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[wpilib] Fix bugs in Hatchbot examples (#2893)

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This fixes an issue with some commands not correctly requiring their
subsytems. Furthermore, an execute() method was added to the
DriveDistance command to continuously update the voltage command.
This commit is contained in:
Prateek Machiraju
2020-11-28 17:01:56 -05:00
committed by GitHub
parent 5eb8cfd691
commit 2056f0ce09
7 changed files with 94 additions and 52 deletions
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28
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.h
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 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. */
@@ -10,11 +10,11 @@
#include <frc/XboxController.h>
#include <frc/smartdashboard/SendableChooser.h>
#include <frc2/command/Command.h>
#include <frc2/command/FunctionalCommand.h>
#include <frc2/command/InstantCommand.h>
#include <frc2/command/ParallelRaceGroup.h>
#include <frc2/command/RunCommand.h>
#include <frc2/command/SequentialCommandGroup.h>
#include <frc2/command/StartEndCommand.h>
#include "Constants.h"
#include "commands/ComplexAuto.h"
@@ -47,15 +47,21 @@ class RobotContainer {
HatchSubsystem m_hatch;
// The autonomous routines
frc2::ParallelRaceGroup m_simpleAuto =
frc2::StartEndCommand(
[this] { m_drive.ArcadeDrive(ac::kAutoDriveSpeed, 0); },
[this] { m_drive.ArcadeDrive(0, 0); }, {&m_drive})
.BeforeStarting([this] { m_drive.ResetEncoders(); })
.WithInterrupt([this] {
return m_drive.GetAverageEncoderDistance() >=
ac::kAutoDriveDistanceInches;
});
frc2::FunctionalCommand m_simpleAuto = frc2::FunctionalCommand(
// Reset encoders on command start
[this] { m_drive.ResetEncoders(); },
// Drive forward while the command is executing
[this] { m_drive.ArcadeDrive(AutoConstants::kAutoDriveSpeed, 0); },
// Stop driving at the end of the command
[this](bool interrupted) { m_drive.ArcadeDrive(0, 0); },
// End the command when the robot's driven distance exceeds the desired
// value
[this] {
return m_drive.GetAverageEncoderDistance() >=
AutoConstants::kAutoDriveDistanceInches;
},
// Requires the drive subsystem
{&m_drive});
ComplexAuto m_complexAuto{&m_drive, &m_hatch};
// Assorted commands to be bound to buttons