thunder::TrajectoryRunnerProperties Struct Reference

#include <TrajectoryRunnerProperties.hpp>

Public Types
using	GetPoseFunc = std::function<frc::Pose2d()>
using	ResetPoseFunc = std::function<void(const frc::Pose2d&)>
using	GetSpeedsFunc = std::function<frc::ChassisSpeeds()>
using	SetSpeedsFunc = std::function<void(const frc::ChassisSpeeds&)>

Public Member Functions
bool	isValid () const
	operator bool () const

Public Attributes
GetPoseFunc	getPose
ResetPoseFunc	resetPose
SetSpeedsFunc	setSpeeds
std::shared_ptr< frc::HolonomicDriveController >	controller

Detailed Description

A set of callback functions and properties required to run a trajectory.

Member Data Documentation

controller

std::shared_ptr<frc::HolonomicDriveController> thunder::TrajectoryRunnerProperties::controller

Holonomic drive controller to use for following the trajectory (required).

Note

ThunderLib will NOT reset the controller's x, y, or theta PID controllers; the user should do that in the resetPose function if desired.

getPose

GetPoseFunc thunder::TrajectoryRunnerProperties::getPose

Gets the current pose of the robot (required).

resetPose

ResetPoseFunc thunder::TrajectoryRunnerProperties::resetPose

Resets the robot's pose to the specified pose (and PID controllers too!) (optional).

If not provided (nullptr), the robot's pose will not be reset at the start of the trajectory.

setSpeeds

SetSpeedsFunc thunder::TrajectoryRunnerProperties::setSpeeds

Control the robot's chassis speeds (required).

Speeds are robot-relative, not field-relative.

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

• src/main/native/include/ThunderLib/Trajectory/TrajectoryRunnerProperties.hpp