DriveUntilPitch Class Reference

#include <drive_until_pitch.h>

Inheritance diagram for DriveUntilPitch:

Public Member Functions
	DriveUntilPitch (SwerveDriveSubsystem *swerveDrive, units::degree_t velAngle, double power, double initialPower, units::degree_t pitchGoal, ApproachDirection approachDirection, units::time::second_t timeout)
void	Initialize () override
void	Execute () override
void	End (bool interrupted) override
bool	IsFinished () override

Private Attributes
SwerveDriveSubsystem *	m_pDrive
	Raw pointer to swerve drive subsystem object.
const units::degree_t	m_velAngle
	Angle of drive direction relative to field-centric.
const double	m_power
	Power to apply in m_velAngle direction as percent output ([0, 1])
const double	m_initialPower
	Power prior to command start [-1,1].
std::chrono::time_point< std::chrono::high_resolution_clock >	m_startTime
	Start time as a time point.
const units::degree_t	m_pitchGoal
	The pitch the robot has to be at to complete the command.
const ApproachDirection	m_approachDirection
	Threshold approach direction for pitch goal.
const units::time::second_t	m_timeout
	The amount of time allowed to pass before the command times out.
frc::SlewRateLimiter< units::scalar >	m_velocityRamper
	Limit acceleration.

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.

Constructor & Destructor Documentation

DriveUntilPitch()

DriveUntilPitch::DriveUntilPitch	(	SwerveDriveSubsystem *	swerveDrive,
		units::degree_t	velAngle,
		double	power,
		double	initialPower,
		units::degree_t	pitchGoal,
		ApproachDirection	approachDirection,
		units::time::second_t	timeout
	)

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 DriveUntilPitch::End ( bool  interrupted )

override

Execute()

void DriveUntilPitch::Execute ( )

override

Initialize()

void DriveUntilPitch::Initialize ( )

override

IsFinished()

bool DriveUntilPitch::IsFinished ( )

override

Member Data Documentation

m_approachDirection

const ApproachDirection DriveUntilPitch::m_approachDirection

private

Threshold approach direction for pitch goal.

m_initialPower

const double DriveUntilPitch::m_initialPower

private

Power prior to command start [-1,1].

m_pDrive

SwerveDriveSubsystem* DriveUntilPitch::m_pDrive

private

Raw pointer to swerve drive subsystem object.

m_pitchGoal

const units::degree_t DriveUntilPitch::m_pitchGoal

private

The pitch the robot has to be at to complete the command.

m_power

const double DriveUntilPitch::m_power

private

Power to apply in m_velAngle direction as percent output ([0, 1])

m_startTime

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

private

Start time as a time point.

m_timeout

const units::time::second_t DriveUntilPitch::m_timeout

private

The amount of time allowed to pass before the command times out.

m_velAngle

const units::degree_t DriveUntilPitch::m_velAngle

private

Angle of drive direction relative to field-centric.

m_velocityRamper

frc::SlewRateLimiter<units::scalar> DriveUntilPitch::m_velocityRamper

private

Limit acceleration.

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

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