DriveByTimeCommand Class Reference

#include <drive_by_time_command.h>

Inheritance diagram for DriveByTimeCommand:

Public Member Functions
	DriveByTimeCommand (SwerveDriveSubsystem &swerveDrive, units::degree_t robotYaw, double percentSpeed, units::millisecond_t driveTime)
	Constructs DriveByTimeCommand that drives by a vector with angle robotYaw and power percentSpeed for driveTime milliseconds.
void	Initialize () override
void	Execute () override
void	End (bool interrupted) override
bool	IsFinished () override

Private Attributes
SwerveDriveSubsystem &	m_swerveDrive
units::degree_t	m_robotYaw
double	m_percentSpeed
units::millisecond_t	m_driveTime
std::chrono::time_point< std::chrono::high_resolution_clock >	m_startTime

Detailed Description

Copyright

Copyright (c) Argos FRC Team 1756. Open Source Software; you can modify and/or share it under the terms of the license file in the root directory of this project. An example command.

Note that this extends CommandHelper, rather extending CommandBase directly; this is crucially important, or else the decorator functions in Command will not work!

Constructor & Destructor Documentation

DriveByTimeCommand()

DriveByTimeCommand::DriveByTimeCommand	(	SwerveDriveSubsystem &	swerveDrive,
		units::degree_t	robotYaw,
		double	percentSpeed,
		units::millisecond_t	driveTime
	)

Constructs DriveByTimeCommand that drives by a vector with angle robotYaw and power percentSpeed for driveTime milliseconds.

Parameters

swerveDrive	swerve drive subsystem
robotYaw	Desired heading relative to field
percentSpeed	Desired percent speed of drivetrain
driveTime	Time to drive along vector

Copyright

Copyright (c) Argos FRC Team 1756. Open Source Software; you can modify and/or share it under the terms of the license file in the root directory of this project.

Member Function Documentation

End()

void DriveByTimeCommand::End ( bool  interrupted )

override

Execute()

void DriveByTimeCommand::Execute ( )

override

Initialize()

void DriveByTimeCommand::Initialize ( )

override

IsFinished()

bool DriveByTimeCommand::IsFinished ( )

override

Member Data Documentation

m_driveTime

units::millisecond_t DriveByTimeCommand::m_driveTime

private

m_percentSpeed

double DriveByTimeCommand::m_percentSpeed

private

m_robotYaw

units::degree_t DriveByTimeCommand::m_robotYaw

private

m_startTime

std::chrono::time_point<std::chrono::high_resolution_clock> DriveByTimeCommand::m_startTime

private

m_swerveDrive

SwerveDriveSubsystem& DriveByTimeCommand::m_swerveDrive

private

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The documentation for this class was generated from the following files:

• src/main/include/commands/drive_by_time_command.h
• src/main/cpp/commands/drive_by_time_command.cpp