WPILibC++ 2022.4.1
frc2::ProfiledPIDCommand< Distance > Class Template Reference

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

#include <frc2/command/ProfiledPIDCommand.h>

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

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::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, wpi::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, wpi::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, wpi::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
 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::CommandHelper< CommandBase, ProfiledPIDCommand< Distance > >
 CommandHelper ()=default
 
- Public Member Functions inherited from frc2::CommandBase
void AddRequirements (std::initializer_list< Subsystem * > requirements)
 Adds the specified Subsystem requirements to the command. More...
 
void AddRequirements (wpi::span< Subsystem *const > requirements)
 Adds the specified Subsystem requirements to the command. More...
 
void AddRequirements (wpi::SmallSet< Subsystem *, 4 > requirements)
 Adds the specified Subsystem requirements to the command. More...
 
void AddRequirements (Subsystem *requirement)
 Adds the specified Subsystem requirement to the command. More...
 
wpi::SmallSet< Subsystem *, 4 > GetRequirements () const override
 Gets the Subsystem requirements of the command. More...
 
void SetName (std::string_view 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 (std::string_view subsystem)
 Sets the subsystem name of this Command. More...
 
void InitSendable (wpi::SendableBuilder &builder) override
 Initializes this Sendable object. More...
 
- Public Member Functions inherited from frc2::Command
 Command ()=default
 
virtual ~Command ()
 
 Command (const Command &)=default
 
Commandoperator= (const Command &rhs)
 
 Command (Command &&)=default
 
Commandoperator= (Command &&)=default
 
virtual bool IsFinished ()
 Whether the command has finished. More...
 
virtual ParallelRaceGroup WithTimeout (units::second_t duration) &&
 Decorates this command with a timeout. More...
 
virtual ParallelRaceGroup Until (std::function< bool()> condition) &&
 Decorates this command with an interrupt condition. More...
 
virtual ParallelRaceGroup WithInterrupt (std::function< bool()> condition) &&
 Decorates this command with an interrupt condition. More...
 
virtual SequentialCommandGroup BeforeStarting (std::function< void()> toRun, std::initializer_list< Subsystem * > requirements) &&
 Decorates this command with a runnable to run before this command starts. More...
 
virtual SequentialCommandGroup BeforeStarting (std::function< void()> toRun, wpi::span< Subsystem *const > requirements={}) &&
 Decorates this command with a runnable to run before this command starts. More...
 
virtual SequentialCommandGroup AndThen (std::function< void()> toRun, std::initializer_list< Subsystem * > requirements) &&
 Decorates this command with a runnable to run after the command finishes. More...
 
virtual SequentialCommandGroup AndThen (std::function< void()> toRun, wpi::span< Subsystem *const > requirements={}) &&
 Decorates this command with a runnable to run after the command finishes. More...
 
virtual PerpetualCommand Perpetually () &&
 Decorates this command to run perpetually, ignoring its ordinary end conditions. More...
 
virtual ProxyScheduleCommand AsProxy ()
 Decorates this command to run "by proxy" by wrapping it in a ProxyScheduleCommand. More...
 
void Schedule (bool interruptible)
 Schedules this command. More...
 
void Schedule ()
 Schedules this command, defaulting to interruptible. More...
 
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 wpi::Sendable
virtual ~Sendable ()=default
 
- Public Member Functions inherited from wpi::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 (std::string_view name)
 Sets the name of this Sendable object. More...
 
void SetName (std::string_view subsystem, std::string_view 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 (std::string_view 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
 

Additional Inherited Members

- Protected Member Functions inherited from frc2::CommandHelper< CommandBase, ProfiledPIDCommand< Distance > >
std::unique_ptr< CommandTransferOwnership () &&override
 
- Protected Member Functions inherited from frc2::CommandBase
 CommandBase ()
 
- Protected Member Functions inherited from wpi::SendableHelper< CommandBase >
 SendableHelper ()=default
 
void SetName (std::string_view moduleType, int channel)
 Sets the name of the sensor with a channel number. More...
 
void SetName (std::string_view 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...
 
 ~SendableHelper ()
 

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
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() [2/10]

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,
wpi::span< Subsystem *const >  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() [3/10]

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
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() [4/10]

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,
wpi::span< Subsystem *const >  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() [5/10]

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
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() [6/10]

template<class Distance >
frc2::ProfiledPIDCommand< Distance >::ProfiledPIDCommand ( frc::ProfiledPIDController< Distance >  controller,
std::function< Distance_t()>  measurementSource,
State  goal,
std::function< void(double, State)>  useOutput,
wpi::span< Subsystem *const >  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() [7/10]

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
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() [8/10]

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,
wpi::span< Subsystem *const >  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() [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)
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.

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: