okapi::AsyncMotionProfileControllerBuilder Class Reference

#include <asyncMotionProfileControllerBuilder.hpp>

Public Member Functions
	AsyncMotionProfileControllerBuilder (const std::shared_ptr< Logger > &ilogger=Logger::getDefaultLogger())
	A builder that creates async motion profile controllers.
AsyncMotionProfileControllerBuilder &	withOutput (const Motor &ioutput, const QLength &idiameter, const AbstractMotor::GearsetRatioPair &ipair)
	Sets the output.
AsyncMotionProfileControllerBuilder &	withOutput (const MotorGroup &ioutput, const QLength &idiameter, const AbstractMotor::GearsetRatioPair &ipair)
	Sets the output.
AsyncMotionProfileControllerBuilder &	withOutput (const std::shared_ptr< ControllerOutput< double > > &ioutput, const QLength &idiameter, const AbstractMotor::GearsetRatioPair &ipair)
	Sets the output.
AsyncMotionProfileControllerBuilder &	withOutput (ChassisController &icontroller)
	Sets the output.
AsyncMotionProfileControllerBuilder &	withOutput (const std::shared_ptr< ChassisController > &icontroller)
	Sets the output.
AsyncMotionProfileControllerBuilder &	withOutput (const std::shared_ptr< ChassisModel > &imodel, const ChassisScales &iscales, const AbstractMotor::GearsetRatioPair &ipair)
	Sets the output.
AsyncMotionProfileControllerBuilder &	withLimits (const PathfinderLimits &ilimits)
	Sets the limits.
AsyncMotionProfileControllerBuilder &	withTimeUtilFactory (const TimeUtilFactory &itimeUtilFactory)
	Sets the TimeUtilFactory used when building the controller.
AsyncMotionProfileControllerBuilder &	withLogger (const std::shared_ptr< Logger > &ilogger)
	Sets the logger.
AsyncMotionProfileControllerBuilder &	parentedToCurrentTask ()
	Parents the internal tasks started by this builder to the current task, meaning they will be deleted once the current task is deleted.
AsyncMotionProfileControllerBuilder &	notParentedToCurrentTask ()
	Prevents parenting the internal tasks started by this builder to the current task, meaning they will not be deleted once the current task is deleted.
std::shared_ptr< AsyncLinearMotionProfileController >	buildLinearMotionProfileController ()
	Builds the AsyncLinearMotionProfileController.
std::shared_ptr< AsyncMotionProfileController >	buildMotionProfileController ()
	Builds the AsyncMotionProfileController.

Detailed Description

Definition at line 17 of file asyncMotionProfileControllerBuilder.hpp.

Constructor & Destructor Documentation

AsyncMotionProfileControllerBuilder()

okapi::AsyncMotionProfileControllerBuilder::AsyncMotionProfileControllerBuilder ( const std::shared_ptr< Logger > &  ilogger = Logger::getDefaultLogger() )

explicit

A builder that creates async motion profile controllers.

Use this to build an AsyncMotionProfileController or an AsyncLinearMotionProfileController.

Parameters

ilogger

The logger this instance will log to.

Member Function Documentation

buildLinearMotionProfileController()

std::shared_ptr< AsyncLinearMotionProfileController > okapi::AsyncMotionProfileControllerBuilder::buildLinearMotionProfileController

(

)

Builds the AsyncLinearMotionProfileController.

Returns

A fully built AsyncLinearMotionProfileController.

buildMotionProfileController()

std::shared_ptr< AsyncMotionProfileController > okapi::AsyncMotionProfileControllerBuilder::buildMotionProfileController

(

)

Builds the AsyncMotionProfileController.

Returns

A fully built AsyncMotionProfileController.

notParentedToCurrentTask()

AsyncMotionProfileControllerBuilder & okapi::AsyncMotionProfileControllerBuilder::notParentedToCurrentTask

(

)

Prevents parenting the internal tasks started by this builder to the current task, meaning they will not be deleted once the current task is deleted.

This can cause runaway tasks, but is sometimes the desired behavior (e.x., if you want to use this builder once in autonomous and then again in opcontrol).

Read more about this in the [builders and tasks tutorial] (docs/tutorials/concepts/builders-and-tasks.md).

