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41 lines
1.2 KiB
C++
41 lines
1.2 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <frc2/command/Command.h>
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#include <frc2/command/CommandHelper.h>
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#include <units/angle.h>
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#include <units/length.h>
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#include "subsystems/Drivetrain.h"
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class TurnDegrees : public frc2::CommandHelper<frc2::Command, TurnDegrees> {
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public:
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/**
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* Creates a new TurnDegrees. This command will turn your robot for a desired
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* rotation (in degrees) and rotational speed.
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*
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* @param speed The speed which the robot will drive. Negative is in reverse.
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* @param degrees Degrees to turn. Leverages encoders to compare distance.
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* @param drive The drive subsystem on which this command will run
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*/
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TurnDegrees(double speed, units::degree_t angle, Drivetrain* drive)
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: m_speed(speed), m_angle(angle), m_drive(drive) {
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AddRequirements(m_drive);
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}
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void Initialize() override;
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void Execute() override;
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void End(bool interrupted) override;
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bool IsFinished() override;
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private:
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double m_speed;
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units::degree_t m_angle;
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Drivetrain* m_drive;
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units::meter_t GetAverageTurningDistance();
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};
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