WPILibC++  2020.3.2-60-g3011ebe
frc2::TrapezoidProfileSubsystem< Distance > Class Template Referenceabstract

A subsystem that generates and runs trapezoidal motion profiles automatically. More...

#include <TrapezoidProfileSubsystem.h>

Inheritance diagram for frc2::TrapezoidProfileSubsystem< Distance >:
frc2::SubsystemBase frc2::Subsystem frc::Sendable frc::SendableHelper< SubsystemBase >

Public Member Functions

 TrapezoidProfileSubsystem (Constraints constraints, Distance_t initialPosition=Distance_t{0}, units::second_t period=20_ms)
 Creates a new TrapezoidProfileSubsystem. More...
 
void Periodic () override
 This method is called periodically by the CommandScheduler. More...
 
void SetGoal (State goal)
 Sets the goal state for the subsystem. More...
 
void SetGoal (Distance_t goal)
 Sets the goal state for the subsystem. More...
 
- Public Member Functions inherited from frc2::SubsystemBase
void InitSendable (frc::SendableBuilder &builder) override
 Initializes this Sendable object. More...
 
std::string GetName () const
 Gets the name of this Subsystem. More...
 
void SetName (const wpi::Twine &name)
 Sets the name of this Subsystem. More...
 
std::string GetSubsystem () const
 Gets the subsystem name of this Subsystem. More...
 
void SetSubsystem (const wpi::Twine &name)
 Sets the subsystem name of this Subsystem. More...
 
void AddChild (std::string name, frc::Sendable *child)
 Associate a Sendable with this Subsystem. More...
 
- Public Member Functions inherited from frc2::Subsystem
template<class T , typename = std::enable_if_t<std::is_base_of_v< Command, std::remove_reference_t<T>>>>
void SetDefaultCommand (T &&defaultCommand)
 Sets the default Command of the subsystem. More...
 
CommandGetDefaultCommand () const
 Gets the default command for this subsystem. More...
 
CommandGetCurrentCommand () const
 Returns the command currently running on this subsystem. More...
 
void Register ()
 Registers this subsystem with the CommandScheduler, allowing its Periodic() method to be called when the scheduler runs.
 
- Public Member Functions inherited from frc::SendableHelper< SubsystemBase >
 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 Member Functions

virtual void UseState (State state)=0
 Users should override this to consume the current state of the motion profile. More...
 
void Enable ()
 Enable the TrapezoidProfileSubsystem's output.
 
void Disable ()
 Disable the TrapezoidProfileSubsystem's output.
 
- Protected Member Functions inherited from frc::SendableHelper< SubsystemBase >
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::TrapezoidProfileSubsystem< Distance >

A subsystem that generates and runs trapezoidal motion profiles automatically.

The user specifies how to use the current state of the motion profile by overriding the UseState method.

Constructor & Destructor Documentation

◆ TrapezoidProfileSubsystem()

template<class Distance >
frc2::TrapezoidProfileSubsystem< Distance >::TrapezoidProfileSubsystem ( Constraints  constraints,
Distance_t  initialPosition = Distance_t{0},
units::second_t  period = 20_ms 
)
inlineexplicit

Creates a new TrapezoidProfileSubsystem.

Parameters
constraintsThe constraints (maximum velocity and acceleration) for the profiles.
initialPositionThe initial position of the controller mechanism when the subsystem is constructed.
periodThe period of the main robot loop, in seconds.

Member Function Documentation

◆ Periodic()

template<class Distance >
void frc2::TrapezoidProfileSubsystem< Distance >::Periodic ( )
inlineoverridevirtual

This method is called periodically by the CommandScheduler.

Useful for updating subsystem-specific state that you don't want to offload to a Command. Teams should try to be consistent within their own codebases about which responsibilities will be handled by Commands, and which will be handled here.

Reimplemented from frc2::Subsystem.

◆ SetGoal() [1/2]

template<class Distance >
void frc2::TrapezoidProfileSubsystem< Distance >::SetGoal ( Distance_t  goal)
inline

Sets the goal state for the subsystem.

Goal velocity assumed to be zero.

Parameters
goalThe goal position for the subsystem's motion profile.

◆ SetGoal() [2/2]

template<class Distance >
void frc2::TrapezoidProfileSubsystem< Distance >::SetGoal ( State  goal)
inline

Sets the goal state for the subsystem.

Parameters
goalThe goal state for the subsystem's motion profile.

◆ UseState()

template<class Distance >
virtual void frc2::TrapezoidProfileSubsystem< Distance >::UseState ( State  state)
protectedpure virtual

Users should override this to consume the current state of the motion profile.

Parameters
stateThe current state of the motion profile.

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