mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
9bd9656871
I left "free speed" alone since that's the technical term for it. In general, velocity is a vector quantity, and speed is a magnitude (i.e., a strictly positive value). This PR also replaces the speed verbiage in MotorController with duty cycle. Fixes #8423.
34 lines
1.2 KiB
C++
34 lines
1.2 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.
|
|
|
|
#pragma once
|
|
|
|
#include <functional>
|
|
|
|
#include "subsystems/Drivetrain.hpp"
|
|
#include "wpi/commands2/Command.hpp"
|
|
#include "wpi/commands2/CommandHelper.hpp"
|
|
|
|
class TeleopArcadeDrive
|
|
: public wpi::cmd::CommandHelper<wpi::cmd::Command, TeleopArcadeDrive> {
|
|
public:
|
|
/**
|
|
* Creates a new ArcadeDrive. This command will drive your robot according to
|
|
* the velocity suppliers. This command does not terminate.
|
|
*
|
|
* @param drivetrain The drivetrain subsystem on which this command will run
|
|
* @param xaxisVelocitySupplier Supplier of forward/backward velocity
|
|
* @param zaxisRotateSupplier Supplier of rotational velocity
|
|
*/
|
|
TeleopArcadeDrive(Drivetrain* subsystem,
|
|
std::function<double()> xaxisVelocitySupplier,
|
|
std::function<double()> zaxisRotateSupplier);
|
|
void Execute() override;
|
|
|
|
private:
|
|
Drivetrain* m_drive;
|
|
std::function<double()> m_xaxisVelocitySupplier;
|
|
std::function<double()> m_zaxisRotateSupplier;
|
|
};
|