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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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12
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trapezoidprofilecommand/ReplaceMeTrapezoidProfileCommand.java
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@@ -17,13 +17,13 @@ public class ReplaceMeTrapezoidProfileCommand extends TrapezoidProfileCommand {
// The motion profile to be executed
new TrapezoidProfile(
// The motion profile constraints
new TrapezoidProfile.Constraints(0, 0),
// Goal state
new TrapezoidProfile.State(),
// Initial state
new TrapezoidProfile.State()),
new TrapezoidProfile.Constraints(0, 0)),
state -> {
// Use current trajectory state here
});
},
// Goal state
() -> new TrapezoidProfile.State(),
// Current state
() -> new TrapezoidProfile.State());
}
}