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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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93
wpilibNewCommands/src/main/native/include/frc2/command/MecanumControllerCommand.h
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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. */
@@ -7,6 +7,7 @@
#include <cmath>
#include <functional>
#include <initializer_list>
#include <memory>
#include <frc/controller/PIDController.h>
@@ -18,6 +19,7 @@
#include <frc/kinematics/MecanumDriveWheelSpeeds.h>
#include <frc/trajectory/Trajectory.h>
#include <units/units.h>
#include <wpi/ArrayRef.h>
#include "CommandBase.h"
#include "CommandHelper.h"
@@ -99,6 +101,57 @@ class MecanumControllerCommand
output,
std::initializer_list<Subsystem*> requirements);
/**
* Constructs a new MecanumControllerCommand that when executed will follow
* the provided trajectory. PID control and feedforward are handled
* internally. Outputs are scaled from -12 to 12 as a voltage output to the
* motor.
*
* <p>Note: The controllers will *not* set the outputVolts to zero upon
* completion of the path this is left to the user, since it is not
* appropriate for paths with nonstationary endstates.
*
* <p>Note 2: The rotation controller will calculate the rotation based on the
* final pose in the trajectory, not the poses at each time step.
*
* @param trajectory The trajectory to follow.
* @param pose A function that supplies the robot pose,
* provided by the odometry class.
* @param feedforward The feedforward to use for the drivetrain.
* @param kinematics The kinematics for the robot drivetrain.
* @param xController The Trajectory Tracker PID controller
* for the robot's x position.
* @param yController The Trajectory Tracker PID controller
* for the robot's y position.
* @param thetaController The Trajectory Tracker PID controller
* for angle for the robot.
* @param maxWheelVelocity The maximum velocity of a drivetrain wheel.
* @param frontLeftController The front left wheel velocity PID.
* @param rearLeftController The rear left wheel velocity PID.
* @param frontRightController The front right wheel velocity PID.
* @param rearRightController The rear right wheel velocity PID.
* @param currentWheelSpeeds A MecanumDriveWheelSpeeds object containing
* the current wheel speeds.
* @param output The output of the velocity PIDs.
* @param requirements The subsystems to require.
*/
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 = {});
/**
* Constructs a new MecanumControllerCommand that when executed will follow
* the provided trajectory. The user should implement a velocity PID on the
@@ -137,6 +190,44 @@ class MecanumControllerCommand
output,
std::initializer_list<Subsystem*> requirements);
/**
* Constructs a new MecanumControllerCommand that when executed will follow
* the provided trajectory. The user should implement a velocity PID on the
* desired output wheel velocities.
*
* <p>Note: The controllers will *not* set the outputVolts to zero upon
* completion of the path - this is left to the user, since it is not
* appropriate for paths with non-stationary end-states.
*
* <p>Note2: The rotation controller will calculate the rotation based on the
* final pose in the trajectory, not the poses at each time step.
*
* @param trajectory The trajectory to follow.
* @param pose A function that supplies the robot pose - use one
* of the odometry classes to provide this.
* @param kinematics The kinematics for the robot drivetrain.
* @param xController The Trajectory Tracker PID controller
* for the robot's x position.
* @param yController The Trajectory Tracker PID controller
* for the robot's y position.
* @param thetaController The Trajectory Tracker PID controller
* for angle for the robot.
* @param maxWheelVelocity The maximum velocity of a drivetrain wheel.
* @param output The output of the position PIDs.
* @param requirements The subsystems to require.
*/
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 = {});
void Initialize() override;
void Execute() override;