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https://github.com/wpilibsuite/allwpilib
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[commands] Remove control commands and subsystems (#7921)
This commit is contained in:
Gold856
@@ -1,93 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <functional>
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#include <frc/controller/PIDController.h>
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#include "frc2/command/Command.h"
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#include "frc2/command/CommandHelper.h"
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#include "frc2/command/Requirements.h"
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namespace frc2 {
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/**
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* A command that controls an output with a PIDController. Runs forever by
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* default - to add exit conditions and/or other behavior, subclass this class.
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* The controller calculation and output are performed synchronously in the
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* command's execute() method.
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*
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* This class is provided by the NewCommands VendorDep
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*
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* @see PIDController
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*/
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class PIDCommand : public CommandHelper<Command, PIDCommand> {
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public:
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/**
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* Creates a new PIDCommand, which controls the given output with a
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* PIDController.
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*
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* @param controller the controller that controls the output.
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* @param measurementSource the measurement of the process variable
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* @param setpointSource the controller's reference (aka setpoint)
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* @param useOutput the controller's output
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* @param requirements the subsystems required by this command
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* @deprecated Use a PIDController instead
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*/
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[[deprecated("Use a PIDController instead")]]
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PIDCommand(frc::PIDController controller,
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std::function<double()> measurementSource,
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std::function<double()> setpointSource,
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std::function<void(double)> useOutput,
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Requirements requirements = {});
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/**
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* Creates a new PIDCommand, which controls the given output with a
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* PIDController with a constant setpoint.
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*
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* @param controller the controller that controls the output.
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* @param measurementSource the measurement of the process variable
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* @param setpoint the controller's setpoint (aka setpoint)
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* @param useOutput the controller's output
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* @param requirements the subsystems required by this command
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* @deprecated Use a PIDController instead
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*/
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[[deprecated("Use a PIDController instead")]]
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PIDCommand(frc::PIDController controller,
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std::function<double()> measurementSource, double setpoint,
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std::function<void(double)> useOutput,
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Requirements requirements = {});
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PIDCommand(PIDCommand&& other) = default;
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PIDCommand(const PIDCommand& other) = default;
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void Initialize() override;
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void Execute() override;
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void End(bool interrupted) override;
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/**
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* Returns the PIDController used by the command.
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*
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* @return The PIDController
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*/
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frc::PIDController& GetController();
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protected:
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/// PID controller.
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frc::PIDController m_controller;
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/// Measurement getter.
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std::function<double()> m_measurement;
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/// Setpoint getter.
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std::function<double()> m_setpoint;
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/// PID controller output consumer.
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std::function<void(double)> m_useOutput;
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};
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} // namespace frc2
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@@ -1,95 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <frc/controller/PIDController.h>
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#include "frc2/command/SubsystemBase.h"
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namespace frc2 {
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/**
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* A subsystem that uses a PIDController to control an output. The controller
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* is run synchronously from the subsystem's periodic() method.
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*
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* This class is provided by the NewCommands VendorDep
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*
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* @see PIDController
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* @deprecated Use a PIDController instead
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*/
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class [[deprecated("Use a PIDController instead")]] PIDSubsystem
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: public SubsystemBase {
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public:
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/**
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* Creates a new PIDSubsystem.
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*
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* @param controller the PIDController to use
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* @param initialPosition the initial setpoint of the subsystem
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*/
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explicit PIDSubsystem(frc::PIDController controller,
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double initialPosition = 0);
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void Periodic() override;
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/**
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* Sets the setpoint for the subsystem.
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*
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* @param setpoint the setpoint for the subsystem
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*/
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void SetSetpoint(double setpoint);
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/**
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* Gets the setpoint for the subsystem.
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*
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* @return the setpoint for the subsystem
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*/
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double GetSetpoint() const;
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/**
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* Enables the PID control. Resets the controller.
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*/
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virtual void Enable();
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/**
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* Disables the PID control. Sets output to zero.
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*/
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virtual void Disable();
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/**
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* Returns whether the controller is enabled.
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*
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* @return Whether the controller is enabled.
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*/
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bool IsEnabled();
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/**
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* Returns the PIDController.
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*
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* @return The controller.
