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Minor improvements/fixes to new command framework (#2186)

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This commit is contained in:
Oblarg
2019-12-23 02:09:25 -05:00
committed by Peter Johnson
parent 1ce24a7a2f
commit 67b59f2b31
9 changed files with 107 additions and 38 deletions
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5
wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h
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@@ -24,8 +24,9 @@ class PIDSubsystem : public SubsystemBase {
* Creates a new PIDSubsystem.
*
* @param controller the PIDController to use
* @param initialPosition the initial setpoint of the subsystem
*/
explicit PIDSubsystem(PIDController controller);
explicit PIDSubsystem(PIDController controller, double initialPosition = 0);
void Periodic() override;
@@ -62,7 +63,7 @@ class PIDSubsystem : public SubsystemBase {
protected:
PIDController m_controller;
bool m_enabled;
bool m_enabled{false};
/**
* Returns the measurement of the process variable used by the PIDController.

8
wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
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@@ -32,9 +32,13 @@ class ProfiledPIDSubsystem : public SubsystemBase {
* Creates a new ProfiledPIDSubsystem.
*
* @param controller the ProfiledPIDController to use
* @param initialPosition the initial goal position of the subsystem
*/
explicit ProfiledPIDSubsystem(frc::ProfiledPIDController<Distance> controller)
: m_controller{controller} {}
explicit ProfiledPIDSubsystem(frc::ProfiledPIDController<Distance> controller,
Distance_t initialPosition = Distance_t{0})
: m_controller{controller} {
SetGoal(initialPosition);
}
void Periodic() override {
if (m_enabled) {

2
wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
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@@ -42,7 +42,7 @@ class TrapezoidProfileCommand
*/
TrapezoidProfileCommand(frc::TrapezoidProfile<Distance> profile,
std::function<void(State)> output,
std::initializer_list<Subsystem*> requirements)
std::initializer_list<Subsystem*> requirements = {})
: m_profile(profile), m_output(output) {
this->AddRequirements(requirements);
}

24
wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h
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@@ -37,18 +37,21 @@ class TrapezoidProfileSubsystem : public SubsystemBase {
* when the subsystem is constructed.
* @param period The period of the main robot loop, in seconds.
*/
TrapezoidProfileSubsystem(Constraints constraints, Distance_t position,
units::second_t period = 20_ms)
explicit TrapezoidProfileSubsystem(Constraints constraints,
Distance_t initialPosition = Distance_t{0},
units::second_t period = 20_ms)
: m_constraints(constraints),
m_state{position, Velocity_t(0)},
m_goal{position, Velocity_t{0}},
m_state{initialPosition, Velocity_t(0)},
m_goal{initialPosition, Velocity_t{0}},
m_period(period) {}
void Periodic() override {
auto profile =
frc::TrapezoidProfile<Distance>(m_constraints, m_goal, m_state);
m_state = profile.Calculate(m_period);
UseState(m_state);
if (m_enabled) {
UseState(m_state);
}
}
/**
@@ -74,10 +77,21 @@ class TrapezoidProfileSubsystem : public SubsystemBase {
*/
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:
Constraints m_constraints;
State m_state;
State m_goal;
units::second_t m_period;
bool m_enabled{false};
};
} // namespace frc2