Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-24 01:31:46 +00:00
Code Issues Packages Projects Releases Wiki Activity

Add requirements param to more Command APIs (#2059)

Browse Source 
Assorted improvements to the ergonomics of declaring requirements in the new
command framework. C++ requirements list parameters have been defaulted
to an empty list, some missing C++ requirements list parameters have been
added, and both C++ and Java have been given requirements list params in
various InstantCommand wrapper methods (#2049), whose value is
forwarded to the command.
This commit is contained in:
Oblarg
2019-11-08 21:30:30 -05:00
committed by Peter Johnson
parent ff39a96cee
commit 00228678d4
18 changed files with 97 additions and 59 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
wpilibNewCommands/src/main/native/include/frc2/command/Command.h
View File

@@ -127,17 +127,21 @@ class Command : public frc::ErrorBase {
* Decorates this command with a runnable to run before this command starts.
*
* @param toRun the Runnable to run
* @param requirements the required subsystems
* @return the decorated command
*/
SequentialCommandGroup BeforeStarting(std::function<void()> toRun) &&;
SequentialCommandGroup BeforeStarting(std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements = {}) &&;
/**
* Decorates this command with a runnable to run after the command finishes.
*
* @param toRun the Runnable to run
* @param requirements the required subsystems
* @return the decorated command
*/
SequentialCommandGroup AndThen(std::function<void()> toRun) &&;
SequentialCommandGroup AndThen(std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements = {}) &&;
/**
* Decorates this command to run perpetually, ignoring its ordinary end