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Add new C++ Command framework (#1785)

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This is the C++ version of #1682.

The old command framework is still available, but will be deprecated.

Due to name conflicts, the new framework is in the frc2 namespace.
Eventually (after the old command framework is removed in a future year)
it will be moved into the main frc namespace.
This commit is contained in:
Oblarg
2019-08-25 23:55:59 -04:00
committed by Peter Johnson
parent a0be07c370
commit 076ed7770c
196 changed files with 10687 additions and 163 deletions
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50
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Constants.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
/**
* The Constants header provides a convenient place for teams to hold robot-wide
* numerical or bool constants. This should not be used for any other purpose.
*
* It is generally a good idea to place constants into subsystem- or
* command-specific namespaces within this header, which can then be used where
* they are needed.
*/
namespace DriveConstants {
const int kLeftMotor1Port = 0;
const int kLeftMotor2Port = 1;
const int kRightMotor1Port = 2;
const int kRightMotor2Port = 3;
const int kLeftEncoderPorts[]{0, 1};
const int kRightEncoderPorts[]{2, 3};
const bool kLeftEncoderReversed = false;
const bool kRightEncoderReversed = true;
const int kEncoderCPR = 1024;
const double kWheelDiameterInches = 6;
const double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterInches * 3.142) / static_cast<double>(kEncoderCPR);
} // namespace DriveConstants
namespace HatchConstants {
const int kHatchSolenoidModule = 0;
const int kHatchSolenoidPorts[]{0, 1};
} // namespace HatchConstants
namespace AutoConstants {
const double kAutoDriveDistanceInches = 60;
const double kAutoBackupDistanceInches = 20;
const double kAutoDriveSpeed = .5;
} // namespace AutoConstants
namespace OIConstants {
const int kDriverControllerPort = 1;
} // namespace OIConstants

34
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Robot.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc2/command/Command.h>
#include <frc/TimedRobot.h>
#include "RobotContainer.h"
class Robot : public frc::TimedRobot {
public:
void RobotInit() override;
void RobotPeriodic() override;
void DisabledInit() override;
void DisabledPeriodic() override;
void AutonomousInit() override;
void AutonomousPeriodic() override;
void TeleopInit() override;
void TeleopPeriodic() override;
void TestPeriodic() override;
private:
// Have it null by default so that if testing teleop it
// doesn't have undefined behavior and potentially crash.
frc2::Command* m_autonomousCommand = nullptr;
RobotContainer m_container;
};

54
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/RobotContainer.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc2/command/Command.h>
#include <frc/XboxController.h>
#include <frc/smartdashboard/SendableChooser.h>
#include "Constants.h"
#include "commands/ComplexAuto.h"
#include "commands/DefaultDrive.h"
#include "commands/DriveDistance.h"
#include "subsystems/DriveSubsystem.h"
#include "subsystems/HatchSubsystem.h"
/**
* This class is where the bulk of the robot should be declared. Since
* Command-based is a "declarative" paradigm, very little robot logic should
* actually be handled in the {@link Robot} periodic methods (other than the
* scheduler calls). Instead, the structure of the robot (including subsystems,
* commands, and button mappings) should be declared here.
*/
class RobotContainer {
public:
RobotContainer();
frc2::Command* GetAutonomousCommand();
private:
// The robot's subsystems and commands are defined here...
// The robot's subsystems
DriveSubsystem m_drive;
HatchSubsystem m_hatch;
// The autonomous routines
DriveDistance m_simpleAuto{AutoConstants::kAutoDriveDistanceInches,
AutoConstants::kAutoDriveSpeed, &m_drive};
ComplexAuto m_complexAuto{&m_drive, &m_hatch};
// The chooser for the autonomous routines
frc::SendableChooser<frc2::Command*> m_chooser;
// The driver's controller
frc::XboxController m_driverController{OIConstants::kDriverControllerPort};
void ConfigureButtonBindings();
};

31
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ComplexAuto.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc2/command/CommandHelper.h>
#include <frc2/command/SequentialCommandGroup.h>
#include "Constants.h"
#include "commands/DriveDistance.h"
#include "commands/ReleaseHatch.h"
/**
* A complex auto command that drives forward, releases a hatch, and then drives
* backward.
*/
class ComplexAuto
: public frc2::CommandHelper<frc2::SequentialCommandGroup, ComplexAuto> {
public:
/**
* Creates a new ComplexAuto.
*
* @param drive The drive subsystem this command will run on
* @param hatch The hatch subsystem this command will run on
*/
ComplexAuto(DriveSubsystem* drive, HatchSubsystem* hatch);
};

41
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DefaultDrive.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc2/command/CommandBase.h>
#include <frc2/command/CommandHelper.h>
#include "subsystems/DriveSubsystem.h"
/**
* A command to drive the robot with joystick input passed in through lambdas.
* Written explicitly for pedagogical purposes - actual code should inline a
* command this simple with RunCommand.
*
* @see RunCommand
*/
class DefaultDrive
: public frc2::CommandHelper<frc2::CommandBase, DefaultDrive> {
public:
/**
* Creates a new DefaultDrive.
*
* @param subsystem The drive subsystem this command wil run on.
* @param forward The control input for driving forwards/backwards
* @param rotation The control input for turning
*/
DefaultDrive(DriveSubsystem* subsystem, std::function<double()> forward,
std::function<double()> rotation);
void Execute() override;
private:
DriveSubsystem* m_drive;
std::function<double()> m_forward;
std::function<double()> m_rotation;
};

