thunder::TrajectoryRunnerProperties Struct Reference

#include <TrajectoryRunnerProperties.hpp>

Classes
struct	DriveControllerInputData

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&)>
using	SetSpeedsWithDiagnosticsFunc
using	ControlFunc = std::function<void(const DriveControllerInputData&)>
using	StopFunc = std::function<void()>

Public Member Functions
	TrajectoryRunnerProperties (GetPoseFunc getPoseFunc, ResetPoseFunc resetPoseFunc, SetSpeedsFunc setSpeedsFunc, std::shared_ptr< frc::HolonomicDriveController > holonomicDriveController)
	TrajectoryRunnerProperties (GetPoseFunc getPoseFunc, ResetPoseFunc resetPoseFunc, SetSpeedsWithDiagnosticsFunc setSpeedsWithDiagnosticsFunc, std::shared_ptr< frc::HolonomicDriveController > holonomicDriveController)
	TrajectoryRunnerProperties (GetPoseFunc getPose, ResetPoseFunc resetPose, ControlFunc control, StopFunc stop)
bool	isValid () const
	operator bool () const

Public Attributes
const GetPoseFunc	getPose = nullptr
const ResetPoseFunc	resetPose = nullptr
const SetSpeedsFunc	setSpeeds = nullptr
const SetSpeedsWithDiagnosticsFunc	setSpeedsWithDiagnostics = nullptr
const std::shared_ptr< frc::HolonomicDriveController >	controller = nullptr
const ControlFunc	control = nullptr
const StopFunc	stop = nullptr

Detailed Description

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

Member Typedef Documentation

SetSpeedsWithDiagnosticsFunc

using thunder::TrajectoryRunnerProperties::SetSpeedsWithDiagnosticsFunc

Initial value:

 
      std::function<void(const frc::ChassisSpeeds&, const DriveControllerInputData&)>

Constructor & Destructor Documentation

TrajectoryRunnerProperties() [1/3]

thunder::TrajectoryRunnerProperties::TrajectoryRunnerProperties ( GetPoseFunc getPoseFunc, ResetPoseFunc resetPoseFunc, SetSpeedsFunc setSpeedsFunc, std::shared_ptr< frc::HolonomicDriveController > holonomicDriveController )

inline

Constructor for TrajectoryRunnerProperties.

Parameters

getPose	Function that returns the current robot pose.
resetPose	Function that resets the robot pose (and PID controllers too!)
setSpeeds	Function that controls the robot chassis speeds (robot-centric).
holonomicDriveController	The holonomic drive controller for trajectory following. ThunderLib will NOT reset its x, y, or theta PID controllers; the user should do that in the resetPose function if desired.

TrajectoryRunnerProperties() [2/3]

thunder::TrajectoryRunnerProperties::TrajectoryRunnerProperties ( GetPoseFunc getPoseFunc, ResetPoseFunc resetPoseFunc, SetSpeedsWithDiagnosticsFunc setSpeedsWithDiagnosticsFunc, std::shared_ptr< frc::HolonomicDriveController > holonomicDriveController )

inline

Constructor for TrajectoryRunnerProperties.

Parameters

getPose	Function that returns the current robot pose.
resetPose	Function that resets the robot pose (and PID controllers too!)
setSpeedsWithDiagnostics	Function that controls the robot chassis speeds (robot-centric) with diagnostic data.
holonomicDriveController	The holonomic drive controller for trajectory following. ThunderLib will NOT reset its x, y, or theta PID controllers; the user should do that in the resetPose function if desired.

TrajectoryRunnerProperties() [3/3]

thunder::TrajectoryRunnerProperties::TrajectoryRunnerProperties ( GetPoseFunc getPose, ResetPoseFunc resetPose, ControlFunc control, StopFunc stop )

inline

Constructor for TrajectoryRunnerProperties, with no drive controller. Instead, a consumer of DriveControllerInputData must be provided instead of the typical chassis speeds consumer, and the user is responsible for calculating the appropriate speeds on their own.

Parameters

getPose	Function that returns the current robot pose.
resetPose	Function that resets the robot pose (and PID controllers too!)
control	Function that controls the robot based on the provided DriveControllerInputData.
stop	Function that stops the robot.

Member Data Documentation

control

const ControlFunc thunder::TrajectoryRunnerProperties::control = nullptr

Control the robot.

controller

const std::shared_ptr<frc::HolonomicDriveController> thunder::TrajectoryRunnerProperties::controller = nullptr

Holonomic drive controller to use for following the trajectory.

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

const GetPoseFunc thunder::TrajectoryRunnerProperties::getPose = nullptr

Gets the current pose of the robot.

resetPose

const ResetPoseFunc thunder::TrajectoryRunnerProperties::resetPose = nullptr

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

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

setSpeeds

const SetSpeedsFunc thunder::TrajectoryRunnerProperties::setSpeeds = nullptr

Control the robot's chassis speeds.

Speeds are robot-relative, not field-relative.

setSpeedsWithDiagnostics

const SetSpeedsWithDiagnosticsFunc thunder::TrajectoryRunnerProperties::setSpeedsWithDiagnostics = nullptr

Control the robot's chassis speeds with diagnostic data.

Speeds are robot-relative, not field-relative.

stop

const StopFunc thunder::TrajectoryRunnerProperties::stop = nullptr

Stop the robot (at the end of the trajectory or on interruption).

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

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