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*/
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frc::PIDController& GetController();
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protected:
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/// PID controller.
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frc::PIDController m_controller;
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/// Whether PID controller output is enabled.
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bool m_enabled{false};
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/**
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* Returns the measurement of the process variable used by the PIDController.
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*
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* @return the measurement of the process variable
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*/
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virtual double GetMeasurement() = 0;
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/**
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* Uses the output from the PIDController.
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*
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* @param output the output of the PIDController
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* @param setpoint the setpoint of the PIDController (for feedforward)
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*/
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virtual void UseOutput(double output, double setpoint) = 0;
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};
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} // namespace frc2
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@@ -1,163 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <functional>
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#include <utility>
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#include <frc/controller/ProfiledPIDController.h>
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#include <units/time.h>
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#include "frc2/command/Command.h"
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#include "frc2/command/CommandHelper.h"
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#include "frc2/command/Requirements.h"
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namespace frc2 {
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/**
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* A command that controls an output with a ProfiledPIDController. Runs forever
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* by default - to add exit conditions and/or other behavior, subclass this
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* class. The controller calculation and output are performed synchronously in
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* the command's execute() method.
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*
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* This class is provided by the NewCommands VendorDep
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*
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* @see ProfiledPIDController<Distance>
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*/
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template <class Distance>
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class ProfiledPIDCommand
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: public CommandHelper<Command, ProfiledPIDCommand<Distance>> {
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using Distance_t = units::unit_t<Distance>;
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using Velocity =
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units::compound_unit<Distance, units::inverse<units::seconds>>;
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using Velocity_t = units::unit_t<Velocity>;
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using State = typename frc::TrapezoidProfile<Distance>::State;
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public:
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/**
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* Creates a new PIDCommand, which controls the given output with a
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* ProfiledPIDController.
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*
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* @param controller the controller that controls the output.
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* @param measurementSource the measurement of the process variable
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* @param goalSource the controller's goal
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* @param useOutput the controller's output
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* @param requirements the subsystems required by this command
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* @deprecated Use a ProfiledPIDController instead
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*/
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[[deprecated("Use a ProfiledPIDController instead")]]
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ProfiledPIDCommand(frc::ProfiledPIDController<Distance> controller,
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std::function<Distance_t()> measurementSource,
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std::function<State()> goalSource,
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std::function<void(double, State)> useOutput,
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Requirements requirements = {})
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: m_controller{controller},
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m_measurement{std::move(measurementSource)},
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m_goal{std::move(goalSource)},
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m_useOutput{std::move(useOutput)} {
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this->AddRequirements(requirements);
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}
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/**
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* Creates a new PIDCommand, which controls the given output with a
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* ProfiledPIDController.
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*
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* @param controller the controller that controls the output.
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* @param measurementSource the measurement of the process variable
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* @param goalSource the controller's goal
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* @param useOutput the controller's output
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* @param requirements the subsystems required by this command
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* @deprecated Use a ProfiledPIDController instead
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*/
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[[deprecated("Use a ProfiledPIDController instead")]]
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ProfiledPIDCommand(frc::ProfiledPIDController<Distance> controller,
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std::function<Distance_t()> measurementSource,
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std::function<Distance_t()> goalSource,
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std::function<void(double, State)> useOutput,
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Requirements requirements = {})
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: ProfiledPIDCommand(
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controller, measurementSource,
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[goalSource = std::move(goalSource)]() {
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return State{goalSource(), Velocity_t{0}};
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},
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useOutput, requirements) {}
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/**
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* Creates a new PIDCommand, which controls the given output with a
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* ProfiledPIDController with a constant goal.
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*
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* @param controller the controller that controls the output.
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* @param measurementSource the measurement of the process variable
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* @param goal the controller's goal
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* @param useOutput the controller's output
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* @param requirements the subsystems required by this command
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* @deprecated Use a ProfiledPIDController instead
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*/
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[[deprecated("Use a ProfiledPIDController instead")]]
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ProfiledPIDCommand(frc::ProfiledPIDController<Distance> controller,
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std::function<Distance_t()> measurementSource, State goal,
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std::function<void(double, State)> useOutput,
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Requirements requirements = {})
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: ProfiledPIDCommand(
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controller, measurementSource, [goal] { return goal; }, useOutput,
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requirements) {}
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/**
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* Creates a new PIDCommand, which controls the given output with a
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* ProfiledPIDController with a constant goal.
