Class MoveUnjamIntegralComprisedCommand

Defined in File move_unjam_integral_comprised_command.hpp

Inheritance Relationships

Base Type

public tap::control::ComprisedCommand (Class ComprisedCommand)

Class Documentation

class MoveUnjamIntegralComprisedCommand : public tap::control::ComprisedCommand 

A comprised command that combines the integral unjam and rotate commands. Will schedule the move command when not jammed. When jammed, will switch to the unjam command.

See also

MoveIntegralCommand

Public Functions

MoveUnjamIntegralComprisedCommand(tap::Drivers &drivers, IntegrableSetpointSubsystem &subsystem, MoveIntegralCommand &moveIntegralCommand, UnjamCommandInterface &unjamCommand)

Note

The move integral and unjam integral commands must have the same subsystem requirement. This subsystem requirement must be the subsystem passed in.

Parameters:

drivers – [in] A reference to the Drivers struct.
subsystem – [in] The IntegrableSetpointSubsystem that will be rotated or unjammed.
moveIntegralCommand – [in] A command that rotates the agitator forward.
unjamCommand – [in] A command that unjams the agitator.

virtual bool isReady() override

virtual void initialize() override

virtual void execute() override

virtual void end(bool interrupted) override

virtual bool isFinished() const override

inline virtual const char *getName() const override