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

#include <frc2/command/TrapezoidProfileSubsystem.h>

Inheritance diagram for frc2::TrapezoidProfileSubsystem< Distance >:

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

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

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

std::string	GetSubsystem () const
	Gets the subsystem name of this Subsystem. More...

void	SetSubsystem (std::string_view name)
	Sets the subsystem name of this Subsystem. More...

void	AddChild (std::string name, wpi::Sendable *child)
	Associate a Sendable with this Subsystem. More...

Public Member Functions inherited from frc2::Subsystem
virtual	~Subsystem ()

virtual void	Periodic ()
	This method is called periodically by the CommandScheduler. More...

virtual void	SimulationPeriodic ()
	This method is called periodically by the CommandScheduler. More...

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...

void	SetDefaultCommand (CommandPtr &&defaultCommand)
	Sets the default Command of the subsystem. More...

void	RemoveDefaultCommand ()
	Removes the default command for the subsystem. More...

Command *	GetDefaultCommand () const
	Gets the default command for this subsystem. More...

Command *	GetCurrentCommand () 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. More...

CommandPtr	RunOnce (std::function< void()> action)
	Constructs a command that runs an action once and finishes. More...

CommandPtr	Run (std::function< void()> action)
	Constructs a command that runs an action every iteration until interrupted. More...

CommandPtr	StartEnd (std::function< void()> start, std::function< void()> end)
	Constructs a command that runs an action once and another action when the command is interrupted. More...

CommandPtr	RunEnd (std::function< void()> run, std::function< void()> end)
	Constructs a command that runs an action every iteration until interrupted, and then runs a second action. 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< SubsystemBase >
	SendableHelper (const SendableHelper &rhs)=default

	SendableHelper (SendableHelper &&rhs)

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

SendableHelper &	operator= (SendableHelper &&rhs)

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. More...

void	Disable ()
	Disable the TrapezoidProfileSubsystem's output. More...

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

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

	~SendableHelper ()

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.

This class is provided by the NewCommands VendorDep

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

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

Member Function Documentation

◆ Disable()

template<class Distance >

void frc2::TrapezoidProfileSubsystem< Distance >::Disable ( )

inlineprotected

Disable the TrapezoidProfileSubsystem's output.

◆ Enable()

template<class Distance >

void frc2::TrapezoidProfileSubsystem< Distance >::Enable ( )

inlineprotected

Enable the TrapezoidProfileSubsystem's output.

◆ 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

goal	The 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

goal	The 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

state The current state of the motion profile.

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

frc2/command/TrapezoidProfileSubsystem.h

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ TrapezoidProfileSubsystem()

Member Function Documentation

◆ Disable()

◆ Enable()

◆ Periodic()

◆ SetGoal() [1/2]

◆ SetGoal() [2/2]

◆ UseState()