DriveChoreo Class Reference

#include <drive_choreo.h>

Inheritance diagram for DriveChoreo:

Public Member Functions
	DriveChoreo (SwerveDriveSubsystem &drive, const std::string &trajectoryName, const bool initializeOdometry=false)
void	Initialize () override
void	Execute () override
void	End (bool interrupted) override
bool	IsFinished () override

Static Public Member Functions
static bool	IsAtEndPoint (SwerveDriveSubsystem &drive, const std::string &trajectoryName, const units::inch_t translationalTolerance=6_in, const units::degree_t rotationalTolerance=1.0_deg)
static units::inch_t	EndpointShotDistance (const std::string &trajectoryName)

Private Attributes
SwerveDriveSubsystem &	m_Drive
const choreolib::ChoreoTrajectory	m_trajectory
choreolib::ChoreoTrajectory	m_orientedTrajectory
choreolib::ChoreoSwerveCommand	m_ChoreoCommand
const bool	m_initializeOdometry
std::chrono::time_point< std::chrono::steady_clock >	m_startTime
wpi::log::StructLogEntry< frc::Pose2d >	m_desiredAutoPositionLogger
wpi::log::StructArrayLogEntry< frc::Pose2d >	m_autoTrajectoryLogger

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

DriveChoreo()

DriveChoreo::DriveChoreo	(	SwerveDriveSubsystem &	drive,
		const std::string &	trajectoryName,
		const bool	initializeOdometry = 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

End()

void DriveChoreo::End ( bool  interrupted )

override

EndpointShotDistance()

units::inch_t DriveChoreo::EndpointShotDistance ( const std::string &  trajectoryName )

static

Execute()

void DriveChoreo::Execute ( )

override

Initialize()

void DriveChoreo::Initialize ( )

override

IsAtEndPoint()

bool DriveChoreo::IsAtEndPoint ( SwerveDriveSubsystem &  drive, const std::string &  trajectoryName, const units::inch_t  translationalTolerance = 6_in, const units::degree_t  rotationalTolerance = 1.0_deg  )

static

IsFinished()

bool DriveChoreo::IsFinished ( )

override

Member Data Documentation

m_autoTrajectoryLogger

wpi::log::StructArrayLogEntry<frc::Pose2d> DriveChoreo::m_autoTrajectoryLogger

private

m_ChoreoCommand

choreolib::ChoreoSwerveCommand DriveChoreo::m_ChoreoCommand

private

m_desiredAutoPositionLogger

wpi::log::StructLogEntry<frc::Pose2d> DriveChoreo::m_desiredAutoPositionLogger

private

m_Drive

SwerveDriveSubsystem& DriveChoreo::m_Drive

private

m_initializeOdometry

const bool DriveChoreo::m_initializeOdometry

private

m_orientedTrajectory

choreolib::ChoreoTrajectory DriveChoreo::m_orientedTrajectory

private

m_startTime

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

private

m_trajectory

const choreolib::ChoreoTrajectory DriveChoreo::m_trajectory

private

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

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