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, std::optional< std::function< void(ArmPosition)> > armPositionCallback=std::nullopt, const int split=-1)
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)

Private Attributes
SwerveDriveSubsystem &	m_Drive
std::optional< choreo::Trajectory< choreo::SwerveSample > >	m_trajectory
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
bool	m_isRedAlliance
std::optional< std::function< void(ArmPosition)> >	m_armPositionCallback
std::vector< choreo::EventMarker >	m_events
size_t	m_nextEventIndex

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,
		std::optional< std::function< void(ArmPosition)> >	armPositionCallback = std::nullopt,
		const int	split = -1 )

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

Execute()

void DriveChoreo::Execute ( )

override

Initialize()

void DriveChoreo::Initialize ( )

override

Todo

This rotation shouldn't be necessary. Probably has something to do with the negative sign

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 )

staticnodiscard

IsFinished()

bool DriveChoreo::IsFinished ( )

override

Member Data Documentation

m_armPositionCallback

std::optional<std::function<void(ArmPosition)> > DriveChoreo::m_armPositionCallback

private

m_autoTrajectoryLogger

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

private

m_desiredAutoPositionLogger

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

private

m_Drive

SwerveDriveSubsystem& DriveChoreo::m_Drive

private

m_events

std::vector<choreo::EventMarker> DriveChoreo::m_events

private

m_initializeOdometry

const bool DriveChoreo::m_initializeOdometry

private

m_isRedAlliance

bool DriveChoreo::m_isRedAlliance

private

m_nextEventIndex

size_t DriveChoreo::m_nextEventIndex

private

m_startTime

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

private

m_trajectory

std::optional<choreo::Trajectory<choreo::SwerveSample> > 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