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

#include <frc2/command/ProfiledPIDCommand.h>

Inheritance diagram for frc2::ProfiledPIDCommand< Distance >:

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, std::span< Subsystem *const > 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, std::span< Subsystem *const > 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, std::span< Subsystem *const > 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, std::span< Subsystem *const > 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

void	Execute () override

void	End (bool interrupted) override

frc::ProfiledPIDController< Distance > &	GetController ()
	Returns the ProfiledPIDController used by the command. More...

Public Member Functions inherited from frc2::CommandHelper< CommandBase, ProfiledPIDCommand< Distance > >
	CommandHelper ()=default

CommandPtr	ToPtr () &&override

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

Additional Inherited Members
Protected Member Functions inherited from frc2::CommandHelper< CommandBase, ProfiledPIDCommand< Distance > >
std::unique_ptr< Command >	TransferOwnership () &&override

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.

This class is provided by the NewCommands VendorDep

See also: ProfiledPIDController<Distance>

Constructor & Destructor Documentation

◆ ProfiledPIDCommand() [1/10]

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

controller	the controller that controls the output.
measurementSource	the measurement of the process variable
goalSource	the controller's goal
useOutput	the controller's output
requirements	the subsystems required by this command

◆ ProfiledPIDCommand() [2/10]

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::span< Subsystem *const >	requirements = `{}`
	)

inline

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

Parameters

controller	the controller that controls the output.
measurementSource	the measurement of the process variable
goalSource	the controller's goal
useOutput	the controller's output
requirements	the subsystems required by this command

◆ ProfiledPIDCommand() [3/10]

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

controller	the controller that controls the output.
measurementSource	the measurement of the process variable
goalSource	the controller's goal
useOutput	the controller's output
requirements	the subsystems required by this command

◆ ProfiledPIDCommand() [4/10]

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::span< Subsystem *const >	requirements = `{}`
	)

inline

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

Parameters

controller	the controller that controls the output.
measurementSource	the measurement of the process variable
goalSource	the controller's goal
useOutput	the controller's output
requirements	the subsystems required by this command

◆ ProfiledPIDCommand() [5/10]

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

controller	the controller that controls the output.
measurementSource	the measurement of the process variable
goal	the controller's goal
useOutput	the controller's output
requirements	the subsystems required by this command

◆ ProfiledPIDCommand() [6/10]

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::span< Subsystem *const >	requirements = `{}`
	)

inline

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

Parameters

controller	the controller that controls the output.
measurementSource	the measurement of the process variable
goal	the controller's goal
useOutput	the controller's output
requirements	the subsystems required by this command

◆ ProfiledPIDCommand() [7/10]

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

controller	the controller that controls the output.
measurementSource	the measurement of the process variable
goal	the controller's goal
useOutput	the controller's output
requirements	the subsystems required by this command

◆ ProfiledPIDCommand() [8/10]

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::span< Subsystem *const >	requirements = `{}`
	)

inline

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

Parameters

controller	the controller that controls the output.
measurementSource	the measurement of the process variable
goal	the controller's goal
useOutput	the controller's output
requirements	the subsystems required by this command

◆ ProfiledPIDCommand() [9/10]

template<class Distance >

frc2::ProfiledPIDCommand< Distance >::ProfiledPIDCommand ( ProfiledPIDCommand< Distance > && other )

default

◆ ProfiledPIDCommand() [10/10]

template<class Distance >

frc2::ProfiledPIDCommand< Distance >::ProfiledPIDCommand ( const ProfiledPIDCommand< Distance > & other )

default

Member Function Documentation

◆ End()

template<class Distance >

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

inlineoverride

◆ Execute()

template<class Distance >

void frc2::ProfiledPIDCommand< Distance >::Execute ( )

inlineoverride

◆ 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 ( )

inlineoverride

Member Data Documentation

◆ m_controller

template<class Distance >

frc::ProfiledPIDController<Distance> frc2::ProfiledPIDCommand< Distance >::m_controller

protected

◆ m_goal

template<class Distance >

std::function<State()> frc2::ProfiledPIDCommand< Distance >::m_goal

protected

◆ m_measurement

template<class Distance >

std::function<Distance_t()> frc2::ProfiledPIDCommand< Distance >::m_measurement

protected

◆ m_useOutput

template<class Distance >

std::function<void(double, State)> frc2::ProfiledPIDCommand< Distance >::m_useOutput

protected

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

frc2/command/ProfiledPIDCommand.h

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ProfiledPIDCommand() [1/10]

◆ ProfiledPIDCommand() [2/10]

◆ ProfiledPIDCommand() [3/10]

◆ ProfiledPIDCommand() [4/10]

◆ ProfiledPIDCommand() [5/10]

◆ ProfiledPIDCommand() [6/10]

◆ ProfiledPIDCommand() [7/10]

◆ ProfiledPIDCommand() [8/10]

◆ ProfiledPIDCommand() [9/10]

◆ ProfiledPIDCommand() [10/10]

Member Function Documentation

◆ End()

◆ Execute()

◆ GetController()

◆ Initialize()

Member Data Documentation

◆ m_controller

◆ m_goal

◆ m_measurement

◆ m_useOutput