SetArmPoseCommand Class Reference

#include <set_arm_pose_command.h>

Inheritance diagram for SetArmPoseCommand:

Public Member Functions
	SetArmPoseCommand (LifterSubsystem *lifter, BashGuardSubsystem *bashGuard, std::function< ScoringPosition()> scoringPositionCb, frc::Translation2d scoringPositionOffset, std::function< bool()> bashGuardModeCb, std::function< bool()> placeGamePieceInvertedCb, PathType pathType=PathType::unmodified, units::velocity::inches_per_second_t maxVelocity=speeds::armKinematicSpeeds::effectorVelocity, units::acceleration::inches_per_second_squared_t maxAcceleration=speeds::armKinematicSpeeds::effectorAcceleration)
	SetArmPoseCommand (LifterSubsystem *lifter, BashGuardSubsystem *bashGuard, ScoringPosition scoringPosition, frc::Translation2d scoringPositionOffset, std::function< bool()> bashGuardModeCb, std::function< bool()> placeGamePieceInvertedCb, PathType pathType=PathType::unmodified, units::velocity::inches_per_second_t maxVelocity=speeds::armKinematicSpeeds::effectorVelocity, units::acceleration::inches_per_second_squared_t maxAcceleration=speeds::armKinematicSpeeds::effectorAcceleration)
	SetArmPoseCommand (LifterSubsystem *lifter, BashGuardSubsystem *bashGuard, frc::Translation2d targetPose, frc::Translation2d scoringPositionOffset, BashGuardPosition desiredBashGuardPosition, WristPosition desiredWristPosition=WristPosition::Unknown, PathType pathType=PathType::unmodified, units::velocity::inches_per_second_t maxVelocity=speeds::armKinematicSpeeds::effectorVelocity, units::acceleration::inches_per_second_squared_t maxAcceleration=speeds::armKinematicSpeeds::effectorAcceleration, bool isTunable=false)
void	Initialize () override
void	Execute () override
void	End (bool interrupted) override
bool	IsFinished () override
frc2::Command::InterruptionBehavior	GetInterruptionBehavior () const override

Private Attributes
LifterSubsystem *	m_lifter
BashGuardSubsystem *	m_bashGuard
std::optional< std::function< ScoringPosition()> >	m_scoringPositionCb
frc::Translation2d	m_scoringPositionOffset
std::optional< std::function< bool()> >	m_bashGuardModeCb
std::optional< std::function< bool()> >	m_placeGamePieceInvertedCb
frc::Translation2d	m_targetPose
BashGuardPosition	m_bashGuardTarget
units::degree_t	m_targetShoulder
units::inch_t	m_targetExtension
units::velocity::inches_per_second_t	m_maxVelocity
units::acceleration::inches_per_second_squared_t	m_maxAcceleration
bool	m_isTunable
ScoringPosition	m_latestScoringPosition
bool	m_lastInversion
PathType	m_pathType
WristPosition	m_endingWristPosition
bool	m_hasShoulderMotion
bool	m_hasExtensionMotion
bool	m_hasBashGuardMotion
bool	m_isExtending
const units::degree_t	m_wristSafeZoneMinAngle
unsigned	m_id

Static Private Attributes
static constexpr auto	m_wristSafeZoneMaxExtension = measure_up::lifter::arm_extension::minExtension + 6_in

Constructor & Destructor Documentation

SetArmPoseCommand() [1/3]

SetArmPoseCommand::SetArmPoseCommand	(	LifterSubsystem *	lifter,
		BashGuardSubsystem *	bashGuard,
		std::function< ScoringPosition()>	scoringPositionCb,
		frc::Translation2d	scoringPositionOffset,
		std::function< bool()>	bashGuardModeCb,
		std::function< bool()>	placeGamePieceInvertedCb,
		PathType	pathType = PathType::unmodified,
		units::velocity::inches_per_second_t	maxVelocity = speeds::armKinematicSpeeds::effectorVelocity,
		units::acceleration::inches_per_second_squared_t	maxAcceleration = speeds::armKinematicSpeeds::effectorAcceleration
	)

SetArmPoseCommand() [2/3]

