A command that uses a RAMSETE controller to follow a trajectory with a differential drive. More...

#include <frc2/command/RamseteCommand.h>

Inheritance diagram for frc2::RamseteCommand:

Public Member Functions
	RamseteCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::RamseteController controller, frc::SimpleMotorFeedforward< units::meters > feedforward, frc::DifferentialDriveKinematics kinematics, std::function< frc::DifferentialDriveWheelSpeeds()> wheelSpeeds, frc2::PIDController leftController, frc2::PIDController rightController, std::function< void(units::volt_t, units::volt_t)> output, std::initializer_list< Subsystem * > requirements)
	Constructs a new RamseteCommand that, when executed, will follow the provided trajectory. More...

	RamseteCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::RamseteController controller, frc::SimpleMotorFeedforward< units::meters > feedforward, frc::DifferentialDriveKinematics kinematics, std::function< frc::DifferentialDriveWheelSpeeds()> wheelSpeeds, frc2::PIDController leftController, frc2::PIDController rightController, std::function< void(units::volt_t, units::volt_t)> output, std::span< Subsystem *const > requirements={})
	Constructs a new RamseteCommand that, when executed, will follow the provided trajectory. More...

	RamseteCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::RamseteController controller, frc::DifferentialDriveKinematics kinematics, std::function< void(units::meters_per_second_t, units::meters_per_second_t)> output, std::initializer_list< Subsystem * > requirements)
	Constructs a new RamseteCommand that, when executed, will follow the provided trajectory. More...

	RamseteCommand (frc::Trajectory trajectory, std::function< frc::Pose2d()> pose, frc::RamseteController controller, frc::DifferentialDriveKinematics kinematics, std::function< void(units::meters_per_second_t, units::meters_per_second_t)> output, std::span< Subsystem *const > requirements={})
	Constructs a new RamseteCommand that, when executed, will follow the provided trajectory. More...

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...

bool	IsFinished () override
	Whether the command has finished. More...

void	InitSendable (wpi::SendableBuilder &builder) override
	Initializes this Sendable object. More...

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

CommandPtr	ToPtr () &&override

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 (std::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) override
	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

Command &	operator= (const Command &rhs)

	Command (Command &&)=default

Command &	operator= (Command &&)=default

virtual void	Initialize ()
	The initial subroutine of a command. More...

virtual void	Execute ()
	The main body of a command. More...

virtual void	End (bool interrupted)
	The action to take when the command ends. More...

virtual bool	IsFinished ()
	Whether the command has finished. More...

virtual wpi::SmallSet< Subsystem *, 4 >	GetRequirements () const =0
	Specifies the set of subsystems used by this command. More...

CommandPtr	WithTimeout (units::second_t duration) &&
	Decorates this command with a timeout. More...

CommandPtr	Until (std::function< bool()> condition) &&
	Decorates this command with an interrupt condition. More...

CommandPtr	WithInterrupt (std::function< bool()> condition) &&
	Decorates this command with an interrupt condition. More...

CommandPtr	BeforeStarting (std::function< void()> toRun, std::initializer_list< Subsystem * > requirements) &&
	Decorates this command with a runnable to run before this command starts. More...

CommandPtr	BeforeStarting (std::function< void()> toRun, std::span< Subsystem *const > requirements={}) &&
	Decorates this command with a runnable to run before this command starts. More...

CommandPtr	AndThen (std::function< void()> toRun, std::initializer_list< Subsystem * > requirements) &&
	Decorates this command with a runnable to run after the command finishes. More...

CommandPtr	AndThen (std::function< void()> toRun, std::span< Subsystem *const > requirements={}) &&
	Decorates this command with a runnable to run after the command finishes. More...

PerpetualCommand	Perpetually () &&

CommandPtr	Repeatedly () &&
	Decorates this command to run repeatedly, restarting it when it ends, until this command is interrupted. More...

CommandPtr	AsProxy () &&
	Decorates this command to run "by proxy" by wrapping it in a ProxyCommand. More...

CommandPtr	Unless (std::function< bool()> condition) &&
	Decorates this command to only run if this condition is not met. More...

CommandPtr	IgnoringDisable (bool doesRunWhenDisabled) &&
	Decorates this command to run or stop when disabled. More...

CommandPtr	WithInterruptBehavior (Command::InterruptionBehavior interruptBehavior) &&
	Decorates this command to run or stop when disabled. More...

CommandPtr	FinallyDo (std::function< void(bool)> end) &&
	Decorates this command with a lambda to call on interrupt or end, following the command's inherent Command::End(bool) method. More...

