Fix some PIDCommand constructors not forwarding subsystems (#1299)

Also added missing constructor to wpilibc's InstantCommand and renamed
argument from requirement to subsystem as per
https://github.com/wpilibsuite/allwpilib/pull/1275#issuecomment-416071940.

wpilibc/src/main/native/cpp/commands/Command.cpp

@@ -27,8 +27,8 @@ Command::Command(const wpi::Twine& name) : Command(name, -1.0) {}
 
 Command::Command(double timeout) : Command("", timeout) {}
 
-Command::Command(Subsystem& requirement) : Command("", -1.0) {
-  Requires(&requirement);
+Command::Command(Subsystem& subsystem) : Command("", -1.0) {
+  Requires(&subsystem);
 }
 
 Command::Command(const wpi::Twine& name, double timeout) : SendableBase(false) {
@@ -47,19 +47,18 @@ Command::Command(const wpi::Twine& name, double timeout) : SendableBase(false) {
   }
 }
 
-Command::Command(const wpi::Twine& name, Subsystem& requirement)
+Command::Command(const wpi::Twine& name, Subsystem& subsystem)
     : Command(name, -1.0) {
-  Requires(&requirement);
+  Requires(&subsystem);
 }
 
-Command::Command(double timeout, Subsystem& requirement)
-    : Command("", timeout) {
-  Requires(&requirement);
+Command::Command(double timeout, Subsystem& subsystem) : Command("", timeout) {
+  Requires(&subsystem);
 }
 
-Command::Command(const wpi::Twine& name, double timeout, Subsystem& requirement)
+Command::Command(const wpi::Twine& name, double timeout, Subsystem& subsystem)
     : Command(name, timeout) {
-  Requires(&requirement);
+  Requires(&subsystem);
 }
 
 double Command::TimeSinceInitialized() const {

wpilibc/src/main/native/cpp/commands/InstantCommand.cpp

@@ -11,6 +11,8 @@ using namespace frc;
 
 InstantCommand::InstantCommand(const wpi::Twine& name) : Command(name) {}
 
+InstantCommand::InstantCommand(Subsystem& subsystem) : Command(subsystem) {}
+
 InstantCommand::InstantCommand(const wpi::Twine& name, Subsystem& subsystem)
     : Command(name, subsystem) {}
 

wpilibc/src/main/native/cpp/commands/PIDCommand.cpp

@@ -42,35 +42,36 @@ PIDCommand::PIDCommand(double p, double i, double d, double period) {
 }
 
 PIDCommand::PIDCommand(const wpi::Twine& name, double p, double i, double d,
-                       double f, double period, Subsystem& requirement)
-    : Command(name, requirement) {
+                       double f, double period, Subsystem& subsystem)
+    : Command(name, subsystem) {
   m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
 }
 
 PIDCommand::PIDCommand(double p, double i, double d, double f, double period,
-                       Subsystem& requirement) {
+                       Subsystem& subsystem)
+    : Command(subsystem) {
   m_controller =
       std::make_shared<PIDController>(p, i, d, f, this, this, period);
 }
 
 PIDCommand::PIDCommand(const wpi::Twine& name, double p, double i, double d,
-                       Subsystem& requirement)
-    : Command(name) {
+                       Subsystem& subsystem)
+    : Command(name, subsystem) {
   m_controller = std::make_shared<PIDController>(p, i, d, this, this);
 }
 
 PIDCommand::PIDCommand(const wpi::Twine& name, double p, double i, double d,
-                       double period, Subsystem& requirement)
-    : Command(name) {
+                       double period, Subsystem& subsystem)
+    : Command(name, subsystem) {
   m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
 }
 
-PIDCommand::PIDCommand(double p, double i, double d, Subsystem& requirement) {
+PIDCommand::PIDCommand(double p, double i, double d, Subsystem& subsystem) {
   m_controller = std::make_shared<PIDController>(p, i, d, this, this);
 }
 
 PIDCommand::PIDCommand(double p, double i, double d, double period,
-                       Subsystem& requirement) {
+                       Subsystem& subsystem) {
   m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
 }
 

wpilibc/src/main/native/cpp/commands/TimedCommand.cpp

@@ -15,10 +15,10 @@ TimedCommand::TimedCommand(const wpi::Twine& name, double timeout)
 TimedCommand::TimedCommand(double timeout) : Command(timeout) {}
 
 TimedCommand::TimedCommand(const wpi::Twine& name, double timeout,
-                           Subsystem& requirement)
-    : Command(name, timeout, requirement) {}
+                           Subsystem& subsystem)
+    : Command(name, timeout, subsystem) {}
 
-TimedCommand::TimedCommand(double timeout, Subsystem& requirement)
-    : Command(timeout, requirement) {}
+TimedCommand::TimedCommand(double timeout, Subsystem& subsystem)
+    : Command(timeout, subsystem) {}
 
 bool TimedCommand::IsFinished() { return IsTimedOut(); }

wpilibc/src/main/native/include/frc/commands/Command.h

@@ -75,9 +75,9 @@ class Command : public ErrorBase, public SendableBase {
   /**
    * Creates a new command with the given timeout and a default name.
    *
-   * @param requirement the subsystem that the command requires
+   * @param subsystem the subsystem that the command requires
    */
-  explicit Command(Subsystem& requirement);
+  explicit Command(Subsystem& subsystem);
 
