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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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10
wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
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@@ -40,13 +40,17 @@ void RobotContainer::ConfigureButtonBindings() {
frc2::TrapezoidProfileCommand<units::meters>(
frc::TrapezoidProfile<units::meters>(
// Limit the max acceleration and velocity
{DriveConstants::kMaxSpeed, DriveConstants::kMaxAcceleration},
// End at desired position in meters; implicitly starts at 0
{3_m, 0_mps}),
{DriveConstants::kMaxSpeed, DriveConstants::kMaxAcceleration}),
// Pipe the profile state to the drive
[this](auto setpointState) {
m_drive.SetDriveStates(setpointState, setpointState);
},
// End at desired position in meters; implicitly starts at 0
[] {
return frc::TrapezoidProfile<units::meters>::State{3_m, 0_mps};
},
// Current position
[] { return frc::TrapezoidProfile<units::meters>::State{}; },
// Require the drive
{&m_drive})
// Convert to CommandPtr

9
wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/commands/DriveDistanceProfiled.cpp
View File

@@ -13,13 +13,16 @@ DriveDistanceProfiled::DriveDistanceProfiled(units::meter_t distance,
: CommandHelper{
frc::TrapezoidProfile<units::meters>{
// Limit the max acceleration and velocity
{kMaxSpeed, kMaxAcceleration},
// End at desired position in meters; implicitly starts at 0
{distance, 0_mps}},
{kMaxSpeed, kMaxAcceleration}},
// Pipe the profile state to the drive
[drive](auto setpointState) {
drive->SetDriveStates(setpointState, setpointState);
},
// End at desired position in meters; implicitly starts at 0
[distance] {
return frc::TrapezoidProfile<units::meters>::State{distance, 0_mps};
},
[] { return frc::TrapezoidProfile<units::meters>::State{}; },
// Require the drive
{drive}} {
// Reset drive encoders since we're starting at 0