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https://github.com/wpilibsuite/allwpilib
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33 lines
1.3 KiB
C++
33 lines
1.3 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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#include "frc2/command/NotifierCommand.h"
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using namespace frc2;
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NotifierCommand::NotifierCommand(std::function<void()> toRun, double period,
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std::initializer_list<Subsystem*> requirements)
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: m_toRun(toRun), m_notifier{std::move(toRun)}, m_period{period} {
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AddRequirements(requirements);
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}
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NotifierCommand::NotifierCommand(NotifierCommand&& other)
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: CommandHelper(std::move(other)),
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m_toRun(other.m_toRun),
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m_notifier(other.m_toRun),
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m_period(other.m_period) {}
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NotifierCommand::NotifierCommand(const NotifierCommand& other)
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: CommandHelper(other),
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m_toRun(other.m_toRun),
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m_notifier(frc::Notifier(other.m_toRun)),
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m_period(other.m_period) {}
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void NotifierCommand::Initialize() { m_notifier.StartPeriodic(m_period); }
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void NotifierCommand::End(bool interrupted) { m_notifier.Stop(); }
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