CommandPtr	HandleInterrupt (std::function< void()> handler) &&
	Decorates this command with a lambda to call on interrupt, following the command's inherent Command::End(bool) method. More...

CommandPtr	WithName (std::string_view name) &&
	Decorates this Command with a name. More...

void	Schedule ()
	Schedules this command. 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	IsComposed () const
	Whether the command is currently grouped in a command group. More...

void	SetComposed (bool isComposed)
	Sets whether the command is currently composed in a command composition. 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...

virtual InterruptionBehavior	GetInterruptionBehavior () const
	How the command behaves when another command with a shared requirement is scheduled. More...

virtual std::string	GetName () const
	Gets the name of this Command. More...

virtual void	SetName (std::string_view name)
	Sets the name of this Command. More...

virtual CommandPtr	ToPtr () &&=0
	Transfers ownership of this command to a unique pointer. More...

Public Member Functions inherited from wpi::Sendable
virtual	~Sendable ()=default

virtual void	InitSendable (SendableBuilder &builder)=0
	Initializes this Sendable object. More...

Public Member Functions inherited from wpi::SendableHelper< CommandBase >
	SendableHelper (const SendableHelper &rhs)=default

	SendableHelper (SendableHelper &&rhs)

SendableHelper &	operator= (const SendableHelper &rhs)=default

SendableHelper &	operator= (SendableHelper &&rhs)

Additional Inherited Members
Public Types inherited from frc2::Command
enum class	InterruptionBehavior { kCancelSelf , kCancelIncoming }
	An enum describing the command's behavior when another command with a shared requirement is scheduled. More...

Protected Member Functions inherited from frc2::CommandHelper< CommandBase, RamseteCommand >
std::unique_ptr< Command >	TransferOwnership () &&override

Protected Member Functions inherited from frc2::CommandBase
	CommandBase ()

virtual std::unique_ptr< Command >	TransferOwnership () &&=0
	Transfers ownership of this command to a unique pointer. More...

Protected Member Functions inherited from wpi::SendableHelper< CommandBase >
	SendableHelper ()=default

	~SendableHelper ()

Protected Attributes inherited from frc2::CommandBase
wpi::SmallSet< Subsystem *, 4 >	m_requirements

Protected Attributes inherited from frc2::Command
bool	m_isComposed = false

Detailed Description

A command that uses a RAMSETE controller to follow a trajectory with a differential drive.

The command handles trajectory-following, PID calculations, and feedforwards internally. This is intended to be a more-or-less "complete solution" that can be used by teams without a great deal of controls expertise.

Advanced teams seeking more flexibility (for example, those who wish to use the onboard PID functionality of a "smart" motor controller) may use the secondary constructor that omits the PID and feedforward functionality, returning only the raw wheel speeds from the RAMSETE controller.

This class is provided by the NewCommands VendorDep

See also: RamseteController; Trajectory

Constructor & Destructor Documentation

◆ RamseteCommand() [1/4]

frc2::RamseteCommand::RamseteCommand	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::RamseteController	controller,
		frc::SimpleMotorFeedforward< units::meters >	feedforward,
		frc::DifferentialDriveKinematics	kinematics,
		std::function< frc::DifferentialDriveWheelSpeeds()>	wheelSpeeds,
		frc2::PIDController	leftController,
		frc2::PIDController	rightController,
		std::function< void(units::volt_t, units::volt_t)>	output,
		std::initializer_list< Subsystem * >	requirements
	)

Constructs a new RamseteCommand that, when executed, will follow the provided trajectory.

PID control and feedforward are handled internally, and outputs are scaled -12 to 12 representing units of volts.

Note: The controller will not set the outputVolts to zero upon completion of the path - this is left to the user, since it is not appropriate for paths with nonstationary endstates.

Parameters

trajectory	The trajectory to follow.
pose	A function that supplies the robot pose - use one of the odometry classes to provide this.
controller	The RAMSETE controller used to follow the trajectory.
feedforward	A component for calculating the feedforward for the drive.
kinematics	The kinematics for the robot drivetrain.
wheelSpeeds	A function that supplies the speeds of the left and right sides of the robot drive.
leftController	The PIDController for the left side of the robot drive.
rightController	The PIDController for the right side of the robot drive.
output	A function that consumes the computed left and right outputs (in volts) for the robot drive.
requirements	The subsystems to require.