   /**
    * Creates a new command with the given name and timeout.
@@ -91,29 +91,27 @@ class Command : public ErrorBase, public SendableBase {
   /**
    * Creates a new command with the given name and timeout.
    *
-   * @param name        the name of the command
-   * @param requirement the subsystem that the command requires
+   * @param name      the name of the command
+   * @param subsystem the subsystem that the command requires
    */
-  Command(const wpi::Twine& name, Subsystem& requirement);
+  Command(const wpi::Twine& name, Subsystem& subsystem);
 
   /**
    * Creates a new command with the given name and timeout.
    *
-   * @param timeout     the time (in seconds) before this command "times out"
-   * @param requirement the subsystem that the command requires
-   * @see IsTimedOut()
+   * @param timeout   the time (in seconds) before this command "times out"
+   * @param subsystem the subsystem that the command requires @see IsTimedOut()
    */
-  Command(double timeout, Subsystem& requirement);
+  Command(double timeout, Subsystem& subsystem);
 
   /**
    * Creates a new command with the given name and timeout.
    *
-   * @param name        the name of the command
-   * @param timeout     the time (in seconds) before this command "times out"
-   * @param requirement the subsystem that the command requires
-   * @see IsTimedOut()
+   * @param name      the name of the command
+   * @param timeout   the time (in seconds) before this command "times out"
+   * @param subsystem the subsystem that the command requires @see IsTimedOut()
    */
-  Command(const wpi::Twine& name, double timeout, Subsystem& requirement);
+  Command(const wpi::Twine& name, double timeout, Subsystem& subsystem);
 
   ~Command() override = default;
 

wpilibc/src/main/native/include/frc/commands/InstantCommand.h

@@ -27,13 +27,20 @@ class InstantCommand : public Command {
    */
   explicit InstantCommand(const wpi::Twine& name);
 
+  /**
+   * Creates a new InstantCommand with the given requirement.
+   *
+   * @param subsystem The subsystem that the command requires
+   */
+  explicit InstantCommand(Subsystem& subsystem);
+
   /**
    * Creates a new InstantCommand with the given name.
    *
-   * @param name        The name for this command
-   * @param requirement The subsystem that the command requires
+   * @param name      The name for this command
+   * @param subsystem The subsystem that the command requires
    */
-  InstantCommand(const wpi::Twine& name, Subsystem& requirement);
+  InstantCommand(const wpi::Twine& name, Subsystem& subsystem);
 
   InstantCommand() = default;
   virtual ~InstantCommand() = default;

wpilibc/src/main/native/include/frc/commands/PIDCommand.h

@@ -29,16 +29,15 @@ class PIDCommand : public Command, public PIDOutput, public PIDSource {
   PIDCommand(double p, double i, double d, double period);
   PIDCommand(double p, double i, double d, double f, double period);
   PIDCommand(const wpi::Twine& name, double p, double i, double d,
-             Subsystem& requirement);
+             Subsystem& subsystem);
   PIDCommand(const wpi::Twine& name, double p, double i, double d,
-             double period, Subsystem& requirement);
+             double period, Subsystem& subsystem);
   PIDCommand(const wpi::Twine& name, double p, double i, double d, double f,
-             double period, Subsystem& requirement);
-  PIDCommand(double p, double i, double d, Subsystem& requirement);
-  PIDCommand(double p, double i, double d, double period,
-             Subsystem& requirement);
+             double period, Subsystem& subsystem);
+  PIDCommand(double p, double i, double d, Subsystem& subsystem);
+  PIDCommand(double p, double i, double d, double period, Subsystem& subsystem);
   PIDCommand(double p, double i, double d, double f, double period,
-             Subsystem& requirement);
+             Subsystem& subsystem);
   virtual ~PIDCommand() = default;
 
   void SetSetpointRelative(double deltaSetpoint);

wpilibc/src/main/native/include/frc/commands/TimedCommand.h

@@ -38,19 +38,19 @@ class TimedCommand : public Command {
   /**
    * Creates a new TimedCommand with the given name and timeout.
    *
-   * @param name        the name of the command
-   * @param timeout     the time (in seconds) before this command "times out"
-   * @param requirement the subsystem that the command requires
+   * @param name      the name of the command
+   * @param timeout   the time (in seconds) before this command "times out"
+   * @param subsystem the subsystem that the command requires
    */
-  TimedCommand(const wpi::Twine& name, double timeout, Subsystem& requirement);
+  TimedCommand(const wpi::Twine& name, double timeout, Subsystem& subsystem);
 
   /**
    * Creates a new WaitCommand with the given timeout.
    *
-   * @param timeout     the time (in seconds) before this command "times out"
-   * @param requirement the subsystem that the command requires
+   * @param timeout   the time (in seconds) before this command "times out"
+   * @param subsystem the subsystem that the command requires
    */
-  TimedCommand(double timeout, Subsystem& requirement);
+  TimedCommand(double timeout, Subsystem& subsystem);
 
   virtual ~TimedCommand() = default;