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Add requirements param to more Command APIs (#2059)

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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
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12
wpilibNewCommands/src/main/native/include/frc2/command/button/Button.h
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@@ -65,8 +65,10 @@ class Button : public Trigger {
* Binds a runnable to execute when the button is pressed.
*
* @param toRun the runnable to execute.
* @param requirements the required subsystems.
*/
Button WhenPressed(std::function<void()> toRun);
Button WhenPressed(std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements = {});
/**
* Binds a command to be started repeatedly while the button is pressed, and
@@ -100,8 +102,10 @@ class Button : public Trigger {
* Binds a runnable to execute repeatedly while the button is pressed.
*
* @param toRun the runnable to execute.
* @param requirements the required subsystems.
*/
Button WhileHeld(std::function<void()> toRun);
Button WhileHeld(std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements = {});
/**
* Binds a command to be started when the button is pressed, and cancelled
@@ -163,8 +167,10 @@ class Button : public Trigger {
* Binds a runnable to execute when the button is released.
*
* @param toRun the runnable to execute.
* @param requirements the required subsystems.
*/
Button WhenReleased(std::function<void()> toRun);
Button WhenReleased(std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements = {});
/**
* Binds a command to start when the button is pressed, and be cancelled when

12
wpilibNewCommands/src/main/native/include/frc2/command/button/Trigger.h
View File

@@ -96,8 +96,10 @@ class Trigger {
* Binds a runnable to execute when the trigger becomes active.
*
* @param toRun the runnable to execute.
* @paaram requirements the required subsystems.
*/
Trigger WhenActive(std::function<void()> toRun);
Trigger WhenActive(std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements = {});
/**
* Binds a command to be started repeatedly while the trigger is active, and
@@ -145,8 +147,10 @@ class Trigger {
* Binds a runnable to execute repeatedly while the trigger is active.
*
* @param toRun the runnable to execute.
* @param requirements the required subsystems.
*/
Trigger WhileActiveContinous(std::function<void()> toRun);
Trigger WhileActiveContinous(std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements = {});
/**
* Binds a command to be started when the trigger becomes active, and
@@ -234,8 +238,10 @@ class Trigger {
* Binds a runnable to execute when the trigger becomes inactive.
*
* @param toRun the runnable to execute.
* @param requirements the required subsystems.
*/
Trigger WhenInactive(std::function<void()> toRun);
Trigger WhenInactive(std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements = {});
/**
* Binds a command to start when the trigger becomes active, and be cancelled