DriveToPositionSpline Class Reference

#include <drive_to_position_spline.h>

Inheritance diagram for DriveToPositionSpline:

Public Member Functions
	DriveToPositionSpline (SwerveDriveSubsystem *drive, const frc::Spline< 3 >::ControlVector initialPosition, const units::degree_t initialAngle, const std::vector< frc::Translation2d > &waypoints, const frc::Spline< 3 >::ControlVector finalPosition, const units::degree_t finalAngle, const units::second_t turnDelay, const frc::TrapezoidProfile< units::inches >::Constraints linearConstraints, const frc::TrapezoidProfile< units::degrees >::Constraints rotationalConstraints, const units::feet_per_second_t initialVelocity=0_fps, const units::feet_per_second_t finalVelocity=0_fps)
void	Initialize () override
void	Execute () override
void	End (bool interrupted) override
bool	IsFinished () override

Private Attributes
SwerveDriveSubsystem *	m_pDrive
SwerveTrapezoidalSpline	m_splinePath
const units::degree_t	m_initialAngle
const units::degree_t	m_finalAngle
const frc::TrapezoidProfile< units::inches >::Constraints	m_linearConstraints
const frc::TrapezoidProfile< units::degrees >::Constraints	m_rotationalConstraints
const units::feet_per_second_t	m_initialVelocity
const units::feet_per_second_t	m_finalVelocity

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

DriveToPositionSpline()

DriveToPositionSpline::DriveToPositionSpline	(	SwerveDriveSubsystem *	drive,
		const frc::Spline< 3 >::ControlVector	initialPosition,
		const units::degree_t	initialAngle,
		const std::vector< frc::Translation2d > &	waypoints,
		const frc::Spline< 3 >::ControlVector	finalPosition,
		const units::degree_t	finalAngle,
		const units::second_t	turnDelay,
		const frc::TrapezoidProfile< units::inches >::Constraints	linearConstraints,
		const frc::TrapezoidProfile< units::degrees >::Constraints	rotationalConstraints,
		const units::feet_per_second_t	initialVelocity = 0_fps,
		const units::feet_per_second_t	finalVelocity = 0_fps
	)

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 DriveToPositionSpline::End ( bool  interrupted )

override

Execute()

void DriveToPositionSpline::Execute ( )

override

Initialize()

void DriveToPositionSpline::Initialize ( )

override

IsFinished()

bool DriveToPositionSpline::IsFinished ( )

override

Member Data Documentation

m_finalAngle

const units::degree_t DriveToPositionSpline::m_finalAngle

private

m_finalVelocity

const units::feet_per_second_t DriveToPositionSpline::m_finalVelocity

private

m_initialAngle

const units::degree_t DriveToPositionSpline::m_initialAngle

private

m_initialVelocity

const units::feet_per_second_t DriveToPositionSpline::m_initialVelocity

private

m_linearConstraints

const frc::TrapezoidProfile<units::inches>::Constraints DriveToPositionSpline::m_linearConstraints

private

m_pDrive

SwerveDriveSubsystem* DriveToPositionSpline::m_pDrive

private

m_rotationalConstraints

const frc::TrapezoidProfile<units::degrees>::Constraints DriveToPositionSpline::m_rotationalConstraints

private

m_splinePath

SwerveTrapezoidalSpline DriveToPositionSpline::m_splinePath

private

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

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