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Template C++ TrapezoidProfile and ProfiledPIDController on units (#2109)

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This commit is contained in:
Oblarg
2019-11-20 23:11:46 -05:00
committed by Peter Johnson
parent f62e23f1af
commit fa85fbfc1c
16 changed files with 320 additions and 448 deletions
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71
wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDCommand.h
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@@ -23,11 +23,16 @@ namespace frc2 {
* class. The controller calculation and output are performed synchronously in
* the command's execute() method.
*
* @see ProfiledPIDController
* @see ProfiledPIDController<Distance>
*/
template <class Distance>
class ProfiledPIDCommand
: public CommandHelper<CommandBase, ProfiledPIDCommand> {
using State = frc::TrapezoidProfile::State;
: public CommandHelper<CommandBase, ProfiledPIDCommand<Distance>> {
using Distance_t = units::unit_t<Distance>;
using Velocity =
units::compound_unit<Distance, units::inverse<units::seconds>>;
using Velocity_t = units::unit_t<Velocity>;
using State = frc::TrapezoidProfile<Distance>::State;
public:
/**
@@ -40,11 +45,17 @@ class ProfiledPIDCommand
* @param useOutput the controller's output
* @param requirements the subsystems required by this command
*/
ProfiledPIDCommand(frc::ProfiledPIDController controller,
std::function<units::meter_t()> measurementSource,
ProfiledPIDCommand(frc::ProfiledPIDController<Distance> controller,
std::function<units::unit_t<Distance>> measurementSource,
std::function<State()> goalSource,
std::function<void(double, State)> useOutput,
std::initializer_list<Subsystem*> requirements = {});
std::initializer_list<Subsystem*> requirements = {})
: m_controller{controller},
m_measurement{std::move(measurementSource)},
m_goal{std::move(goalSource)},
m_useOutput{std::move(useOutput)} {
AddRequirements(requirements);
}
/**
* Creates a new PIDCommand, which controls the given output with a
@@ -56,11 +67,16 @@ class ProfiledPIDCommand
* @param useOutput the controller's output
* @param requirements the subsystems required by this command
*/
ProfiledPIDCommand(frc::ProfiledPIDController controller,
std::function<units::meter_t()> measurementSource,
std::function<units::meter_t()> goalSource,
ProfiledPIDCommand(frc::ProfiledPIDController<Distance> controller,
std::function<units::unit_t<Distance>> measurementSource,
std::function<units::unit_t<Distance>> goalSource,
std::function<void(double, State)> useOutput,
std::initializer_list<Subsystem*> requirements);
std::initializer_list<Subsystem*> requirements)
: ProfiledPIDCommand(controller, measurementSource,
[&goalSource]() {
return State{goalSource(), 0_mps};
},
useOutput, requirements) {}
/**
* Creates a new PIDCommand, which controls the given output with a
@@ -72,10 +88,12 @@ class ProfiledPIDCommand
* @param useOutput the controller's output
* @param requirements the subsystems required by this command
*/
ProfiledPIDCommand(frc::ProfiledPIDController controller,
std::function<units::meter_t()> measurementSource,
ProfiledPIDCommand(frc::ProfiledPIDController<Distance> controller,
std::function<units::unit_t<Distance>> measurementSource,
State goal, std::function<void(double, State)> useOutput,
std::initializer_list<Subsystem*> requirements);
std::initializer_list<Subsystem*> requirements)
: ProfiledPIDCommand(controller, measurementSource, [goal] { return goal; },
useOutput, requirements) {}
/**
* Creates a new PIDCommand, which controls the given output with a
@@ -87,32 +105,41 @@ class ProfiledPIDCommand
* @param useOutput the controller's output
* @param requirements the subsystems required by this command
*/
ProfiledPIDCommand(frc::ProfiledPIDController controller,
std::function<units::meter_t()> measurementSource,
ProfiledPIDCommand(frc::ProfiledPIDController<Distance> controller,
std::function<units::unit_t<Distance>> measurementSource,
units::meter_t goal,
std::function<void(double, State)> useOutput,
std::initializer_list<Subsystem*> requirements);
std::initializer_list<Subsystem*> requirements)
: ProfiledPIDCommand(controller, measurementSource, [goal] { return goal; },
useOutput, requirements) {}
ProfiledPIDCommand(ProfiledPIDCommand&& other) = default;
ProfiledPIDCommand(const ProfiledPIDCommand& other) = default;
void Initialize() override;
void Initialize() override { m_controller.Reset(); }
void Execute() override;
void Execute() override {
m_useOutput(m_controller.Calculate(m_measurement(), m_goal()),
m_controller.GetSetpoint());
}
void End(bool interrupted) override;
void End(bool interrupted) override {
m_useOutput(0, State{Distance_t(0), Velocity_t(0)});
}
/**
* Returns the ProfiledPIDController used by the command.
*
* @return The ProfiledPIDController
*/
frc::ProfiledPIDController& GetController();
frc::ProfiledPIDController<Distance>& GetController() {
return m_controller;
}
protected:
frc::ProfiledPIDController m_controller;
std::function<units::meter_t()> m_measurement;
frc::ProfiledPIDController<Distance> m_controller;
std::function<units::unit_t<Distance>> m_measurement;
std::function<State()> m_goal;
std::function<void(double, State)> m_useOutput;
};