TurnToHeadingCommand Class Reference

#include <drive_commands.h>

Public Member Functions
	TurnToHeadingCommand (TankDrive &drive_sys, Feedback &feedback, double heading_deg, double speed=1, double end_speed=0)
bool	run () override
std::string	toString () override
	Returns a string describing the commands functionality.
void	on_timeout () override
	Cleans up drive system if we time out before finishing.

Detailed Description

AutoCommand wrapper class for the turn_to_heading() function in the TankDrive class

Constructor & Destructor Documentation

TurnToHeadingCommand()

TurnToHeadingCommand::TurnToHeadingCommand	(	TankDrive &	drive_sys,
		Feedback &	feedback,
		double	heading_deg,
		double	max_speed = 1,
		double	end_speed = 0 )

Construct a TurnToHeadingCommand Command

Parameters

drive_sys	the drive system we are commanding
feedback	the feedback controller we are using to execute the drive
heading_deg	the heading to turn to in degrees
max_speed	0 -> 1 percentage of the drive systems speed to drive at

Member Function Documentation

on_timeout()

void TurnToHeadingCommand::on_timeout ( )

override

Cleans up drive system if we time out before finishing.

reset the drive system if we don't hit our target

run()

bool TurnToHeadingCommand::run ( )

override

Run turn_to_heading Overrides run from AutoCommand

Returns

true when execution is complete, false otherwise

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

• drive_commands.h
• drive_commands.cpp