WPILibC++  2020.3.2-60-g3011ebe
frc2::ProfiledPIDCommand< Distance > Class Template Reference

A command that controls an output with a ProfiledPIDController. More...

#include <ProfiledPIDCommand.h>

Inheritance diagram for frc2::ProfiledPIDCommand< Distance >:
frc2::CommandHelper< CommandBase, ProfiledPIDCommand< Distance > > frc2::CommandBase frc2::Command frc::Sendable frc::SendableHelper< CommandBase > frc::ErrorBase

Public Member Functions

 ProfiledPIDCommand (frc::ProfiledPIDController< Distance > controller, std::function< Distance_t()> measurementSource, std::function< State()> goalSource, std::function< void(double, State)> useOutput, std::initializer_list< Subsystem * > requirements)
 Creates a new PIDCommand, which controls the given output with a ProfiledPIDController. More...
 
 ProfiledPIDCommand (frc::ProfiledPIDController< Distance > controller, std::function< Distance_t()> measurementSource, std::function< State()> goalSource, std::function< void(double, State)> useOutput, wpi::ArrayRef< Subsystem * > requirements={})
 Creates a new PIDCommand, which controls the given output with a ProfiledPIDController. More...
 
 ProfiledPIDCommand (frc::ProfiledPIDController< Distance > controller, std::function< Distance_t()> measurementSource, std::function< Distance_t()> goalSource, std::function< void(double, State)> useOutput, std::initializer_list< Subsystem * > requirements)
 Creates a new PIDCommand, which controls the given output with a ProfiledPIDController. More...
 
 ProfiledPIDCommand (frc::ProfiledPIDController< Distance > controller, std::function< Distance_t()> measurementSource, std::function< Distance_t()> goalSource, std::function< void(double, State)> useOutput, wpi::ArrayRef< Subsystem * > requirements={})
 Creates a new PIDCommand, which controls the given output with a ProfiledPIDController. More...
 
 ProfiledPIDCommand (frc::ProfiledPIDController< Distance > controller, std::function< Distance_t()> measurementSource, State goal, std::function< void(double, State)> useOutput, std::initializer_list< Subsystem * > requirements)
 Creates a new PIDCommand, which controls the given output with a ProfiledPIDController with a constant goal. More...
 
 ProfiledPIDCommand (frc::ProfiledPIDController< Distance > controller, std::function< Distance_t()> measurementSource, State goal, std::function< void(double, State)> useOutput, wpi::ArrayRef< Subsystem * > requirements={})
 Creates a new PIDCommand, which controls the given output with a ProfiledPIDController with a constant goal. More...
 
 ProfiledPIDCommand (frc::ProfiledPIDController< Distance > controller, std::function< Distance_t()> measurementSource, Distance_t goal, std::function< void(double, State)> useOutput, std::initializer_list< Subsystem * > requirements)
 Creates a new PIDCommand, which controls the given output with a ProfiledPIDController with a constant goal. More...
 
 ProfiledPIDCommand (frc::ProfiledPIDController< Distance > controller, std::function< Distance_t()> measurementSource, Distance_t goal, std::function< void(double, State)> useOutput, wpi::ArrayRef< Subsystem * > requirements={})
 Creates a new PIDCommand, which controls the given output with a ProfiledPIDController with a constant goal. More...
 
 ProfiledPIDCommand (ProfiledPIDCommand &&other)=default
 
 ProfiledPIDCommand (const ProfiledPIDCommand &other)=default
 
void Initialize () override
 The initial subroutine of a command. More...
 
void Execute () override
 The main body of a command. More...
 
void End (bool interrupted) override
 The action to take when the command ends. More...
 
frc::ProfiledPIDController< Distance > & GetController ()
 Returns the ProfiledPIDController used by the command. More...
 
- Public Member Functions inherited from frc2::CommandBase
void AddRequirements (std::initializer_list< Subsystem * > requirements)
 Adds the specified requirements to the command. More...
 
void AddRequirements (wpi::ArrayRef< Subsystem * > requirements)
 Adds the specified requirements to the command. More...
 
void AddRequirements (wpi::SmallSet< Subsystem *, 4 > requirements)
 
wpi::SmallSet< Subsystem *, 4 > GetRequirements () const override
 Specifies the set of subsystems used by this command. More...
 
void SetName (const wpi::Twine &name)
 Sets the name of this Command. More...
 
std::string GetName () const override
 Gets the name of this Command. More...
 
std::string GetSubsystem () const
 Gets the subsystem name of this Command. More...
 
void SetSubsystem (const wpi::Twine &subsystem)
 Sets the subsystem name of this Command. More...
 
void InitSendable (frc::SendableBuilder &builder) override
 Initializes this Sendable object. More...
 
