frc2::TrapezoidProfileCommand< Distance > Class Template Reference

A command that runs a TrapezoidProfile. More...

#include <frc2/command/TrapezoidProfileCommand.h>

Inheritance diagram for frc2::TrapezoidProfileCommand< Distance >:

Public Member Functions
	TrapezoidProfileCommand (frc::TrapezoidProfile< Distance > profile, std::function< void(State)> output, std::function< State()> goal, std::function< State()> currentState, Requirements requirements={})
	Creates a new TrapezoidProfileCommand that will execute the given TrapezoidalProfile. More...
	TrapezoidProfileCommand (frc::TrapezoidProfile< Distance > profile, std::function< void(State)> output, Requirements requirements={})
	Creates a new TrapezoidProfileCommand that will execute the given TrapezoidalProfile. More...
void	Initialize () override
void	Execute () override
void	End (bool interrupted) override
bool	IsFinished () override
Public Member Functions inherited from frc2::CommandHelper< Command, TrapezoidProfileCommand< Distance > >
	CommandHelper ()=default
CommandPtr	ToPtr () &&override

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

Detailed Description

template<class Distance>
class frc2::TrapezoidProfileCommand< Distance >

A command that runs a TrapezoidProfile.

Useful for smoothly controlling mechanism motion.

This class is provided by the NewCommands VendorDep

See also

TrapezoidProfile

Constructor & Destructor Documentation

TrapezoidProfileCommand() [1/2]

template<class Distance >

frc2::TrapezoidProfileCommand< Distance >::TrapezoidProfileCommand ( frc::TrapezoidProfile< Distance >  profile, std::function< void(State)>  output, std::function< State()>  goal, std::function< State()>  currentState, Requirements  requirements = {}  )

inline

Creates a new TrapezoidProfileCommand that will execute the given TrapezoidalProfile.

Output will be piped to the provided consumer function.

Parameters

profile	The motion profile to execute.
output	The consumer for the profile output.
goal	The supplier for the desired state
currentState	The current state
requirements	The list of requirements.

TrapezoidProfileCommand() [2/2]

template<class Distance >

frc2::TrapezoidProfileCommand< Distance >::TrapezoidProfileCommand ( frc::TrapezoidProfile< Distance >  profile, std::function< void(State)>  output, Requirements  requirements = {}  )

inline

Creates a new TrapezoidProfileCommand that will execute the given TrapezoidalProfile.

Output will be piped to the provided consumer function.

Parameters

profile	The motion profile to execute.
output	The consumer for the profile output.
requirements	The list of requirements.

Deprecated:

The new constructor allows you to pass in a supplier for desired and current state. This allows you to change goals at runtime.

Member Function Documentation

End()

template<class Distance >

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

inlineoverride

Execute()

template<class Distance >

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

inlineoverride

Initialize()

template<class Distance >

void frc2::TrapezoidProfileCommand< Distance >::Initialize ( )

inlineoverride

IsFinished()

template<class Distance >

bool frc2::TrapezoidProfileCommand< Distance >::IsFinished ( )

inlineoverride

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

• frc2/command/TrapezoidProfileCommand.h