SetArmPoseCommand::SetArmPoseCommand	(	LifterSubsystem *	lifter,
		BashGuardSubsystem *	bashGuard,
		ScoringPosition	scoringPosition,
		frc::Translation2d	scoringPositionOffset,
		std::function< bool()>	bashGuardModeCb,
		std::function< bool()>	placeGamePieceInvertedCb,
		PathType	pathType = PathType::unmodified,
		units::velocity::inches_per_second_t	maxVelocity = speeds::armKinematicSpeeds::effectorVelocity,
		units::acceleration::inches_per_second_squared_t	maxAcceleration = speeds::armKinematicSpeeds::effectorAcceleration
	)

SetArmPoseCommand() [3/3]

SetArmPoseCommand::SetArmPoseCommand	(	LifterSubsystem *	lifter,
		BashGuardSubsystem *	bashGuard,
		frc::Translation2d	targetPose,
		frc::Translation2d	scoringPositionOffset,
		BashGuardPosition	desiredBashGuardPosition,
		WristPosition	desiredWristPosition = WristPosition::Unknown,
		PathType	pathType = PathType::unmodified,
		units::velocity::inches_per_second_t	maxVelocity = speeds::armKinematicSpeeds::effectorVelocity,
		units::acceleration::inches_per_second_squared_t	maxAcceleration = speeds::armKinematicSpeeds::effectorAcceleration,
		bool	isTunable = false
	)

Member Function Documentation

End()

void SetArmPoseCommand::End ( bool  interrupted )

override

Execute()

void SetArmPoseCommand::Execute ( )

override

GetInterruptionBehavior()

frc2::Command::InterruptionBehavior SetArmPoseCommand::GetInterruptionBehavior ( ) const

override

Initialize()

void SetArmPoseCommand::Initialize ( )

override

IsFinished()

bool SetArmPoseCommand::IsFinished ( )

override

Member Data Documentation

m_bashGuard

BashGuardSubsystem* SetArmPoseCommand::m_bashGuard

private

m_bashGuardModeCb

std::optional<std::function<bool()> > SetArmPoseCommand::m_bashGuardModeCb

private

m_bashGuardTarget

BashGuardPosition SetArmPoseCommand::m_bashGuardTarget

private

m_endingWristPosition

WristPosition SetArmPoseCommand::m_endingWristPosition

private

m_hasBashGuardMotion

bool SetArmPoseCommand::m_hasBashGuardMotion

private

m_hasExtensionMotion

bool SetArmPoseCommand::m_hasExtensionMotion

private

m_hasShoulderMotion

bool SetArmPoseCommand::m_hasShoulderMotion

private

m_id

unsigned SetArmPoseCommand::m_id

private

m_isExtending

bool SetArmPoseCommand::m_isExtending

private

m_isTunable

bool SetArmPoseCommand::m_isTunable

private

m_lastInversion

bool SetArmPoseCommand::m_lastInversion

private

m_latestScoringPosition

ScoringPosition SetArmPoseCommand::m_latestScoringPosition

private

m_lifter

LifterSubsystem* SetArmPoseCommand::m_lifter

private

m_maxAcceleration

units::acceleration::inches_per_second_squared_t SetArmPoseCommand::m_maxAcceleration

private

m_maxVelocity

units::velocity::inches_per_second_t SetArmPoseCommand::m_maxVelocity

private

m_pathType

PathType SetArmPoseCommand::m_pathType

private

m_placeGamePieceInvertedCb

std::optional<std::function<bool()> > SetArmPoseCommand::m_placeGamePieceInvertedCb

private

m_scoringPositionCb

std::optional<std::function<ScoringPosition()> > SetArmPoseCommand::m_scoringPositionCb

private

m_scoringPositionOffset

frc::Translation2d SetArmPoseCommand::m_scoringPositionOffset

private

m_targetExtension

units::inch_t SetArmPoseCommand::m_targetExtension

private

m_targetPose

frc::Translation2d SetArmPoseCommand::m_targetPose

private

m_targetShoulder

units::degree_t SetArmPoseCommand::m_targetShoulder

private

m_wristSafeZoneMaxExtension

constexpr auto SetArmPoseCommand::m_wristSafeZoneMaxExtension = measure_up::lifter::arm_extension::minExtension + 6_in

staticconstexprprivate

m_wristSafeZoneMinAngle

const units::degree_t SetArmPoseCommand::m_wristSafeZoneMinAngle

private

---

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

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