mirror of
https://github.com/wpilibsuite/allwpilib
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31 lines
1.1 KiB
C
31 lines
1.1 KiB
C
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2019 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 <frc2/command/CommandHelper.h>
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#include <frc2/command/PIDCommand.h>
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#include "subsystems/DriveTrain.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
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: public frc2::CommandHelper<frc2::PIDCommand, SetDistanceToBox> {
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public:
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explicit SetDistanceToBox(double distance, DriveTrain* drivetrain);
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void Initialize() override;
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bool IsFinished() override;
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private:
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DriveTrain* m_drivetrain;
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};
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