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[examples] Fix segfault in GearsBot C++ example (#3111)

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This fixes a dangling this pointer in the DriveStraight and
SetDistanceToBox commands by directly capturing the
drivetrain pointer by value instead.
This commit is contained in:
Prateek Machiraju
2021-01-20 23:38:45 -05:00
committed by GitHub
parent 4cf0e5e6db
commit 15be5cbf1f
2 changed files with 5 additions and 4 deletions
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4
wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/DriveStraight.cpp
View File

@@ -11,8 +11,8 @@
DriveStraight::DriveStraight(double distance, DriveTrain* drivetrain)
: frc2::CommandHelper<frc2::PIDCommand, DriveStraight>(
frc2::PIDController(4, 0, 0),
[this]() { return m_drivetrain->GetDistance(); }, distance,
[this](double output) { m_drivetrain->Drive(output, output); },
[drivetrain] { return drivetrain->GetDistance(); }, distance,
[drivetrain](double output) { drivetrain->Drive(output, output); },
{drivetrain}),
m_drivetrain(drivetrain) {
m_controller.SetTolerance(0.01);

5
wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetDistanceToBox.cpp
View File

@@ -11,8 +11,9 @@
SetDistanceToBox::SetDistanceToBox(double distance, DriveTrain* drivetrain)
: frc2::CommandHelper<frc2::PIDCommand, SetDistanceToBox>(
frc2::PIDController(-2, 0, 0),
[this]() { return m_drivetrain->GetDistanceToObstacle(); }, distance,
[this](double output) { m_drivetrain->Drive(output, output); },
[drivetrain] { return drivetrain->GetDistanceToObstacle(); },
distance,
[drivetrain](double output) { drivetrain->Drive(output, output); },
{drivetrain}),
m_drivetrain(drivetrain) {
m_controller.SetTolerance(0.01);