mirror of
https://github.com/wpilibsuite/allwpilib
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31 lines
1.0 KiB
C
31 lines
1.0 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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#pragma once
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#include <frc/controller/ArmFeedforward.h>
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#include <frc2/command/TrapezoidProfileSubsystem.h>
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#include <units/units.h>
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#include "ExampleSmartMotorController.h"
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/**
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* A robot arm subsystem that moves with a motion profile.
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*/
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class ArmSubsystem : public frc2::TrapezoidProfileSubsystem<units::radians> {
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using State = frc::TrapezoidProfile<units::radians>::State;
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public:
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ArmSubsystem();
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void UseState(State setpoint) override;
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private:
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ExampleSmartMotorController m_motor;
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frc::ArmFeedforward m_feedforward;
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};
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