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35 lines
1.1 KiB
C++
35 lines
1.1 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 <functional>
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#include "wpi/commands2/Command.hpp"
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#include "wpi/commands2/CommandHelper.hpp"
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#include "subsystems/Drivetrain.hpp"
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class TeleopArcadeDrive
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: public frc2::CommandHelper<frc2::Command, TeleopArcadeDrive> {
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public:
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/**
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* Creates a new ArcadeDrive. This command will drive your robot according to
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* the speed suppliers. This command does not terminate.
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*
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* @param drivetrain The drivetrain subsystem on which this command will run
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* @param xaxisSpeedSupplier Supplier of forward/backward speed
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* @param zaxisRotateSupplier Supplier of rotational speed
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*/
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TeleopArcadeDrive(Drivetrain* subsystem,
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std::function<double()> xaxisSpeedSupplier,
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std::function<double()> zaxisRotateSupplier);
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void Execute() override;
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private:
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Drivetrain* m_drive;
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std::function<double()> m_xaxisSpeedSupplier;
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std::function<double()> m_zaxisRotateSupplier;
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};
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