- Public Member Functions inherited from frc2::Command
 Command (const Command &)
 
Commandoperator= (const Command &)
 
 Command (Command &&)=default
 
Commandoperator= (Command &&)=default
 
virtual bool IsFinished ()
 Whether the command has finished. More...
 
ParallelRaceGroup WithTimeout (units::second_t duration) &&
 Decorates this command with a timeout. More...
 
ParallelRaceGroup WithInterrupt (std::function< bool()> condition) &&
 Decorates this command with an interrupt condition. More...
 
SequentialCommandGroup BeforeStarting (std::function< void()> toRun, std::initializer_list< Subsystem * > requirements) &&
 Decorates this command with a runnable to run before this command starts. More...
 
SequentialCommandGroup BeforeStarting (std::function< void()> toRun, wpi::ArrayRef< Subsystem * > requirements={}) &&
 Decorates this command with a runnable to run before this command starts. More...
 
SequentialCommandGroup AndThen (std::function< void()> toRun, std::initializer_list< Subsystem * > requirements) &&
 Decorates this command with a runnable to run after the command finishes. More...
 
SequentialCommandGroup AndThen (std::function< void()> toRun, wpi::ArrayRef< Subsystem * > requirements={}) &&
 Decorates this command with a runnable to run after the command finishes. More...
 
PerpetualCommand Perpetually () &&
 Decorates this command to run perpetually, ignoring its ordinary end conditions. More...
 
ProxyScheduleCommand AsProxy ()
 Decorates this command to run "by proxy" by wrapping it in a {}. More...
 
void Schedule (bool interruptible)
 Schedules this command. More...
 
void Schedule ()
 Schedules this command, defaulting to interruptible.
 
void Cancel ()
 Cancels this command. More...
 
bool IsScheduled () const
 Whether or not the command is currently scheduled. More...
 
bool HasRequirement (Subsystem *requirement) const
 Whether the command requires a given subsystem. More...
 
bool IsGrouped () const
 Whether the command is currently grouped in a command group. More...
 
void SetGrouped (bool grouped)
 Sets whether the command is currently grouped in a command group. More...
 
virtual bool RunsWhenDisabled () const
 Whether the given command should run when the robot is disabled. More...
 
- Public Member Functions inherited from frc::ErrorBase
 ErrorBase (const ErrorBase &)=default
 
ErrorBaseoperator= (const ErrorBase &)=default
 
 ErrorBase (ErrorBase &&)=default
 
ErrorBaseoperator= (ErrorBase &&)=default
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () const
 Retrieve the current error. More...
 
virtual void ClearError () const
 Clear the current error information associated with this sensor.
 
virtual void SetErrnoError (const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set error information associated with a C library call that set an error to the "errno" global variable. More...
 
virtual void SetImaqError (int success, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetErrorRange (Error::Code code, int32_t minRange, int32_t maxRange, int32_t requestedValue, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (const wpi::Twine &errorMessage, Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void CloneError (const ErrorBase &rhs) const
 
virtual bool StatusIsFatal () const
 Check if the current error code represents a fatal error. More...
 
void ClearGlobalErrors ()
 Clear global errors.
 
- Public Member Functions inherited from frc::SendableHelper< CommandBase >
 SendableHelper (const SendableHelper &rhs)=default
 
 SendableHelper (SendableHelper &&rhs)
 
SendableHelperoperator= (const SendableHelper &rhs)=default
 
SendableHelperoperator= (SendableHelper &&rhs)
 
std::string GetName () const
 Gets the name of this Sendable object. More...
 
void SetName (const wpi::Twine &name)
 Sets the name of this Sendable object. More...
 
void SetName (const wpi::Twine &subsystem, const wpi::Twine &name)
 Sets both the subsystem name and device name of this Sendable object. More...
 
std::string GetSubsystem () const
 Gets the subsystem name of this Sendable object. More...
 
void SetSubsystem (const wpi::Twine &subsystem)
 Sets the subsystem name of this Sendable object. More...
 

