mirror of
https://github.com/wpilibsuite/allwpilib
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e6f5c93ab1
- Remove use of std::set. The only place std::set was actually used was in ParallelRaceGroup, but this was of minimal utility as ParallelRaceGroup checked for duplicate subsystem requirements, so it would be very unusual to end up with duplicate commands in any case; replaced it with a vector. - Remove use of std::unordered_map except for SelectCommand. Replaced with vector. - Use pImpl idiom for CommandScheduler - Minimize include files (remove unnecessary ones) - Reformat include file order for consistency
120 lines
4.7 KiB
C++
120 lines
4.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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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/controller/ProfiledPIDController.h>
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#include <units/units.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 controls an output with a ProfiledPIDController. Runs forever
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* by default - to add exit conditions and/or other behavior, subclass this
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* class. The controller calculation and output are performed synchronously in
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* the command's execute() method.
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*
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* @see ProfiledPIDController
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*/
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class ProfiledPIDCommand
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: public CommandHelper<CommandBase, ProfiledPIDCommand> {
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using State = frc::TrapezoidProfile::State;
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public:
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/**
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* Creates a new PIDCommand, which controls the given output with a
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* ProfiledPIDController.
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*
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* @param controller the controller that controls the output.
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* @param measurementSource the measurement of the process variable
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* @param goalSource the controller's goal
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* @param useOutput the controller's output
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* @param requirements the subsystems required by this command
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*/
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ProfiledPIDCommand(frc::ProfiledPIDController controller,
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std::function<units::meter_t()> measurementSource,
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std::function<State()> goalSource,
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std::function<void(double, State)> useOutput,
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std::initializer_list<Subsystem*> requirements);
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/**
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* Creates a new PIDCommand, which controls the given output with a
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* ProfiledPIDController.
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*
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* @param controller the controller that controls the output.
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* @param measurementSource the measurement of the process variable
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* @param goalSource the controller's goal
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* @param useOutput the controller's output
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* @param requirements the subsystems required by this command
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*/
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ProfiledPIDCommand(frc::ProfiledPIDController controller,
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std::function<units::meter_t()> measurementSource,
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std::function<units::meter_t()> goalSource,
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std::function<void(double, State)> useOutput,
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std::initializer_list<Subsystem*> requirements);
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/**
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* Creates a new PIDCommand, which controls the given output with a
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* ProfiledPIDController with a constant goal.
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*
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* @param controller the controller that controls the output.
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* @param measurementSource the measurement of the process variable
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* @param goal the controller's goal
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* @param useOutput the controller's output
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* @param requirements the subsystems required by this command
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*/
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ProfiledPIDCommand(frc::ProfiledPIDController controller,
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std::function<units::meter_t()> measurementSource,
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State goal, std::function<void(double, State)> useOutput,
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std::initializer_list<Subsystem*> requirements);
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/**
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* Creates a new PIDCommand, which controls the given output with a
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* ProfiledPIDController with a constant goal.
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*
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* @param controller the controller that controls the output.
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* @param measurementSource the measurement of the process variable
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* @param goal the controller's goal
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* @param useOutput the controller's output
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* @param requirements the subsystems required by this command
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*/
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ProfiledPIDCommand(frc::ProfiledPIDController controller,
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std::function<units::meter_t()> measurementSource,
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units::meter_t goal,
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std::function<void(double, State)> useOutput,
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std::initializer_list<Subsystem*> requirements);
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ProfiledPIDCommand(ProfiledPIDCommand&& other) = default;
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ProfiledPIDCommand(const ProfiledPIDCommand& other) = default;
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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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/**
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* Returns the ProfiledPIDController used by the command.
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*
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* @return The ProfiledPIDController
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*/
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frc::ProfiledPIDController& GetController();
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protected:
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frc::ProfiledPIDController m_controller;
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std::function<units::meter_t()> m_measurement;
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std::function<State()> m_goal;
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std::function<void(double, State)> m_useOutput;
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};
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} // namespace frc2
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