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https://github.com/wpilibsuite/allwpilib
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e09293a15e
A lot of these are breaking changes. frc::Timer was replaced with the contents of frc2::Timer. The others were in-place argument changes or removing deprecated non-unit overloads.
83 lines
2.5 KiB
C++
83 lines
2.5 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 <initializer_list>
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#include <frc/Timer.h>
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#include <frc/trajectory/TrapezoidProfile.h>
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#include <wpi/ArrayRef.h>
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#include "frc2/command/CommandBase.h"
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#include "frc2/command/CommandHelper.h"
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namespace frc2 {
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/**
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* A command that runs a TrapezoidProfile. Useful for smoothly controlling
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* mechanism motion.
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*
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* @see TrapezoidProfile
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*/
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template <class Distance>
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class TrapezoidProfileCommand
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: public CommandHelper<CommandBase, TrapezoidProfileCommand<Distance>> {
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using Distance_t = units::unit_t<Distance>;
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using Velocity =
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units::compound_unit<Distance, units::inverse<units::seconds>>;
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using Velocity_t = units::unit_t<Velocity>;
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using State = typename frc::TrapezoidProfile<Distance>::State;
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public:
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/**
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* Creates a new TrapezoidProfileCommand that will execute the given
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* TrapezoidalProfile. Output will be piped to the provided consumer function.
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*
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* @param profile The motion profile to execute.
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* @param output The consumer for the profile output.
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*/
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TrapezoidProfileCommand(frc::TrapezoidProfile<Distance> profile,
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std::function<void(State)> output,
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std::initializer_list<Subsystem*> requirements)
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: m_profile(profile), m_output(output) {
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this->AddRequirements(requirements);
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}
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/**
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* Creates a new TrapezoidProfileCommand that will execute the given
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* TrapezoidalProfile. Output will be piped to the provided consumer function.
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*
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* @param profile The motion profile to execute.
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* @param output The consumer for the profile output.
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*/
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TrapezoidProfileCommand(frc::TrapezoidProfile<Distance> profile,
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std::function<void(State)> output,
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wpi::ArrayRef<Subsystem*> requirements = {})
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: m_profile(profile), m_output(output) {
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this->AddRequirements(requirements);
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}
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void Initialize() override {
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m_timer.Reset();
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m_timer.Start();
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}
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void Execute() override { m_output(m_profile.Calculate(m_timer.Get())); }
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void End(bool interrupted) override { m_timer.Stop(); }
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bool IsFinished() override {
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return m_timer.HasElapsed(m_profile.TotalTime());
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}
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private:
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frc::TrapezoidProfile<Distance> m_profile;
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std::function<void(State)> m_output;
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frc::Timer m_timer;
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};
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} // namespace frc2
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