◆ RamseteCommand() [2/4]

frc2::RamseteCommand::RamseteCommand	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::RamseteController	controller,
		frc::SimpleMotorFeedforward< units::meters >	feedforward,
		frc::DifferentialDriveKinematics	kinematics,
		std::function< frc::DifferentialDriveWheelSpeeds()>	wheelSpeeds,
		frc2::PIDController	leftController,
		frc2::PIDController	rightController,
		std::function< void(units::volt_t, units::volt_t)>	output,
		std::span< Subsystem *const >	requirements = `{}`
	)

Constructs a new RamseteCommand that, when executed, will follow the provided trajectory.

PID control and feedforward are handled internally, and outputs are scaled -12 to 12 representing units of volts.

Note: The controller will not set the outputVolts to zero upon completion of the path - this is left to the user, since it is not appropriate for paths with nonstationary endstates.

Parameters

trajectory	The trajectory to follow.
pose	A function that supplies the robot pose - use one of the odometry classes to provide this.
controller	The RAMSETE controller used to follow the trajectory.
feedforward	A component for calculating the feedforward for the drive.
kinematics	The kinematics for the robot drivetrain.
wheelSpeeds	A function that supplies the speeds of the left and right sides of the robot drive.
leftController	The PIDController for the left side of the robot drive.
rightController	The PIDController for the right side of the robot drive.
output	A function that consumes the computed left and right outputs (in volts) for the robot drive.
requirements	The subsystems to require.

◆ RamseteCommand() [3/4]

frc2::RamseteCommand::RamseteCommand	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::RamseteController	controller,
		frc::DifferentialDriveKinematics	kinematics,
		std::function< void(units::meters_per_second_t, units::meters_per_second_t)>	output,
		std::initializer_list< Subsystem * >	requirements
	)

Constructs a new RamseteCommand that, when executed, will follow the provided trajectory.

Performs no PID control and calculates no feedforwards; outputs are the raw wheel speeds from the RAMSETE controller, and will need to be converted into a usable form by the user.

Parameters

trajectory	The trajectory to follow.
pose	A function that supplies the robot pose - use one of the odometry classes to provide this.
controller	The RAMSETE controller used to follow the trajectory.
kinematics	The kinematics for the robot drivetrain.
output	A function that consumes the computed left and right wheel speeds.
requirements	The subsystems to require.

◆ RamseteCommand() [4/4]

frc2::RamseteCommand::RamseteCommand	(	frc::Trajectory	trajectory,
		std::function< frc::Pose2d()>	pose,
		frc::RamseteController	controller,
		frc::DifferentialDriveKinematics	kinematics,
		std::function< void(units::meters_per_second_t, units::meters_per_second_t)>	output,
		std::span< Subsystem *const >	requirements = `{}`
	)

Constructs a new RamseteCommand that, when executed, will follow the provided trajectory.

Performs no PID control and calculates no feedforwards; outputs are the raw wheel speeds from the RAMSETE controller, and will need to be converted into a usable form by the user.

Parameters

trajectory	The trajectory to follow.
pose	A function that supplies the robot pose - use one of the odometry classes to provide this.
controller	The RAMSETE controller used to follow the trajectory.
kinematics	The kinematics for the robot drivetrain.
output	A function that consumes the computed left and right wheel speeds.
requirements	The subsystems to require.

Member Function Documentation

◆ End()

void frc2::RamseteCommand::End ( bool interrupted )

overridevirtual

The action to take when the command ends.

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

Parameters

interrupted whether the command was interrupted/canceled

Reimplemented from frc2::Command.

◆ Execute()

void frc2::RamseteCommand::Execute ( )

overridevirtual

The main body of a command.

Called repeatedly while the command is scheduled.

Reimplemented from frc2::Command.

◆ Initialize()

void frc2::RamseteCommand::Initialize ( )

overridevirtual

The initial subroutine of a command.

Called once when the command is initially scheduled.

Reimplemented from frc2::Command.

◆ InitSendable()

void frc2::RamseteCommand::InitSendable ( wpi::SendableBuilder & builder )

overridevirtual

Initializes this Sendable object.

Parameters

builder sendable builder

Implements wpi::Sendable.

◆ IsFinished()

bool frc2::RamseteCommand::IsFinished ( )

overridevirtual

Whether the command has finished.

Once a command finishes, the scheduler will call its end() method and un-schedule it.

Returns: whether the command has finished.

Reimplemented from frc2::Command.

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

frc2/command/RamseteCommand.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RamseteCommand() [1/4]

◆ RamseteCommand() [2/4]

◆ RamseteCommand() [3/4]

◆ RamseteCommand() [4/4]

Member Function Documentation

◆ End()

◆ Execute()

◆ Initialize()

◆ InitSendable()

◆ IsFinished()