID!
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*/
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class SetWristSetpoint: public Command {
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private:
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double setpoint;
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public:
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SetWristSetpoint(double setpoint);
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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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};
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#endif
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