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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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1
wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.h
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@@ -22,6 +22,7 @@
*/
namespace DriveConstants {
inline constexpr units::second_t kDt{0.02};
inline constexpr int kLeftMotor1Port = 0;
inline constexpr int kLeftMotor2Port = 1;
inline constexpr int kRightMotor1Port = 2;

17
wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/commands/DriveDistanceProfiled.h
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@@ -1,17 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <frc2/command/CommandHelper.h>
#include <frc2/command/TrapezoidProfileCommand.h>
#include "subsystems/DriveSubsystem.h"
class DriveDistanceProfiled
: public frc2::CommandHelper<frc2::TrapezoidProfileCommand<units::meters>,
DriveDistanceProfiled> {
public:
DriveDistanceProfiled(units::meter_t distance, DriveSubsystem* drive);
};

39
wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/subsystems/DriveSubsystem.h
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@@ -5,9 +5,11 @@
#pragma once
#include <frc/Encoder.h>
#include <frc/Timer.h>
#include <frc/controller/SimpleMotorFeedforward.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc/trajectory/TrapezoidProfile.h>
#include <frc2/command/CommandPtr.h>
#include <frc2/command/SubsystemBase.h>
#include <units/length.h>
@@ -28,11 +30,15 @@ class DriveSubsystem : public frc2::SubsystemBase {
/**
* Attempts to follow the given drive states using offboard PID.
*
* @param left The left wheel state.
* @param right The right wheel state.
* @param currentLeft The current left wheel state.
* @param currentRight The current right wheel state.
* @param nextLeft The next left wheel state.
* @param nextRight The next right wheel state.
*/
void SetDriveStates(frc::TrapezoidProfile<units::meters>::State left,
frc::TrapezoidProfile<units::meters>::State right);
void SetDriveStates(frc::TrapezoidProfile<units::meters>::State currentLeft,
frc::TrapezoidProfile<units::meters>::State currentRight,
frc::TrapezoidProfile<units::meters>::State nextLeft,
frc::TrapezoidProfile<units::meters>::State nextRight);
/**
* Drives the robot using arcade controls.
@@ -69,7 +75,32 @@ class DriveSubsystem : public frc2::SubsystemBase {
*/
void SetMaxOutput(double maxOutput);
/**
* Creates a command to drive forward a specified distance using a motion
* profile.
*
* @param distance The distance to drive forward.
* @return A command.
*/
[[nodiscard]]
frc2::CommandPtr ProfiledDriveDistance(units::meter_t distance);
/**
* Creates a command to drive forward a specified distance using a motion
* profile without resetting the encoders.
*
* @param distance The distance to drive forward.
* @return A command.
*/
[[nodiscard]]
frc2::CommandPtr DynamicProfiledDriveDistance(units::meter_t distance);
private:
frc::TrapezoidProfile<units::meters> m_profile{
{DriveConstants::kMaxSpeed, DriveConstants::kMaxAcceleration}};
frc::Timer m_timer;
units::meter_t m_initialLeftDistance;
units::meter_t m_initialRightDistance;
// Components (e.g. motor controllers and sensors) should generally be
// declared private and exposed only through public methods.