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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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25
wpilibcExamples/src/main/cpp/commands/trapezoidprofilecommand/ReplaceMeTrapezoidProfileCommand.cpp
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@@ -13,13 +13,18 @@
ReplaceMeTrapezoidProfileCommand::ReplaceMeTrapezoidProfileCommand()
: CommandHelper
// The profile to execute
(frc::TrapezoidProfile<units::meters>(
// The maximum velocity and acceleration of the profile
{5_mps, 5_mps_sq},
// The goal state of the profile
{10_m, 0_mps},
// The initial state of the profile
{0_m, 0_mps}),
[](frc::TrapezoidProfile<units::meters>::State state) {
// Use the computed intermediate trajectory state here
}) {}
(
frc::TrapezoidProfile<units::meters>(
// The maximum velocity and acceleration of the profile
{5_mps, 5_mps_sq}),
[](frc::TrapezoidProfile<units::meters>::State state) {
// Use the computed intermediate trajectory state here
},
// The goal state of the profile
[] {
return frc::TrapezoidProfile<units::meters>::State{10_m, 0_mps};
},
// The initial state of the profile
[] {
return frc::TrapezoidProfile<units::meters>::State{0_m, 0_mps};
}) {}