3#include "../core/include/robot_specs.h"
4#include "../core/include/subsystems/screen.h"
5#include "../core/include/utils/command_structure/auto_command.h"
6#include "../core/include/utils/controls/feedforward.h"
7#include "../core/include/utils/controls/pid.h"
54 void spin_manual(
double speed, directionType dir = fwd);
103 friend class FlywheelPage;
106 vex::motor_group &motors;
107 bool task_running =
false;
112 std::atomic<double> target_rpm;
121 void set_target(
double value);
125 double measure_RPM();
133 void spin_raw(
double speed, directionType dir = fwd);
Definition feedforward.h:29
Definition feedback_base.h:10
virtual bool is_on_target()=0
Definition moving_average.h:8
AutoCommand * WaitUntilUpToSpeedCmd()
Creates a new auto command that will hold until the flywheel has its target as defined by its feedbac...
Definition flywheel.h:98
vex::motor_group & get_motors() const
Definition flywheel.cpp:26
void spin_manual(double speed, directionType dir=fwd)
Definition flywheel.cpp:85
screen::Page * Page() const
Creates a page displaying info about the flywheel.
Definition flywheel.cpp:165
Flywheel(vex::motor_group &motors, Feedback &feedback, FeedForward &helper, const double ratio, Filter &filt)
Definition flywheel.cpp:15
bool is_on_target()
check if the feedback controller thinks the flywheel is on target
Definition flywheel.h:72
void stop()
Definition flywheel.cpp:119
void spin_rpm(double rpm)
Definition flywheel.cpp:96
double getRPM() const
Definition flywheel.cpp:38
double get_target() const
Definition flywheel.cpp:21
friend int spinRPMTask(void *wheelPointer)
Definition flywheel.cpp:43
AutoCommand * SpinRpmCmd(int rpm)
Creates a new auto command to spin the flywheel at the desired velocity.
Definition flywheel.h:85
Definition auto_command.h:73
FunctionCondition is a quick and dirty Condition to wrap some expression that should be evaluated at ...
Definition auto_command.h:105
Waits until the condition is true.
Definition auto_command.h:130
Page describes one part of the screen slideshow.
Definition screen.h:125