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*
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* @param controller the controller that controls the output.
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* @param measurementSource the measurement of the process variable
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* @param goal the controller's goal
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* @param useOutput the controller's output
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* @param requirements the subsystems required by this command
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* @deprecated Use a ProfiledPIDController instead
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*/
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[[deprecated("Use a ProfiledPIDController instead")]]
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ProfiledPIDCommand(frc::ProfiledPIDController<Distance> controller,
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std::function<Distance_t()> measurementSource,
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Distance_t goal,
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std::function<void(double, State)> useOutput,
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Requirements requirements = {})
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: ProfiledPIDCommand(
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controller, measurementSource, [goal] { return goal; }, useOutput,
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requirements) {}
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ProfiledPIDCommand(ProfiledPIDCommand&& other) = default;
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ProfiledPIDCommand(const ProfiledPIDCommand& other) = default;
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void Initialize() override { m_controller.Reset(m_measurement()); }
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void Execute() override {
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m_useOutput(m_controller.Calculate(m_measurement(), m_goal()),
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m_controller.GetSetpoint());
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}
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void End(bool interrupted) override {
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m_useOutput(0, State{Distance_t(0), Velocity_t(0)});
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}
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/**
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* Returns the ProfiledPIDController used by the command.
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*
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* @return The ProfiledPIDController
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*/
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frc::ProfiledPIDController<Distance>& GetController() { return m_controller; }
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protected:
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/// Profiled PID controller.
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frc::ProfiledPIDController<Distance> m_controller;
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/// Measurement getter.
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std::function<Distance_t()> m_measurement;
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/// Goal getter.
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std::function<State()> m_goal;
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/// Profiled PID controller output consumer.
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std::function<void(double, State)> m_useOutput;
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};
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} // namespace frc2
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@@ -1,119 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
|
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <frc/controller/ProfiledPIDController.h>
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#include <units/time.h>
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#include "frc2/command/SubsystemBase.h"
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namespace frc2 {
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/**
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* A subsystem that uses a ProfiledPIDController to control an output. The
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* controller is run synchronously from the subsystem's periodic() method.
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*
|
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* This class is provided by the NewCommands VendorDep
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*
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* @see ProfiledPIDController
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* @deprecated Use a ProfiledPIDController instead
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*/
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template <class Distance>
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class [[deprecated("Use a ProfiledPIDController instead")]] ProfiledPIDSubsystem
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: public SubsystemBase {
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using Distance_t = units::unit_t<Distance>;
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using Velocity =
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units::compound_unit<Distance, units::inverse<units::seconds>>;
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using Velocity_t = units::unit_t<Velocity>;
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using State = typename frc::TrapezoidProfile<Distance>::State;
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public:
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/**
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* Creates a new ProfiledPIDSubsystem.
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*
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* @param controller the ProfiledPIDController to use
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* @param initialPosition the initial goal position of the subsystem
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*/
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explicit ProfiledPIDSubsystem(frc::ProfiledPIDController<Distance> controller,
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Distance_t initialPosition = Distance_t{0})
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: m_controller{controller} {
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SetGoal(initialPosition);
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}
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void Periodic() override {
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if (m_enabled) {
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UseOutput(m_controller.Calculate(GetMeasurement()),
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m_controller.GetSetpoint());
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}
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}
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/**
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* Sets the goal state for the subsystem.
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*
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* @param goal The goal state for the subsystem's motion profile.
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*/
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void SetGoal(State goal) { m_controller.SetGoal(goal); }
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/**
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* Sets the goal state for the subsystem. Goal velocity assumed to be zero.
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*
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* @param goal The goal position for the subsystem's motion profile.
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*/
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void SetGoal(Distance_t goal) { SetGoal(State{goal, Velocity_t(0)}); }
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/**
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* Enables the PID control. Resets the controller.
