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[commands] Add C++ Requirements struct (#5504)
This commit is contained in:
Joseph Eng
@@ -102,7 +102,7 @@ class MecanumControllerCommand
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std::function<void(units::volt_t, units::volt_t, units::volt_t,
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units::volt_t)>
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output,
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std::initializer_list<Subsystem*> requirements);
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Requirements requirements = {});
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/**
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* Constructs a new MecanumControllerCommand that when executed will follow
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@@ -155,111 +155,7 @@ class MecanumControllerCommand
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std::function<void(units::volt_t, units::volt_t, units::volt_t,
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units::volt_t)>
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output,
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std::initializer_list<Subsystem*> requirements);
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/**
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* Constructs a new MecanumControllerCommand that when executed will follow
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* the provided trajectory. PID control and feedforward are handled
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* internally. Outputs are scaled from -12 to 12 as a voltage output to the
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* motor.
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*
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* <p>Note: The controllers will *not* set the outputVolts to zero upon
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* completion of the path this is left to the user, since it is not
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* appropriate for paths with nonstationary endstates.
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*
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* @param trajectory The trajectory to follow.
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* @param pose A function that supplies the robot pose,
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* provided by the odometry class.
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* @param feedforward The feedforward to use for the drivetrain.
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* @param kinematics The kinematics for the robot drivetrain.
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* @param xController The Trajectory Tracker PID controller
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* for the robot's x position.
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* @param yController The Trajectory Tracker PID controller
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* for the robot's y position.
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* @param thetaController The Trajectory Tracker PID controller
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* for angle for the robot.
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* @param desiredRotation The angle that the robot should be facing.
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* This is sampled at each time step.
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* @param maxWheelVelocity The maximum velocity of a drivetrain wheel.
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* @param frontLeftController The front left wheel velocity PID.
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* @param rearLeftController The rear left wheel velocity PID.
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* @param frontRightController The front right wheel velocity PID.
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* @param rearRightController The rear right wheel velocity PID.
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* @param currentWheelSpeeds A MecanumDriveWheelSpeeds object containing
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* the current wheel speeds.
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* @param output The output of the velocity PIDs.
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* @param requirements The subsystems to require.
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*/
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MecanumControllerCommand(
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frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
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frc::SimpleMotorFeedforward<units::meters> feedforward,
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frc::MecanumDriveKinematics kinematics, frc::PIDController xController,
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frc::PIDController yController,
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frc::ProfiledPIDController<units::radians> thetaController,
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std::function<frc::Rotation2d()> desiredRotation,
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units::meters_per_second_t maxWheelVelocity,
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std::function<frc::MecanumDriveWheelSpeeds()> currentWheelSpeeds,
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frc::PIDController frontLeftController,
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frc::PIDController rearLeftController,
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frc::PIDController frontRightController,
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frc::PIDController rearRightController,
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std::function<void(units::volt_t, units::volt_t, units::volt_t,
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units::volt_t)>
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output,
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std::span<Subsystem* const> requirements = {});
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/**
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* Constructs a new MecanumControllerCommand that when executed will follow
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* the provided trajectory. PID control and feedforward are handled
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* internally. Outputs are scaled from -12 to 12 as a voltage output to the
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* motor.
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*
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* <p>Note: The controllers will *not* set the outputVolts to zero upon
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* completion of the path this is left to the user, since it is not
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* appropriate for paths with nonstationary endstates.
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*
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* <p>Note 2: The final rotation of the robot will be set to the rotation of
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* the final pose in the trajectory. The robot will not follow the rotations
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* from the poses at each timestep. If alternate rotation behavior is desired,
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* the other constructor with a supplier for rotation should be used.
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*
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* @param trajectory The trajectory to follow.
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* @param pose A function that supplies the robot pose,
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* provided by the odometry class.
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* @param feedforward The feedforward to use for the drivetrain.
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* @param kinematics The kinematics for the robot drivetrain.
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* @param xController The Trajectory Tracker PID controller
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* for the robot's x position.
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* @param yController The Trajectory Tracker PID controller
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* for the robot's y position.
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* @param thetaController The Trajectory Tracker PID controller
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* for angle for the robot.
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* @param maxWheelVelocity The maximum velocity of a drivetrain wheel.
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* @param frontLeftController The front left wheel velocity PID.
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* @param rearLeftController The rear left wheel velocity PID.
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* @param frontRightController The front right wheel velocity PID.
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* @param rearRightController The rear right wheel velocity PID.
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* @param currentWheelSpeeds A MecanumDriveWheelSpeeds object containing
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* the current wheel speeds.
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* @param output The output of the velocity PIDs.
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* @param requirements The subsystems to require.
