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[wpimath] Refactor TrapezoidProfile API (#5457)

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This commit is contained in:
Gold856
2023-07-19 20:25:10 -04:00
committed by GitHub
parent 72a4543493
commit 86e91e6724
24 changed files with 492 additions and 184 deletions
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68
wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
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@@ -39,13 +39,44 @@ class TrapezoidProfileCommand
*
* @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.
*/
TrapezoidProfileCommand(frc::TrapezoidProfile<Distance> profile,
std::function<void(State)> output,
std::function<State()> goal,
std::function<State()> currentState,
std::initializer_list<Subsystem*> requirements)
: m_profile(profile), m_output(output) {
: m_profile(profile),
m_output(output),
m_goal(goal),
m_currentState(currentState) {
this->AddRequirements(requirements);
m_newAPI = true;
}
/**
* 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.
*/
TrapezoidProfileCommand(frc::TrapezoidProfile<Distance> profile,
std::function<void(State)> output,
std::function<State()> goal,
std::function<State()> currentState,
std::span<Subsystem* const> requirements = {})
: m_profile(profile),
m_output(output),
m_goal(goal),
m_currentState(currentState) {
this->AddRequirements(requirements);
m_newAPI = true;
}
/**
@@ -55,17 +86,46 @@ class TrapezoidProfileCommand
* @param profile The motion profile to execute.
* @param output The consumer for the profile output.
* @param requirements The list of requirements.
* @deprecated The new constructor allows you to pass in a supplier for
* desired and current state. This allows you to change goals at runtime.
*/
WPI_DEPRECATED(
"The new constructor allows you to pass in a supplier for desired and "
"current state. This allows you to change goals at runtime.")
TrapezoidProfileCommand(frc::TrapezoidProfile<Distance> profile,
std::function<void(State)> output,
std::initializer_list<Subsystem*> requirements)
: m_profile(profile), m_output(output) {
this->AddRequirements(requirements);
m_newAPI = false;
}
/**
* 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 requirements The list of requirements.
* @deprecated The new constructor allows you to pass in a supplier for
* desired and current state. This allows you to change goals at runtime.
*/
WPI_DEPRECATED(
"The new constructor allows you to pass in a supplier for desired and "
"current state. This allows you to change goals at runtime.")
TrapezoidProfileCommand(frc::TrapezoidProfile<Distance> profile,
std::function<void(State)> output,
std::span<Subsystem* const> requirements = {})
: m_profile(profile), m_output(output) {
this->AddRequirements(requirements);
m_newAPI = false;
}
void Initialize() override { m_timer.Restart(); }
void Execute() override { m_output(m_profile.Calculate(m_timer.Get())); }
void Execute() override {
m_output(m_profile.Calculate(m_timer.Get(), m_goal(), m_currentState()));
}
void End(bool interrupted) override { m_timer.Stop(); }
@@ -76,7 +136,9 @@ class TrapezoidProfileCommand
private:
frc::TrapezoidProfile<Distance> m_profile;
std::function<void(State)> m_output;
std::function<State()> m_goal;
std::function<State()> m_currentState;
bool m_newAPI; // TODO: Remove
frc::Timer m_timer;
};