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Add ArrayRef overloads to new command classes (#2216)

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Also default requirements to {} in all cases for consistency.
This commit is contained in:
Peter Johnson
2020-01-01 20:09:17 -08:00
committed by GitHub
parent 6190fcb237
commit 32c62449be
30 changed files with 773 additions and 49 deletions
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66
wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -50,6 +50,46 @@ MecanumControllerCommand::MecanumControllerCommand(
AddRequirements(requirements);
}
MecanumControllerCommand::MecanumControllerCommand(
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
frc::SimpleMotorFeedforward<units::meters> feedforward,
frc::MecanumDriveKinematics kinematics, frc2::PIDController xController,
frc2::PIDController yController,
frc::ProfiledPIDController<units::radians> thetaController,
units::meters_per_second_t maxWheelVelocity,
std::function<frc::MecanumDriveWheelSpeeds()> currentWheelSpeeds,
frc2::PIDController frontLeftController,
frc2::PIDController rearLeftController,
frc2::PIDController frontRightController,
frc2::PIDController rearRightController,
std::function<void(units::volt_t, units::volt_t, units::volt_t,
units::volt_t)>
output,
wpi::ArrayRef<Subsystem*> requirements)
: m_trajectory(trajectory),
m_pose(pose),
m_feedforward(feedforward),
m_kinematics(kinematics),
m_xController(std::make_unique<frc2::PIDController>(xController)),
m_yController(std::make_unique<frc2::PIDController>(yController)),
m_thetaController(
std::make_unique<frc::ProfiledPIDController<units::radians>>(
thetaController)),
m_maxWheelVelocity(maxWheelVelocity),
m_frontLeftController(
std::make_unique<frc2::PIDController>(frontLeftController)),
m_rearLeftController(
std::make_unique<frc2::PIDController>(rearLeftController)),
m_frontRightController(
std::make_unique<frc2::PIDController>(frontRightController)),
m_rearRightController(
std::make_unique<frc2::PIDController>(rearRightController)),
m_currentWheelSpeeds(currentWheelSpeeds),
m_outputVolts(output),
m_usePID(true) {
AddRequirements(requirements);
}
MecanumControllerCommand::MecanumControllerCommand(
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
frc::MecanumDriveKinematics kinematics, frc2::PIDController xController,
@@ -74,6 +114,30 @@ MecanumControllerCommand::MecanumControllerCommand(
AddRequirements(requirements);
}
MecanumControllerCommand::MecanumControllerCommand(
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
frc::MecanumDriveKinematics kinematics, frc2::PIDController xController,
frc2::PIDController yController,
frc::ProfiledPIDController<units::radians> thetaController,
units::meters_per_second_t maxWheelVelocity,
std::function<void(units::meters_per_second_t, units::meters_per_second_t,
units::meters_per_second_t, units::meters_per_second_t)>
output,
wpi::ArrayRef<Subsystem*> requirements)
: m_trajectory(trajectory),
m_pose(pose),
m_kinematics(kinematics),
m_xController(std::make_unique<frc2::PIDController>(xController)),
m_yController(std::make_unique<frc2::PIDController>(yController)),
m_thetaController(
std::make_unique<frc::ProfiledPIDController<units::radians>>(
thetaController)),
m_maxWheelVelocity(maxWheelVelocity),
m_outputVel(output),
m_usePID(false) {
AddRequirements(requirements);
}
void MecanumControllerCommand::Initialize() {
m_prevTime = 0_s;
auto initialState = m_trajectory.Sample(0_s);