Protected Attributes

frc::ProfiledPIDController< Distance > m_controller
 
std::function< Distance_t()> m_measurement
 
std::function< State()> m_goal
 
std::function< void(double, State)> m_useOutput
 
- Protected Attributes inherited from frc2::CommandBase
wpi::SmallSet< Subsystem *, 4 > m_requirements
 
- Protected Attributes inherited from frc2::Command
bool m_isGrouped = false
 
- Protected Attributes inherited from frc::ErrorBase
Error m_error
 

Additional Inherited Members

- Static Public Member Functions inherited from frc::ErrorBase
static void SetGlobalError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber)
 
static void SetGlobalWPIError (const wpi::Twine &errorMessage, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber)
 
static Error GetGlobalError ()
 Retrieve the last global error.
 
static std::vector< ErrorGetGlobalErrors ()
 Retrieve all global errors.
 
- Protected Member Functions inherited from frc2::CommandHelper< CommandBase, ProfiledPIDCommand< Distance > >
std::unique_ptr< CommandTransferOwnership () &&override
 
- Protected Member Functions inherited from frc::SendableHelper< CommandBase >
void SetName (const wpi::Twine &moduleType, int channel)
 Sets the name of the sensor with a channel number. More...
 
void SetName (const wpi::Twine &moduleType, int moduleNumber, int channel)
 Sets the name of the sensor with a module and channel number. More...
 
void AddChild (std::shared_ptr< Sendable > child)
 Add a child component. More...
 
void AddChild (void *child)
 Add a child component. More...
 

Detailed Description

template<class Distance>
class frc2::ProfiledPIDCommand< Distance >

A command that controls an output with a ProfiledPIDController.

Runs forever by default - to add exit conditions and/or other behavior, subclass this class. The controller calculation and output are performed synchronously in the command's execute() method.

See also
ProfiledPIDController<Distance>

Constructor & Destructor Documentation

◆ ProfiledPIDCommand() [1/8]

template<class Distance >
frc2::ProfiledPIDCommand< Distance >::ProfiledPIDCommand ( frc::ProfiledPIDController< Distance >  controller,
std::function< Distance_t()>  measurementSource,
std::function< State()>  goalSource,
std::function< void(double, State)>  useOutput,
std::initializer_list< Subsystem * >  requirements 
)
inline

Creates a new PIDCommand, which controls the given output with a ProfiledPIDController.

Parameters
controllerthe controller that controls the output.
measurementSourcethe measurement of the process variable
goalSourcethe controller's goal
useOutputthe controller's output
requirementsthe subsystems required by this command

◆ ProfiledPIDCommand() [2/8]

template<class Distance >
frc2::ProfiledPIDCommand< Distance >::ProfiledPIDCommand ( frc::ProfiledPIDController< Distance >  controller,
std::function< Distance_t()>  measurementSource,
std::function< State()>  goalSource,
std::function< void(double, State)>  useOutput,
wpi::ArrayRef< Subsystem * >  requirements = {} 
)
inline

Creates a new PIDCommand, which controls the given output with a ProfiledPIDController.

Parameters
controllerthe controller that controls the output.
measurementSourcethe measurement of the process variable
goalSourcethe controller's goal
useOutputthe controller's output
requirementsthe subsystems required by this command

◆ ProfiledPIDCommand() [3/8]

template<class Distance >
frc2::ProfiledPIDCommand< Distance >::ProfiledPIDCommand ( frc::ProfiledPIDController< Distance >  controller,
std::function< Distance_t()>  measurementSource,
std::function< Distance_t()>  goalSource,
std::function< void(double, State)>  useOutput,
std::initializer_list< Subsystem * >  requirements 
)
inline

Creates a new PIDCommand, which controls the given output with a ProfiledPIDController.

Parameters
controllerthe controller that controls the output.
measurementSourcethe measurement of the process variable
goalSourcethe controller's goal
useOutputthe controller's output
requirementsthe subsystems required by this command

◆ ProfiledPIDCommand() [4/8]

template<class Distance >
frc2::ProfiledPIDCommand< Distance >::ProfiledPIDCommand ( frc::ProfiledPIDController< Distance >  controller,
std::function< Distance_t()>  measurementSource,
std::function< Distance_t()>  goalSource,
std::function< void(double, State)>  useOutput,
wpi::ArrayRef< Subsystem * >  requirements = {} 
)
inline

Creates a new PIDCommand, which controls the given output with a ProfiledPIDController.

