PurePursuitCommand Class Reference

#include <drive_commands.h>

Public Member Functions
	PurePursuitCommand (TankDrive &drive_sys, Feedback &feedback, PurePursuit::Path path, directionType dir, double max_speed=1, double end_speed=0)
bool	run () override
void	on_timeout () override

Detailed Description

Autocommand wrapper class for pure pursuit function in the TankDrive class

Constructor & Destructor Documentation

PurePursuitCommand()

PurePursuitCommand::PurePursuitCommand	(	TankDrive &	drive_sys,
		Feedback &	feedback,
		PurePursuit::Path	path,
		directionType	dir,
		double	max_speed = 1,
		double	end_speed = 0 )

Construct a Pure Pursuit AutoCommand

Parameters

path	The list of coordinates to follow, in order
dir	Run the bot forwards or backwards
feedback	The feedback controller determining speed
max_speed	Limit the speed of the robot (for pid / pidff feedbacks)

Member Function Documentation

on_timeout()

void PurePursuitCommand::on_timeout ( )

override

Reset the drive system when it times out

run()

bool PurePursuitCommand::run ( )

override

Direct call to TankDrive::pure_pursuit

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

• drive_commands.h
• drive_commands.cpp