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[commands] Fix and deprecate TrapezoidProfileCommand (#6722)

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This commit is contained in:
Gold856
2024-08-14 00:01:17 -04:00
committed by GitHub
parent 55c1c5396d
commit a2060feadc
17 changed files with 240 additions and 272 deletions
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11
wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
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@@ -6,7 +6,6 @@
#include <functional>
#include <frc/Timer.h>
#include <frc/trajectory/TrapezoidProfile.h>
#include "frc2/command/Command.h"
@@ -54,16 +53,17 @@ class TrapezoidProfileCommand
this->AddRequirements(requirements);
}
void Initialize() override { m_timer.Restart(); }
void Initialize() override {}
void Execute() override {
m_output(m_profile.Calculate(m_timer.Get(), m_currentState(), m_goal()));
m_output(
m_profile.Calculate(units::second_t{0.02}, m_currentState(), m_goal()));
}
void End(bool interrupted) override { m_timer.Stop(); }
void End(bool interrupted) override {}
bool IsFinished() override {
return m_timer.HasElapsed(m_profile.TotalTime());
return m_profile.IsFinished(units::second_t{0});
}
private:
@@ -71,7 +71,6 @@ class TrapezoidProfileCommand
std::function<void(State)> m_output;
std::function<State()> m_goal;
std::function<State()> m_currentState;
frc::Timer m_timer;
};
} // namespace frc2