37
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DriveDistance.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc2/command/CommandBase.h>
#include <frc2/command/CommandHelper.h>
#include "subsystems/DriveSubsystem.h"
class DriveDistance
: public frc2::CommandHelper<frc2::CommandBase, DriveDistance> {
public:
/**
* Creates a new DriveDistance.
*
* @param inches The number of inches the robot will drive
* @param speed The speed at which the robot will drive
* @param drive The drive subsystem on which this command will run
*/
DriveDistance(double inches, double speed, DriveSubsystem* subsystem);
void Initialize() override;
void End(bool interrupted) override;
bool IsFinished() override;
private:
DriveSubsystem* m_drive;
double m_distance;
double m_speed;
};

32
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/GrabHatch.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc2/command/CommandBase.h>
#include <frc2/command/CommandHelper.h>
#include "subsystems/HatchSubsystem.h"
/**
* A simple command that grabs a hatch with the HatchSubsystem. Written
* explicitly for pedagogical purposes. Actual code should inline a command
* this simple with InstantCommand.
*
* @see InstantCommand
*/
class GrabHatch : public frc2::CommandHelper<frc2::CommandBase, GrabHatch> {
public:
explicit GrabHatch(HatchSubsystem* subsystem);
void Initialize() override;
bool IsFinished() override;
private:
HatchSubsystem* m_hatch;
};

26
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/HalveDriveSpeed.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc2/command/CommandBase.h>
#include <frc2/command/CommandHelper.h>
#include "subsystems/DriveSubsystem.h"
class HalveDriveSpeed
: public frc2::CommandHelper<frc2::CommandBase, HalveDriveSpeed> {
public:
explicit HalveDriveSpeed(DriveSubsystem* subsystem);
void Initialize() override;
void End(bool interrupted) override;
private:
DriveSubsystem* m_drive;
};

33
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ReleaseHatch.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc2/command/CommandBase.h>
#include <frc2/command/CommandHelper.h>
#include "subsystems/HatchSubsystem.h"
/**
* A simple command that releases a hatch with the HatchSubsystem. Written
* explicitly for pedagogical purposes. Actual code should inline a command
* this simple with InstantCommand.
*
* @see InstantCommand
*/
class ReleaseHatch
: public frc2::CommandHelper<frc2::CommandBase, ReleaseHatch> {
public:
explicit ReleaseHatch(HatchSubsystem* subsystem);
void Initialize() override;
bool IsFinished() override;
private:
HatchSubsystem* m_hatch;
};

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wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc2/command/SubsystemBase.h>
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/SpeedControllerGroup.h>
#include <frc/drive/DifferentialDrive.h>
#include "Constants.h"
class DriveSubsystem : public frc2::SubsystemBase {
public:
DriveSubsystem();
/**
* Will be called periodically whenever the CommandScheduler runs.
*/
void Periodic() override;
// Subsystem methods go here.
/**
* Drives the robot using arcade controls.
*
* @param fwd the commanded forward movement
* @param rot the commanded rotation
*/
void ArcadeDrive(double fwd, double rot);
/**
* Resets the drive encoders to currently read a position of 0.
*/
void ResetEncoders();
/**
* Gets the average distance of the TWO encoders.
*
* @return the average of the TWO encoder readings
*/
double GetAverageEncoderDistance();
/**
* Gets the left drive encoder.
*
* @return the left drive encoder
*/
frc::Encoder& GetLeftEncoder();
/**
* Gets the right drive encoder.
*
* @return the right drive encoder
*/
frc::Encoder& GetRightEncoder();
/**
* Sets the max output of the drive. Useful for scaling the drive to drive
* more slowly.
*
* @param maxOutput the maximum output to which the drive will be constrained
*/
void SetMaxOutput(double maxOutput);
private:
// Components (e.g. motor controllers and sensors) should generally be
// declared private and exposed only through public methods.
// The motor controllers
frc::PWMVictorSPX m_left1;
frc::PWMVictorSPX m_left2;
frc::PWMVictorSPX m_right1;
frc::PWMVictorSPX m_right2;
// The motors on the left side of the drive
frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};
// The motors on the right side of the drive
frc::SpeedControllerGroup m_rightMotors{m_right1, m_right2};
// The robot's drive
frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
// The left-side drive encoder
frc::Encoder m_leftEncoder;
// The right-side drive encoder
frc::Encoder m_rightEncoder;
};

36
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/HatchSubsystem.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc2/command/SubsystemBase.h>
#include <frc/DoubleSolenoid.h>
#include "Constants.h"
class HatchSubsystem : public frc2::SubsystemBase {
public:
HatchSubsystem();
// Subsystem methods go here.
/**
* Grabs the hatch.
*/
void GrabHatch();
/**
* Releases the hatch.
*/
void ReleaseHatch();
private:
// Components (e.g. motor controllers and sensors) should generally be
// declared private and exposed only through public methods.
frc::DoubleSolenoid m_hatchSolenoid;
};