001// Copyright (c) FIRST and other WPILib contributors.
002// Open Source Software; you can modify and/or share it under the terms of
003// the WPILib BSD license file in the root directory of this project.
004
005package edu.wpi.first.wpilibj2.command;
006
007import static edu.wpi.first.math.trajectory.TrapezoidProfile.State;
008import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
009
010import edu.wpi.first.math.trajectory.TrapezoidProfile;
011import edu.wpi.first.wpilibj.Timer;
012import java.util.function.Consumer;
013
014/**
015 * A command that runs a {@link TrapezoidProfile}. Useful for smoothly controlling mechanism motion.
016 */
017public class TrapezoidProfileCommand extends CommandBase {
018  private final TrapezoidProfile m_profile;
019  private final Consumer<State> m_output;
020
021  private final Timer m_timer = new Timer();
022
023  /**
024   * Creates a new TrapezoidProfileCommand that will execute the given {@link TrapezoidProfile}.
025   * Output will be piped to the provided consumer function.
026   *
027   * @param profile The motion profile to execute.
028   * @param output The consumer for the profile output.
029   * @param requirements The subsystems required by this command.
030   */
031  public TrapezoidProfileCommand(
032      TrapezoidProfile profile, Consumer<State> output, Subsystem... requirements) {
033    m_profile = requireNonNullParam(profile, "profile", "TrapezoidProfileCommand");
034    m_output = requireNonNullParam(output, "output", "TrapezoidProfileCommand");
035    addRequirements(requirements);
036  }
037
038  @Override
039  public void initialize() {
040    m_timer.reset();
041    m_timer.start();
042  }
043
044  @Override
045  public void execute() {
046    m_output.accept(m_profile.calculate(m_timer.get()));
047  }
048
049  @Override
050  public void end(boolean interrupted) {
051    m_timer.stop();
052  }
053
054  @Override
055  public boolean isFinished() {
056    return m_timer.hasElapsed(m_profile.totalTime());
057  }
058}