Parameters
controllerthe controller that controls the output.
measurementSourcethe measurement of the process variable
goalSourcethe controller's goal
useOutputthe controller's output
requirementsthe subsystems required by this command

◆ ProfiledPIDCommand() [5/8]

template<class Distance >
frc2::ProfiledPIDCommand< Distance >::ProfiledPIDCommand ( frc::ProfiledPIDController< Distance >  controller,
std::function< Distance_t()>  measurementSource,
State  goal,
std::function< void(double, State)>  useOutput,
std::initializer_list< Subsystem * >  requirements 
)
inline

Creates a new PIDCommand, which controls the given output with a ProfiledPIDController with a constant goal.

Parameters
controllerthe controller that controls the output.
measurementSourcethe measurement of the process variable
goalthe controller's goal
useOutputthe controller's output
requirementsthe subsystems required by this command

◆ ProfiledPIDCommand() [6/8]

template<class Distance >
frc2::ProfiledPIDCommand< Distance >::ProfiledPIDCommand ( frc::ProfiledPIDController< Distance >  controller,
std::function< Distance_t()>  measurementSource,
State  goal,
std::function< void(double, State)>  useOutput,
wpi::ArrayRef< Subsystem * >  requirements = {} 
)
inline

Creates a new PIDCommand, which controls the given output with a ProfiledPIDController with a constant goal.

Parameters
controllerthe controller that controls the output.
measurementSourcethe measurement of the process variable
goalthe controller's goal
useOutputthe controller's output
requirementsthe subsystems required by this command

◆ ProfiledPIDCommand() [7/8]

template<class Distance >
frc2::ProfiledPIDCommand< Distance >::ProfiledPIDCommand ( frc::ProfiledPIDController< Distance >  controller,
std::function< Distance_t()>  measurementSource,
Distance_t  goal,
std::function< void(double, State)>  useOutput,
std::initializer_list< Subsystem * >  requirements 
)
inline

Creates a new PIDCommand, which controls the given output with a ProfiledPIDController with a constant goal.

Parameters
controllerthe controller that controls the output.
measurementSourcethe measurement of the process variable
goalthe controller's goal
useOutputthe controller's output
requirementsthe subsystems required by this command

◆ ProfiledPIDCommand() [8/8]

template<class Distance >
frc2::ProfiledPIDCommand< Distance >::ProfiledPIDCommand ( frc::ProfiledPIDController< Distance >  controller,
std::function< Distance_t()>  measurementSource,
Distance_t  goal,
std::function< void(double, State)>  useOutput,
wpi::ArrayRef< Subsystem * >  requirements = {} 
)
inline

Creates a new PIDCommand, which controls the given output with a ProfiledPIDController with a constant goal.

Parameters
controllerthe controller that controls the output.
measurementSourcethe measurement of the process variable
goalthe controller's goal
useOutputthe controller's output
requirementsthe subsystems required by this command

Member Function Documentation

◆ End()

template<class Distance >
void frc2::ProfiledPIDCommand< Distance >::End ( bool  interrupted)
inlineoverridevirtual

The action to take when the command ends.

Called when either the command finishes normally, or when it interrupted/canceled.

Parameters
interruptedwhether the command was interrupted/canceled

Reimplemented from frc2::Command.

◆ Execute()

template<class Distance >
void frc2::ProfiledPIDCommand< Distance >::Execute ( )
inlineoverridevirtual

The main body of a command.

Called repeatedly while the command is scheduled.

Reimplemented from frc2::Command.

◆ GetController()

template<class Distance >
frc::ProfiledPIDController<Distance>& frc2::ProfiledPIDCommand< Distance >::GetController ( )
inline

Returns the ProfiledPIDController used by the command.

Returns
The ProfiledPIDController

◆ Initialize()

template<class Distance >
void frc2::ProfiledPIDCommand< Distance >::Initialize ( )
inlineoverridevirtual

The initial subroutine of a command.

Called once when the command is initially scheduled.

Reimplemented from frc2::Command.


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