Inheritance diagram for choreolib::ChoreoSwerveCommand:

Public Member Functions
	ChoreoSwerveCommand (ChoreoTrajectory trajectory, std::function< frc::Pose2d()> poseSupplier, ChoreoControllerFunction controller, std::function< void(frc::ChassisSpeeds)> outputChassisSpeeds, std::function< bool(void)> mirrorTrajectory, frc2::Requirements requirements={})

void	Initialize () override
	Runs once before the first call to Execute()

void	Execute () override
	Runs every robot periodic loop while the command is running.

void	End (bool interrupted) override
	Runs once after IsFinished() returns true.

bool	IsFinished () override
	Command will end once this returns true.

Detailed Description

A frc2::Command that controls a swerve drivetrain using ChoreoTrajectories

Constructor & Destructor Documentation

ChoreoSwerveCommand::ChoreoSwerveCommand	(	ChoreoTrajectory	trajectory,
		std::function< frc::Pose2d()>	poseSupplier,
		ChoreoControllerFunction	controller,
		std::function< void(frc::ChassisSpeeds)>	outputChassisSpeeds,
		std::function< bool(void)>	mirrorTrajectory,
		frc2::Requirements	requirements = {} )

Creates a new ChoreoSwerveCommand that controls a swerve drivetrain

Parameters

trajectory	the ChoreoTrajectory to follow
poseSupplier	a function that supplies the current pose of the robot
controller	a function that consumes a pose and the current trajectory state, and supplies back robot relative ChassisSpeeds
outputChassisSpeeds	a function that consumes robot relative ChassisSpeeds
mirrorTrajectory	If this returns true, the path will be mirrored to the opposite side, while keeping the same coordinate system origin. This will be called every loop during the command.
requirements	subsystem requirements

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