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Fix some PIDCommand constructors not forwarding subsystems (#1299)

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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.
This commit is contained in:
Tyler Veness
2018-09-02 14:18:12 -07:00
committed by Peter Johnson
parent c8482cd6d2
commit 0b113ad9ce
12 changed files with 119 additions and 113 deletions
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17
wpilibc/src/main/native/cpp/commands/Command.cpp
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@@ -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 {

2
wpilibc/src/main/native/cpp/commands/InstantCommand.cpp
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@@ -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) {}

19
wpilibc/src/main/native/cpp/commands/PIDCommand.cpp
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@@ -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);
}

8
wpilibc/src/main/native/cpp/commands/TimedCommand.cpp
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@@ -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(); }