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https://github.com/wpilibsuite/allwpilib
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26 lines
1.2 KiB
C++
26 lines
1.2 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 "ReplaceMeTrapezoidProfileCommand.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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ReplaceMeTrapezoidProfileCommand::ReplaceMeTrapezoidProfileCommand()
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: CommandHelper
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// The profile to execute
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(frc::TrapezoidProfile<units::meter>(
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// The maximum velocity and acceleration of the profile
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{5_mps, 5_mps_sq},
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// The goal state of the profile
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{10_m, 0_mps},
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// The initial state of the profile
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{0_m, 0_mps}),
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[](frc::TrapezoidProfile<units::meter>::State state) {
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// Use the computed intermediate trajectory state here
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}) {}
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