valor::WorldAlign Class Reference

Inheritance diagram for valor::WorldAlign:

Classes
struct	StateComponent
struct	StateVector

Public Member Functions
	WorldAlign (valor::PIDF x, valor::PIDF y, valor::PIDF rot, frc::TrapezoidProfile< units::meter >::Constraints xConstraints, frc::TrapezoidProfile< units::meter >::Constraints yConstraints, frc::TrapezoidProfile< units::radian >::Constraints rotConstraints)
void	setPID (valor::PIDF x, valor::PIDF y, valor::PIDF rot)
void	setPIDx (valor::PIDF)
void	setPIDy (valor::PIDF)
void	setPIDrot (valor::PIDF)
std::array< valor::PIDF, 3 >	getPID ()
valor::PIDF	getPIDx ()
valor::PIDF	getPIDy ()
valor::PIDF	getPIDrot ()
void	resetControllers (frc::Pose2d, frc::ChassisSpeeds)
void	resetXController (units::meter_t, units::meters_per_second_t)
void	resetYController (units::meter_t, units::meters_per_second_t)
void	resetRotController (frc::Rotation2d, units::radians_per_second_t)
void	setConstraints (frc::TrapezoidProfile< units::meter >::Constraints x, frc::TrapezoidProfile< units::meter >::Constraints y, frc::TrapezoidProfile< units::radian >::Constraints rot)
void	setConstraintsx (frc::TrapezoidProfile< units::meter >::Constraints)
void	setConstraintsy (frc::TrapezoidProfile< units::meter >::Constraints)
void	setConstraintsrot (frc::TrapezoidProfile< units::radian >::Constraints)
void	enableContinuousRotation (bool enable=true, units::radian_t minimum=units::radian_t{-std::numbers::pi}, units::radian_t maximum=units::radian_t{std::numbers::pi})
frc::TrapezoidProfile< units::meter >::Constraints	getConstraintsx ()
frc::TrapezoidProfile< units::meter >::Constraints	getConstraintsy ()
frc::TrapezoidProfile< units::radian >::Constraints	getConstraintsrot ()
void	setGoal (frc::Pose2d, StateVector, bool rotate)
std::pair< frc::Pose2d, StateVector >	getGoal ()
frc::ChassisSpeeds	calculate (frc::Pose2d, frc::ChassisSpeeds)
frc::ChassisSpeeds	calculate (frc::Pose2d, frc::ChassisSpeeds, StateVector)
void	LoggablePeriodic () override
	Periodic callback for logging updates.
Public Member Functions inherited from valor::Loggable
void	LogChild (std::string_view name, Loggable *child)
	Register a child Loggable under a named subtree.
void	LogChild (std::string_view name, wpi::Sendable *child)
	Register a child Sendable under a named subtree.
void	setLoggingPeriod (units::millisecond_t period)
	Set the minimum period between LoggablePeriodic() invocations.
template<>
decltype(Loggable::subscribers) ::iterator	addSubscriber (std::string_view field, const std::vector< bool > &defaultValue)
template<>
void	WriteLogImpl (nt::Publisher *pub, const std::vector< bool > &data)
template<>
std::vector< bool >	ReadLogImpl (nt::Subscriber *sub)

Static Public Member Functions
static frc::Pose2d	offsetGetter (frc::Pose2d, frc::Transform2d)
Static Public Member Functions inherited from valor::Loggable
static units::millisecond_t	GetLoggingTime ()

Additional Inherited Members
Protected Member Functions inherited from valor::Loggable
	Loggable (std::string_view name)
	Construct a Loggable that registers a top-level table name.
	Loggable ()
	Default construct an uninitialized Loggable.
virtual	~Loggable ()=default
	Virtual destructor.
virtual void	OnLoggingStart ()
	Hook invoked when logging is started for this object.
template<typename T >
T	WriteLog (std::string_view field, const T &data)
	Publish a value to NetworkTables under the given field.
template<typename T >
T	ReadLog (std::string_view field, const T &defaultValue={})
	Read a value from NetworkTables for the given field.

Member Function Documentation

LoggablePeriodic()

void valor::WorldAlign::LoggablePeriodic ( )

overridevirtual

Periodic callback for logging updates.

If a derived class needs to perform periodic updates to published values, override this method. It is intended to be called by the logging framework; this base class provides an empty implementation.

Reimplemented from valor::Loggable.

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

• src/main/include/valkyrie/WorldAlign.h