subzero::TurnToPose Class Reference

Allows the robot/an axis to face an arbitrary Pose2d. More...

#include <TurnToPose.h>

Inheritance diagram for subzero::TurnToPose:

Collaboration diagram for subzero::TurnToPose:

Classes
struct	TurnToPoseConfig

Public Member Functions
	TurnToPose (TurnToPoseConfig config, std::function< frc::Pose2d()> poseGetter, std::function< frc::Field2d *()> fieldGetter)
	Construct a new TurnToPose instance.
void	Update () override
	Call this every loop to get the latest angle relative to the robot's position.
void	SetTargetPose (frc::Pose2d pose)
	Set the pose the robot/axis should be facing.
void	SetTargetAngleRelative (units::degree_t angle)
	Set the angle the robot/axis should be facing relative to its current rotation.
void	SetTargetAngleAbsolute (units::degree_t angle)
	Set the angle the robot/axis should be facing relative to the field's coordinate system.
frc::ChassisSpeeds	GetSpeedCorrection () override
	Get the Speed Correction object.
frc::ChassisSpeeds	BlendWithInput (const frc::ChassisSpeeds &other, double correctionFactor) override
	Combines two ChassisSpeeds into a single result via a linear regression and coefficient.
bool	AtGoal () override
	Check if the robot is at the goal angle.
std::optional< frc::Pose2d >	GetTargetPose () const
std::optional< units::degree_t >	GetTargetAngle () const
units::degree_t	GetTargetHeading () const

Static Public Member Functions
static units::degree_t	GetAngleFromOtherPose (const frc::Pose2d &, const frc::Pose2d &)
	Helper to calculate the relative angle between two poses.
static double	NormalizeScalar (double x, double from_min, double from_max, double to_min, double to_max)
	Helper to normalize a value to a new range.

Detailed Description

Allows the robot/an axis to face an arbitrary Pose2d.

Definition at line 23 of file TurnToPose.h.

Constructor & Destructor Documentation

TurnToPose()

subzero::TurnToPose::TurnToPose ( TurnToPoseConfig config, std::function< frc::Pose2d()> poseGetter, std::function< frc::Field2d *()> fieldGetter )

explicit

Construct a new TurnToPose instance.

Parameters

config
poseGetter	Returns the robot's current Pose2d
fieldGetter	Returns the current Field2d

Member Function Documentation

AtGoal()

bool subzero::TurnToPose::AtGoal ( )

inlineoverridevirtual

Check if the robot is at the goal angle.

Returns

true

false

Implements subzero::ITurnToTarget.

Definition at line 114 of file TurnToPose.h.

BlendWithInput()

frc::ChassisSpeeds subzero::TurnToPose::BlendWithInput ( const frc::ChassisSpeeds & other, double correctionFactor )

overridevirtual

Combines two ChassisSpeeds into a single result via a linear regression and coefficient.

Parameters

other	The initial ChassisSpeeds
correctionFactor	Ranges from 0 to 1; percentage of the TurnToPose correction to apply

Implements subzero::ITurnToTarget.

GetAngleFromOtherPose()

static units::degree_t subzero::TurnToPose::GetAngleFromOtherPose ( const frc::Pose2d & , const frc::Pose2d &  )

static

Helper to calculate the relative angle between two poses.

Parameters

currentPose
targetPose

GetSpeedCorrection()

frc::ChassisSpeeds subzero::TurnToPose::GetSpeedCorrection ( )

overridevirtual

Get the Speed Correction object.

Returns

frc::ChassisSpeeds

Implements subzero::ITurnToTarget.

GetTargetAngle()

std::optional< units::degree_t > subzero::TurnToPose::GetTargetAngle ( ) const

inline

Definition at line 120 of file TurnToPose.h.

GetTargetHeading()

units::degree_t subzero::TurnToPose::GetTargetHeading ( ) const

inline

Definition at line 124 of file TurnToPose.h.

GetTargetPose()

std::optional< frc::Pose2d > subzero::TurnToPose::GetTargetPose ( ) const

inline

Definition at line 116 of file TurnToPose.h.

NormalizeScalar()

static double subzero::TurnToPose::NormalizeScalar ( double x, double from_min, double from_max, double to_min, double to_max )

inlinestatic

Helper to normalize a value to a new range.

Parameters

x	Input
from_min	Input min
from_max	Input max
to_min	Output min
to_max	Output max

Returns

double

Definition at line 136 of file TurnToPose.h.

SetTargetAngleAbsolute()

void subzero::TurnToPose::SetTargetAngleAbsolute

(

units::degree_t

angle

)

Set the angle the robot/axis should be facing relative to the field's coordinate system.

Parameters

angle

SetTargetAngleRelative()

void subzero::TurnToPose::SetTargetAngleRelative

(

units::degree_t

angle

)

Set the angle the robot/axis should be facing relative to its current rotation.

Parameters

angle

SetTargetPose()

void subzero::TurnToPose::SetTargetPose

(

frc::Pose2d

pose

)

Set the pose the robot/axis should be facing.

Parameters

pose

Update()

void subzero::TurnToPose::Update ( )

overridevirtual

Call this every loop to get the latest angle relative to the robot's position.

Implements subzero::ITurnToTarget.

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

• include/subzero/target/TurnToPose.h