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Add TrapezoidProfile external PID examples (#2131)

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This commit is contained in:
Oblarg
2019-12-07 16:37:54 -05:00
committed by Peter Johnson
parent 5c6b8a0f45
commit ccdd0fbdb2
54 changed files with 2734 additions and 73 deletions
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2
wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/commands/TurnToAngle.h
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@@ -23,7 +23,7 @@ class TurnToAngle : public frc2::CommandHelper<frc2::PIDCommand, TurnToAngle> {
* @param targetAngleDegrees The angle to turn to
* @param drive The drive subsystem to use
*/
TurnToAngle(double targetAngleDegrees, DriveSubsystem* drive);
TurnToAngle(units::degree_t target, DriveSubsystem* drive);
bool IsFinished() override;
};

33
wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/commands/TurnToAngleProfiled.h Normal file
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@@ -0,0 +1,33 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc2/command/CommandHelper.h>
#include <frc2/command/ProfiledPIDCommand.h>
#include "subsystems/DriveSubsystem.h"
/**
* A command that will turn the robot to the specified angle using a motion
* profile.
*/
class TurnToAngleProfiled
: public frc2::CommandHelper<frc2::ProfiledPIDCommand<units::radians>,
TurnToAngleProfiled> {
public:
/**
* Turns to robot to the specified angle using a motion profile.
*
* @param targetAngleDegrees The angle to turn to
* @param drive The drive subsystem to use
*/
TurnToAngleProfiled(units::degree_t targetAngleDegrees,
DriveSubsystem* drive);
bool IsFinished() override;
};