Inheritance diagram for DriveRobotCommand:

Collaboration diagram for DriveRobotCommand:

Public Member Functions
	DriveRobotCommand (Communicator comm, EncoderSensor leftEncoder, EncoderSensor *rightEncoder, double radius, double rotationRate, int duration_ms, double wheelDiameter, double drivetrainDiameter)

bool	execute () override

bool	cleanup (bool canceled) override

Public Member Functions inherited from Command
	Command ()

virtual	~Command ()

void	init ()

void	cancel ()

void	stop ()

bool	isRunning ()

bool	isInitialized ()

void	setIsRunning (bool value)

bool	isFinished ()

Additional Inherited Members
Protected Attributes inherited from Command
std::mutex	m_lock
	Lock for managing access to member variables in a thread-safe manner.

Detailed Description

Definition at line 11 of file DriveRobotCommand.h.

Constructor & Destructor Documentation

DriveRobotCommand::DriveRobotCommand	(	Communicator *	comm,
		EncoderSensor *	leftEncoder,
		EncoderSensor *	rightEncoder,
		double	radius,
		double	rotationRate,
		int	duration_ms,
		double	wheelDiameter,
		double	drivetrainDiameter
	)

Constructor

Parameters

comm	Communicator
leftEncoder	LeftEncoder object
rightEncoder	RightEncoder object
radius	Distance from center of robot to turning center in cm. Right = positive, left = negative
rotationRate	The rate of rotation in rads/second
duration_ms	The time in milliseconds to run this command for
wheelDiameter	The diameter of the wheels in cm
drivetrainDiameter	The distance between the wheels in cm

Definition at line 9 of file DriveRobotCommand.cpp.

bool DriveRobotCommand::cleanup ( bool canceled )

overridevirtual

Stop the respective motor commands. Will no longer perform PD control. Does not change the last motor write value.

Parameters

canceled

Implements Command.

Definition at line 59 of file DriveRobotCommand.cpp.

bool DriveRobotCommand::execute ( )

overridevirtual

Return true until time is expired

Implements Command.

Definition at line 34 of file DriveRobotCommand.cpp.

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