#include <drive_commands.h>
Inherits AutoCommand.
Autocommand wrapper class for pure pursuit function in the TankDrive class
◆ PurePursuitCommand()
PurePursuitCommand::PurePursuitCommand |
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TankDrive & | drive_sys, |
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Feedback & | feedback, |
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PurePursuit::Path | path, |
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directionType | dir, |
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double | max_speed = 1, |
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double | end_speed = 0 ) |
Construct a Pure Pursuit AutoCommand
- Parameters
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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) |
◆ on_timeout()
void PurePursuitCommand::on_timeout |
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override |
Reset the drive system when it times out
◆ run()
bool PurePursuitCommand::run |
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override |
The documentation for this class was generated from the following files: