Swerve trigger that fires when swerve is engaged
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#include <swerve_trigger.h>
Swerve trigger that fires when swerve is engaged
在文件 swerve_trigger.h 第 32 行定义.
◆ SwerveTrigger()
apollo::data::SwerveTrigger::SwerveTrigger |
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◆ ~SwerveTrigger()
virtual apollo::data::SwerveTrigger::~SwerveTrigger |
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virtualdefault |
◆ Pull()
实现了 apollo::data::TriggerBase.
在文件 swerve_trigger.cc 第 35 行定义.
35 {
37 return;
38 }
39
40 if (msg.channel_name == FLAGS_chassis_topic) {
41 Chassis chassis_msg;
42 chassis_msg.ParseFromString(msg.content);
43 const float steer_per = chassis_msg.steering_percentage();
44
45 if (IsNoisy(steer_per)) {
46 return;
47 }
48
49 EnqueueMessage(steer_per);
50
51 if (IsSwerve()) {
52 AINFO <<
"swerve trigger is pulled: " << msg.time <<
" - "
53 << msg.channel_name;
55 }
56 }
57}
std::unique_ptr< Trigger > trigger_obj_
void TriggerIt(const uint64_t msg_time) const
◆ ShouldRestore()
该类的文档由以下文件生成: