Package edu.wpi.first.wpilibj2.command

Class TrapezoidProfileSubsystem

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

edu.wpi.first.wpilibj2.command.TrapezoidProfileSubsystem

All Implemented Interfaces:

Sendable, Subsystem

public abstract class TrapezoidProfileSubsystem
extends SubsystemBase

A subsystem that generates and runs trapezoidal motion profiles automatically. The user specifies how to use the current state of the motion profile by overriding the `useState` method.

Constructor Summary

Constructors

Constructor	Description
TrapezoidProfileSubsystem(TrapezoidProfile.Constraints constraints)	Creates a new TrapezoidProfileSubsystem.
TrapezoidProfileSubsystem(TrapezoidProfile.Constraints constraints, double initialPosition)	Creates a new TrapezoidProfileSubsystem.
TrapezoidProfileSubsystem(TrapezoidProfile.Constraints constraints, double initialPosition, double period)	Creates a new TrapezoidProfileSubsystem.

Method Summary

Modifier and Type	Method	Description
void	disable()	Disable the TrapezoidProfileSubsystem's output.
void	enable()	Enable the TrapezoidProfileSubsystem's output.
void	periodic()	This method is called periodically by the CommandScheduler.
void	setGoal(double goal)	Sets the goal state for the subsystem.
void	setGoal(TrapezoidProfile.State goal)	Sets the goal state for the subsystem.
protected abstract void	useState(TrapezoidProfile.State state)	Users should override this to consume the current state of the motion profile.

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

getCurrentCommand, getDefaultCommand, register, setDefaultCommand, simulationPeriodic

Constructor Details

TrapezoidProfileSubsystem

public TrapezoidProfileSubsystem(TrapezoidProfile.Constraints constraints, double initialPosition, double period)

Creates a new TrapezoidProfileSubsystem.

Parameters:

constraints - The constraints (maximum velocity and acceleration) for the profiles.

initialPosition - The initial position of the controlled mechanism when the subsystem is constructed.

period - The period of the main robot loop, in seconds.

TrapezoidProfileSubsystem

public TrapezoidProfileSubsystem(TrapezoidProfile.Constraints constraints, double initialPosition)

Creates a new TrapezoidProfileSubsystem.

Parameters:

constraints - The constraints (maximum velocity and acceleration) for the profiles.

initialPosition - The initial position of the controlled mechanism when the subsystem is constructed.

TrapezoidProfileSubsystem

public TrapezoidProfileSubsystem(TrapezoidProfile.Constraints constraints)

Creates a new TrapezoidProfileSubsystem.

Parameters:

constraints - The constraints (maximum velocity and acceleration) for the profiles.

Method Details

periodic

public void periodic()

Description copied from interface: Subsystem

This method is called periodically by the CommandScheduler. Useful for updating subsystem-specific state that you don't want to offload to a Command. Teams should try to be consistent within their own codebases about which responsibilities will be handled by Commands, and which will be handled here.

setGoal

public void setGoal(TrapezoidProfile.State goal)

Sets the goal state for the subsystem.

Parameters:

goal - The goal state for the subsystem's motion profile.

setGoal

public void setGoal(double goal)

Sets the goal state for the subsystem. Goal velocity assumed to be zero.

Parameters:

goal - The goal position for the subsystem's motion profile.

enable

public void enable()

Enable the TrapezoidProfileSubsystem's output.

disable

public void disable()

Disable the TrapezoidProfileSubsystem's output.

useState

protected abstract void useState(TrapezoidProfile.State state)

Users should override this to consume the current state of the motion profile.

Parameters:

state - The current state of the motion profile.