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*/
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MecanumControllerCommand(
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frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
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frc::SimpleMotorFeedforward<units::meters> feedforward,
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frc::MecanumDriveKinematics kinematics, frc::PIDController xController,
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frc::PIDController yController,
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frc::ProfiledPIDController<units::radians> thetaController,
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units::meters_per_second_t maxWheelVelocity,
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std::function<frc::MecanumDriveWheelSpeeds()> currentWheelSpeeds,
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frc::PIDController frontLeftController,
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frc::PIDController rearLeftController,
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frc::PIDController frontRightController,
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frc::PIDController rearRightController,
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std::function<void(units::volt_t, units::volt_t, units::volt_t,
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units::volt_t)>
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output,
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std::span<Subsystem* const> requirements = {});
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Requirements requirements = {});
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/**
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* Constructs a new MecanumControllerCommand that when executed will follow
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@@ -297,7 +193,7 @@ class MecanumControllerCommand
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units::meters_per_second_t,
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units::meters_per_second_t)>
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output,
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std::initializer_list<Subsystem*> requirements);
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Requirements requirements);
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/**
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* Constructs a new MecanumControllerCommand that when executed will follow
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@@ -337,85 +233,7 @@ class MecanumControllerCommand
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units::meters_per_second_t,
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units::meters_per_second_t)>
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output,
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std::initializer_list<Subsystem*> requirements);
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/**
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* Constructs a new MecanumControllerCommand that when executed will follow
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* the provided trajectory. The user should implement a velocity PID on the
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* desired output wheel velocities.
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*
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* <p>Note: The controllers will *not* set the outputVolts to zero upon
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* completion of the path - this is left to the user, since it is not
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* appropriate for paths with nonstationary end-states.
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*
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* @param trajectory The trajectory to follow.
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* @param pose A function that supplies the robot pose - use one
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* of the odometry classes to provide this.
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* @param kinematics The kinematics for the robot drivetrain.
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* @param xController The Trajectory Tracker PID controller
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* for the robot's x position.
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* @param yController The Trajectory Tracker PID controller
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* for the robot's y position.
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* @param thetaController The Trajectory Tracker PID controller
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* for angle for the robot.
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* @param desiredRotation The angle that the robot should be facing.
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* This is sampled at every time step.
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* @param maxWheelVelocity The maximum velocity of a drivetrain wheel.
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* @param output The output of the position PIDs.
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* @param requirements The subsystems to require.
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*/
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MecanumControllerCommand(
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frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
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frc::MecanumDriveKinematics kinematics, frc::PIDController xController,
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frc::PIDController yController,
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frc::ProfiledPIDController<units::radians> thetaController,
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std::function<frc::Rotation2d()> desiredRotation,
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units::meters_per_second_t maxWheelVelocity,
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std::function<void(units::meters_per_second_t, units::meters_per_second_t,
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units::meters_per_second_t,
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units::meters_per_second_t)>
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output,
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std::span<Subsystem* const> requirements = {});
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/**
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* Constructs a new MecanumControllerCommand that when executed will follow
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* the provided trajectory. The user should implement a velocity PID on the
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* desired output wheel velocities.
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*
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* <p>Note: The controllers will *not* set the outputVolts to zero upon
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* completion of the path - this is left to the user, since it is not
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* appropriate for paths with nonstationary end-states.
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*
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* <p>Note2: The final rotation of the robot will be set to the rotation of
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* the final pose in the trajectory. The robot will not follow the rotations
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* from the poses at each timestep. If alternate rotation behavior is desired,
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* the other constructor with a supplier for rotation should be used.
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*
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* @param trajectory The trajectory to follow.
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* @param pose A function that supplies the robot pose - use one
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* of the odometry classes to provide this.
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* @param kinematics The kinematics for the robot drivetrain.
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* @param xController The Trajectory Tracker PID controller
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* for the robot's x position.
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* @param yController The Trajectory Tracker PID controller
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* for the robot's y position.
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* @param thetaController The Trajectory Tracker PID controller
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* for angle for the robot.
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* @param maxWheelVelocity The maximum velocity of a drivetrain wheel.
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* @param output The output of the position PIDs.
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* @param requirements The subsystems to require.
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*/
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MecanumControllerCommand(
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frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
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frc::MecanumDriveKinematics kinematics, frc::PIDController xController,
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frc::PIDController yController,
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frc::ProfiledPIDController<units::radians> thetaController,
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units::meters_per_second_t maxWheelVelocity,
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std::function<void(units::meters_per_second_t, units::meters_per_second_t,
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units::meters_per_second_t,
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units::meters_per_second_t)>
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output,
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std::span<Subsystem* const> requirements = {});
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Requirements requirements = {});
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void Initialize() override;
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