mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
8f1f64ffb6
Also update copyright to include "and other WPILib contributors" and clarify license referral language to not be restricted to FIRST teams.
26 lines
1.0 KiB
C++
26 lines
1.0 KiB
C++
// 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.
|
|
|
|
#include "ReplaceMeTrapezoidProfileCommand.h"
|
|
|
|
#include <units/acceleration.h>
|
|
#include <units/velocity.h>
|
|
|
|
// NOTE: Consider using this command inline, rather than writing a subclass.
|
|
// For more information, see:
|
|
// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
|
|
ReplaceMeTrapezoidProfileCommand::ReplaceMeTrapezoidProfileCommand()
|
|
: CommandHelper
|
|
// The profile to execute
|
|
(frc::TrapezoidProfile<units::meters>(
|
|
// The maximum velocity and acceleration of the profile
|
|
{5_mps, 5_mps_sq},
|
|
// The goal state of the profile
|
|
{10_m, 0_mps},
|
|
// The initial state of the profile
|
|
{0_m, 0_mps}),
|
|
[](frc::TrapezoidProfile<units::meters>::State state) {
|
|
// Use the computed intermediate trajectory state here
|
|
}) {}
|