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*/
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virtual void Enable() {
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m_controller.Reset(GetMeasurement());
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m_enabled = true;
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}
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/**
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* Disables the PID control. Sets output to zero.
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*/
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virtual void Disable() {
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UseOutput(0, State{Distance_t(0), Velocity_t(0)});
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m_enabled = false;
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}
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/**
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* Returns whether the controller is enabled.
|
||||
*
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* @return Whether the controller is enabled.
|
||||
*/
|
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bool IsEnabled() { return m_enabled; }
|
||||
|
||||
/**
|
||||
* Returns the ProfiledPIDController.
|
||||
*
|
||||
* @return The controller.
|
||||
*/
|
||||
frc::ProfiledPIDController<Distance>& GetController() { return m_controller; }
|
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|
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protected:
|
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/// Profiled PID controller.
|
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frc::ProfiledPIDController<Distance> m_controller;
|
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|
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/// Whether the profiled PID controller output is enabled.
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bool m_enabled{false};
|
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|
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/**
|
||||
* Returns the measurement of the process variable used by the
|
||||
* ProfiledPIDController.
|
||||
*
|
||||
* @return the measurement of the process variable
|
||||
*/
|
||||
virtual Distance_t GetMeasurement() = 0;
|
||||
|
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/**
|
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* Uses the output from the ProfiledPIDController.
|
||||
*
|
||||
* @param output the output of the ProfiledPIDController
|
||||
* @param setpoint the setpoint state of the ProfiledPIDController, for
|
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* feedforward
|
||||
*/
|
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virtual void UseOutput(double output, State setpoint) = 0;
|
||||
};
|
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} // namespace frc2
|
||||
@@ -1,75 +0,0 @@
|
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// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <functional>
|
||||
|
||||
#include <frc/trajectory/TrapezoidProfile.h>
|
||||
|
||||
#include "frc2/command/Command.h"
|
||||
#include "frc2/command/CommandHelper.h"
|
||||
#include "frc2/command/Requirements.h"
|
||||
|
||||
namespace frc2 {
|
||||
/**
|
||||
* A command that runs a TrapezoidProfile. Useful for smoothly controlling
|
||||
* mechanism motion.
|
||||
*
|
||||
* This class is provided by the NewCommands VendorDep
|
||||
*
|
||||
* @see TrapezoidProfile
|
||||
*/
|
||||
template <class Distance>
|
||||
class TrapezoidProfileCommand
|
||||
: public CommandHelper<Command, TrapezoidProfileCommand<Distance>> {
|
||||
using Distance_t = units::unit_t<Distance>;
|
||||
using Velocity =
|
||||
units::compound_unit<Distance, units::inverse<units::seconds>>;
|
||||
using Velocity_t = units::unit_t<Velocity>;
|
||||
using State = typename frc::TrapezoidProfile<Distance>::State;
|
||||
|
||||
public:
|
||||
/**
|
||||
* Creates a new TrapezoidProfileCommand that will execute the given
|
||||
* TrapezoidalProfile. Output will be piped to the provided consumer function.
|
||||
*
|
||||
* @param profile The motion profile to execute.
|
||||
* @param output The consumer for the profile output.
|
||||
* @param goal The supplier for the desired state
|
||||
* @param currentState The current state
|
||||
* @param requirements The list of requirements.
|
||||
* @deprecated Use a TrapezoidProfile instead
|
||||
*/
|
||||
[[deprecated("Use a TrapezoidProfile instead")]]
|
||||
TrapezoidProfileCommand(frc::TrapezoidProfile<Distance> profile,
|
||||
std::function<void(State)> output,
|
||||
std::function<State()> goal,
|
||||
std::function<State()> currentState,
|
||||
Requirements requirements = {})
|
||||
: m_profile(profile),
|
||||
m_output(output),
|
||||
m_goal(goal),
|
||||
m_currentState(currentState) {
|
||||
this->AddRequirements(requirements);
|
||||
}
|
||||
|
||||
void Initialize() override {}
|
||||
|
||||
void Execute() override {
|
||||
m_output(m_profile.Calculate(20_ms, m_currentState(), m_goal()));
|
||||
}
|
||||
|
||||
void End(bool interrupted) override {}
|
||||
|
||||
bool IsFinished() override { return m_profile.IsFinished(0_s); }
|
||||
|
||||
private:
|
||||
frc::TrapezoidProfile<Distance> m_profile;
|
||||
std::function<void(State)> m_output;
|
||||
std::function<State()> m_goal;
|
||||
std::function<State()> m_currentState;
|
||||
};
|
||||
|
||||
} // namespace frc2
|
||||
@@ -1,96 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <frc/trajectory/TrapezoidProfile.h>
|
||||
#include <units/time.h>
|
||||
|
||||
#include "frc2/command/SubsystemBase.h"
|
||||
|
||||
namespace frc2 {
|
||||
/**
|
||||
* A subsystem that generates and runs trapezoidal motion profiles
|
||||
* automatically. The user specifies how to use the current state of the motion
|
||||
* profile by overriding the `UseState` method.