Returns

An ongoing builder.

parentedToCurrentTask()

AsyncMotionProfileControllerBuilder & okapi::AsyncMotionProfileControllerBuilder::parentedToCurrentTask

(

)

Parents the internal tasks started by this builder to the current task, meaning they will be deleted once the current task is deleted.

The initialize and competition_initialize tasks are never parented to. This is the default behavior.

Read more about this in the [builders and tasks tutorial] (docs/tutorials/concepts/builders-and-tasks.md).

Returns

An ongoing builder.

withLimits()

AsyncMotionProfileControllerBuilder & okapi::AsyncMotionProfileControllerBuilder::withLimits

(

const PathfinderLimits &

ilimits

)

Sets the limits.

Parameters

ilimits

The limits.

Returns

An ongoing builder.

withLogger()

AsyncMotionProfileControllerBuilder & okapi::AsyncMotionProfileControllerBuilder::withLogger

(

const std::shared_ptr< Logger > &

ilogger

)

Sets the logger.

Parameters

ilogger

The logger.

Returns

An ongoing builder.

withOutput() [1/6]

AsyncMotionProfileControllerBuilder & okapi::AsyncMotionProfileControllerBuilder::withOutput

(

ChassisController &

icontroller

)

Sets the output.

This must be used with buildMotionProfileController().

Parameters

icontroller

The chassis controller to use.

Returns

An ongoing builder.

withOutput() [2/6]

AsyncMotionProfileControllerBuilder & okapi::AsyncMotionProfileControllerBuilder::withOutput	(	const Motor &	ioutput,
		const QLength &	idiameter,
		const AbstractMotor::GearsetRatioPair &	ipair
	)

Sets the output.

This must be used with buildLinearMotionProfileController().

Parameters

ioutput	The output.
idiameter	The diameter of the mechanical part the motor spins.
ipair	The gearset.

Returns

An ongoing builder.

withOutput() [3/6]

AsyncMotionProfileControllerBuilder & okapi::AsyncMotionProfileControllerBuilder::withOutput	(	const MotorGroup &	ioutput,
		const QLength &	idiameter,
		const AbstractMotor::GearsetRatioPair &	ipair
	)

Sets the output.

This must be used with buildLinearMotionProfileController().

Parameters

ioutput	The output.
idiameter	The diameter of the mechanical part the motor spins.
ipair	The gearset.

Returns

An ongoing builder.

withOutput() [4/6]

AsyncMotionProfileControllerBuilder & okapi::AsyncMotionProfileControllerBuilder::withOutput

(

const std::shared_ptr< ChassisController > &

icontroller

)

Sets the output.

This must be used with buildMotionProfileController().

Parameters

icontroller

The chassis controller to use.

Returns

An ongoing builder.

withOutput() [5/6]

AsyncMotionProfileControllerBuilder & okapi::AsyncMotionProfileControllerBuilder::withOutput	(	const std::shared_ptr< ChassisModel > &	imodel,
		const ChassisScales &	iscales,
		const AbstractMotor::GearsetRatioPair &	ipair
	)

Sets the output.

This must be used with buildMotionProfileController().

Parameters

imodel	The chassis model to use.
iscales	The chassis dimensions.
ipair	The gearset.

Returns

An ongoing builder.

withOutput() [6/6]

AsyncMotionProfileControllerBuilder & okapi::AsyncMotionProfileControllerBuilder::withOutput	(	const std::shared_ptr< ControllerOutput< double > > &	ioutput,
		const QLength &	idiameter,
		const AbstractMotor::GearsetRatioPair &	ipair
	)

Sets the output.

This must be used with buildLinearMotionProfileController().

Parameters

ioutput	The output.
idiameter	The diameter of the mechanical part the motor spins.
ipair	The gearset.

Returns

An ongoing builder.

withTimeUtilFactory()

AsyncMotionProfileControllerBuilder & okapi::AsyncMotionProfileControllerBuilder::withTimeUtilFactory

(

const TimeUtilFactory &

itimeUtilFactory

)

Sets the TimeUtilFactory used when building the controller.

The default is the static TimeUtilFactory.

Parameters

itimeUtilFactory

The TimeUtilFactory.

Returns

An ongoing builder.

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

• include/okapi/impl/control/async/asyncMotionProfileControllerBuilder.hpp