Class CalibrateCommand

Defined in File calibrate_command.hpp

Inheritance Relationships

Base Type

public tap::control::Command (Class Command)

Class Documentation

class CalibrateCommand : public tap::control::Command 

Default command that can be used to calibrate the setpoint subsystem (spam calls calibrateHere, which upon success will cause the setpoints current position to be the new zero point (i.e.: setpointSubsystem->getCurrentValue() will return 0 at the current position)). By default, the setpoint subsystem will keep calling calibrateHere until the setpoint subsystem is connected, however this command is for the following:

A placeholder command initially.
Allows you to recalibrate an setpoint subsystem that has already been calibrated if necessary.

The command will not complete until it has successfully calibrated the subsystem (or is interrupted)

Public Functions

explicit CalibrateCommand(SetpointSubsystem *setpointSubsystem)

Parameters:: setpointSubsystem – [in] The subsystem this command is dependent upon.

inline virtual const char *getName() const override

virtual bool isReady() override

virtual void initialize() override

virtual void execute() override

virtual void end(bool interrupted) override

virtual bool isFinished() const override