mirror of
https://github.com/wpilibsuite/allwpilib
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53 lines
1.4 KiB
C
53 lines
1.4 KiB
C
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <memory>
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#include <wpi/Twine.h>
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#include "CommandBase.h"
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#include "CommandHelper.h"
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#include "frc/Timer.h"
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namespace frc2 {
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/**
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* A command that does nothing but takes a specified amount of time to finish.
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* Useful for CommandGroups. Can also be subclassed to make a command with an
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* internal timer.
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*/
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class WaitCommand : public CommandHelper<CommandBase, WaitCommand> {
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public:
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/**
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* Creates a new WaitCommand. This command will do nothing, and end after the
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* specified duration.
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*
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* @param seconds the time to wait, in seconds
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*/
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explicit WaitCommand(double seconds);
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WaitCommand(WaitCommand&& other) = default;
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WaitCommand(const WaitCommand& other) = default;
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void Initialize() override;
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void End(bool interrupted) override;
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bool IsFinished() override;
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bool RunsWhenDisabled() const override;
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protected:
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std::unique_ptr<frc::Timer> m_timer;
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private:
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double m_duration;
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};
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} // namespace frc2
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