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 >:

Public Member Functions
	ProfiledPIDCommand (frc::ProfiledPIDController< Distance > controller, std::function< Distance_t()> measurementSource, std::function< State()> goalSource, std::function< void(double, State)> useOutput, Requirements requirements={})
	Creates a new PIDCommand, which controls the given output with a ProfiledPIDController.
	ProfiledPIDCommand (frc::ProfiledPIDController< Distance > controller, std::function< Distance_t()> measurementSource, std::function< Distance_t()> goalSource, std::function< void(double, State)> useOutput, Requirements requirements={})
	Creates a new PIDCommand, which controls the given output with a ProfiledPIDController.
	ProfiledPIDCommand (frc::ProfiledPIDController< Distance > controller, std::function< Distance_t()> measurementSource, State goal, std::function< void(double, State)> useOutput, Requirements requirements={})
	Creates a new PIDCommand, which controls the given output with a ProfiledPIDController with a constant goal.
	ProfiledPIDCommand (frc::ProfiledPIDController< Distance > controller, std::function< Distance_t()> measurementSource, Distance_t goal, std::function< void(double, State)> useOutput, Requirements requirements={})
	Creates a new PIDCommand, which controls the given output with a ProfiledPIDController with a constant goal.
	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.
Public Member Functions inherited from frc2::CommandHelper< Command, ProfiledPIDCommand< Distance > >
	CommandHelper ()=default
CommandPtr	ToPtr () &&override

Protected Attributes
frc::ProfiledPIDController< Distance >	m_controller
	Profiled PID controller.
std::function< Distance_t()>	m_measurement
	Measurement getter.
std::function< State()>	m_goal
	Goal getter.
std::function< void(double, State)>	m_useOutput
	Profiled PID controller output consumer.

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() [1/6]

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, Requirements 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

Deprecated

Use a ProfiledPIDController instead

ProfiledPIDCommand() [2/6]

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, Requirements 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

Deprecated

Use a ProfiledPIDController instead

ProfiledPIDCommand() [3/6]

template<class Distance >

frc2::ProfiledPIDCommand< Distance >::ProfiledPIDCommand ( frc::ProfiledPIDController< Distance > controller, std::function< Distance_t()> measurementSource, State goal, std::function< void(double, State)> useOutput, Requirements 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

Deprecated

Use a ProfiledPIDController instead

ProfiledPIDCommand() [4/6]

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, Requirements 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

Deprecated

Use a ProfiledPIDController instead

ProfiledPIDCommand() [5/6]

template<class Distance >

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

default

ProfiledPIDCommand() [6/6]

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

Profiled PID controller.

m_goal

template<class Distance >

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

protected

Goal getter.

m_measurement

template<class Distance >

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

protected

Measurement getter.

m_useOutput

template<class Distance >

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

protected

Profiled PID controller output consumer.

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

• frc2/command/ProfiledPIDCommand.h