AutoAimCommand Class Reference

#include <auto_aim_command.h>

Inheritance diagram for AutoAimCommand:

Classes
struct	AimParams

Public Member Functions
	AutoAimCommand (SwerveDriveSubsystem *swerveDrive, ShooterSubsystem *shooter, ElevatorSubsystem *elevator, VisionSubsystem *vision, argos_lib::SwappableControllersSubsystem *controllers, SimpleLedSubsystem *leds, bool endWhenAimed=false)
void	Initialize () override
void	Execute () override
void	End (bool interrupted) override
bool	IsFinished () override

Private Member Functions
std::optional< AimParams >	GetAimParams ()
	Read latest vision targets from vision subsystem and generate parameters useful for aiming.
std::optional< units::degree_t >	GetAdjustmentOffset (const std::optional< AimParams > &params)
	Calculate angle offset to aim toward vision target.
bool	Aimed (const std::optional< AimParams > &params)
	Check if robot is currently aimed at vision target.
bool	Aim (const std::optional< AimParams > &params)
	Aim at vision target.
void	SetOperatorFeedback (const std::optional< AimParams > &params)
	Set LEDs and vibration based on aiming status.

Private Attributes
SwerveDriveSubsystem *	m_pSwerveDrive
ShooterSubsystem *	m_pShooter
ElevatorSubsystem *	m_pElevator
VisionSubsystem *	m_pVision
argos_lib::SwappableControllersSubsystem *	m_pControllers
SimpleLedSubsystem *	m_pLeds
bool	m_endWhenAimed
argos_lib::Debouncer	m_aimedDebouncer
std::chrono::time_point< std::chrono::steady_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.

Constructor & Destructor Documentation

AutoAimCommand()

AutoAimCommand::AutoAimCommand	(	SwerveDriveSubsystem *	swerveDrive,
		ShooterSubsystem *	shooter,
		ElevatorSubsystem *	elevator,
		VisionSubsystem *	vision,
		argos_lib::SwappableControllersSubsystem *	controllers,
		SimpleLedSubsystem *	leds,
		bool	endWhenAimed = false
	)

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

Aim()

bool AutoAimCommand::Aim ( const std::optional< AimParams > &  params )

private

Aim at vision target.

Parameters

params

Aiming parameters generated from vision subsystem

Returns

true indicates robot is aimed, false if not aimed or no target found

Aimed()

bool AutoAimCommand::Aimed ( const std::optional< AimParams > &  params )

private

Check if robot is currently aimed at vision target.

Parameters

params

Aiming parameters generated from vision subsystem

Returns

true indicates robot is aimed, false if not aimed or no target found

End()

void AutoAimCommand::End ( bool  interrupted )

override

Execute()

void AutoAimCommand::Execute ( )

override

GetAdjustmentOffset()

std::optional< units::degree_t > AutoAimCommand::GetAdjustmentOffset ( const std::optional< AimParams > &  params )

private

Calculate angle offset to aim toward vision target.

Parameters

params

Aiming parameters generated from vision subsystem

Returns

std::nullopt if no target found, otherwise offset angle

GetAimParams()

std::optional< AutoAimCommand::AimParams > AutoAimCommand::GetAimParams ( )

private

Read latest vision targets from vision subsystem and generate parameters useful for aiming.

Returns

std::nullopt if no target found, otherwise parameters for aiming to vision target

Initialize()

void AutoAimCommand::Initialize ( )

override

IsFinished()

bool AutoAimCommand::IsFinished ( )

override

SetOperatorFeedback()

void AutoAimCommand::SetOperatorFeedback ( const std::optional< AimParams > &  params )

private

Set LEDs and vibration based on aiming status.

Parameters

params

Aiming parameters generated from vision subsystem

Member Data Documentation

m_aimedDebouncer

argos_lib::Debouncer AutoAimCommand::m_aimedDebouncer

private

m_endWhenAimed

bool AutoAimCommand::m_endWhenAimed

private

m_pControllers

argos_lib::SwappableControllersSubsystem* AutoAimCommand::m_pControllers

private

m_pElevator

ElevatorSubsystem* AutoAimCommand::m_pElevator

private

m_pLeds

SimpleLedSubsystem* AutoAimCommand::m_pLeds

private

m_pShooter

ShooterSubsystem* AutoAimCommand::m_pShooter

private

m_pSwerveDrive

SwerveDriveSubsystem* AutoAimCommand::m_pSwerveDrive

private

m_pVision

VisionSubsystem* AutoAimCommand::m_pVision

private

m_startTime

std::chrono::time_point<std::chrono::steady_clock> AutoAimCommand::m_startTime

private

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

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