|
||||
*
|
||||
* This class is provided by the NewCommands VendorDep
|
||||
* @deprecated Use a TrapezoidProfile instead
|
||||
*/
|
||||
template <class Distance>
|
||||
class [[deprecated("Use a TrapezoidProfile instead")]] TrapezoidProfileSubsystem
|
||||
: public SubsystemBase {
|
||||
using Distance_t = units::unit_t<Distance>;
|
||||
using Velocity =
|
||||
units::compound_unit<Distance, units::inverse<units::seconds>>;
|
||||
using Velocity_t = units::unit_t<Velocity>;
|
||||
using State = typename frc::TrapezoidProfile<Distance>::State;
|
||||
using Constraints = typename frc::TrapezoidProfile<Distance>::Constraints;
|
||||
|
||||
public:
|
||||
/**
|
||||
* Creates a new TrapezoidProfileSubsystem.
|
||||
*
|
||||
* @param constraints The constraints (maximum velocity and acceleration)
|
||||
* for the profiles.
|
||||
* @param initialPosition The initial position of the controller mechanism
|
||||
* when the subsystem is constructed.
|
||||
* @param period The period of the main robot loop, in seconds.
|
||||
*/
|
||||
explicit TrapezoidProfileSubsystem(Constraints constraints,
|
||||
Distance_t initialPosition = Distance_t{0},
|
||||
units::second_t period = 20_ms)
|
||||
: m_profile(constraints),
|
||||
m_state{initialPosition, Velocity_t(0)},
|
||||
m_goal{initialPosition, Velocity_t{0}},
|
||||
m_period(period) {}
|
||||
|
||||
void Periodic() override {
|
||||
m_state = m_profile.Calculate(m_period, m_state, m_goal);
|
||||
if (m_enabled) {
|
||||
UseState(m_state);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets the goal state for the subsystem.
|
||||
*
|
||||
* @param goal The goal state for the subsystem's motion profile.
|
||||
*/
|
||||
void SetGoal(State goal) { m_goal = goal; }
|
||||
|
||||
/**
|
||||
* Sets the goal state for the subsystem. Goal velocity assumed to be zero.
|
||||
*
|
||||
* @param goal The goal position for the subsystem's motion profile.
|
||||
*/
|
||||
void SetGoal(Distance_t goal) { m_goal = State{goal, Velocity_t(0)}; }
|
||||
|
||||
protected:
|
||||
/**
|
||||
* Users should override this to consume the current state of the motion
|
||||
* profile.
|
||||
*
|
||||
* @param state The current state of the motion profile.
|
||||
*/
|
||||
virtual void UseState(State state) = 0;
|
||||
|
||||
/**
|
||||
* Enable the TrapezoidProfileSubsystem's output.
|
||||
*/
|
||||
void Enable() { m_enabled = true; }
|
||||
|
||||
/**
|
||||
* Disable the TrapezoidProfileSubsystem's output.
|
||||
*/
|
||||
void Disable() { m_enabled = false; }
|
||||
|
||||
private:
|
||||
frc::TrapezoidProfile<Distance> m_profile;
|
||||
State m_state;
|
||||
State m_goal;
|
||||
units::second_t m_period;
|
||||
bool m_enabled{false};
|
||||
};
|
||||
} // namespace frc2
|
||||
Reference in New Issue
Block a user