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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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36
wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
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@@ -23,8 +23,14 @@ namespace frc2 {
*
* @see TrapezoidProfile
*/
template <class Distance>
class TrapezoidProfileCommand
: public CommandHelper<CommandBase, TrapezoidProfileCommand> {
: public CommandHelper<CommandBase, TrapezoidProfileCommand<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:
/**
* Creates a new TrapezoidProfileCommand that will execute the given
@@ -34,21 +40,31 @@ class TrapezoidProfileCommand
* @param output The consumer for the profile output.
*/
TrapezoidProfileCommand(
frc::TrapezoidProfile profile,
std::function<void(frc::TrapezoidProfile::State)> output,
std::initializer_list<Subsystem*> requirements);
frc::TrapezoidProfile<Distance> profile,
std::function<void(State)> output,
std::initializer_list<Subsystem*> requirements)
: m_profile(profile), m_output(output) {
AddRequirements(requirements);
}
void Initialize() override;
void Initialize() override {
m_timer.Reset();
m_timer.Start();
}
void Execute() override;
void Execute() override {
m_output(m_profile.Calculate(m_timer.Get()));
}
void End(bool interrupted) override;
void End(bool interrupted) override { m_timer.Stop(); }
bool IsFinished() override;
bool IsFinished() override {
return m_timer.HasPeriodPassed(m_profile.TotalTime());
}
private:
frc::TrapezoidProfile m_profile;
std::function<void(frc::TrapezoidProfile::State)> m_output;
frc::TrapezoidProfile<Distance> m_profile;
std::function<void(State)> m_output;
Timer m_timer;
};