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[examples] Renovate command-based examples (#4409)

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Refactor some examples to use newer features, such as HID factories, library-provided command factories, CommandPtr (C++), as well as new idioms such as static/instance command factories.
This commit is contained in:
Starlight220
2022-11-28 18:55:13 +02:00
committed by GitHub
parent 1a59737f40
commit 20dbae0cee
26 changed files with 401 additions and 417 deletions
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47
wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp
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@@ -4,9 +4,6 @@
#include "RobotContainer.h"
#include <frc/shuffleboard/Shuffleboard.h>
#include <frc2/command/button/JoystickButton.h>
RobotContainer::RobotContainer() {
// Initialize all of your commands and subsystems here
@@ -14,7 +11,7 @@ RobotContainer::RobotContainer() {
ConfigureButtonBindings();
// Set up default drive command
m_drive.SetDefaultCommand(frc2::RunCommand(
m_drive.SetDefaultCommand(frc2::cmd::Run(
[this] {
m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
m_driverController.GetRightX());
@@ -25,24 +22,42 @@ RobotContainer::RobotContainer() {
void RobotContainer::ConfigureButtonBindings() {
// Configure your button bindings here
// We can bind commands while keeping their ownership in RobotContainer
// Spin up the shooter when the 'A' button is pressed
frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kA)
.OnTrue(&m_spinUpShooter);
m_driverController.A().OnTrue(m_spinUpShooter.get());
// Turn off the shooter when the 'B' button is pressed
frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kB)
.OnTrue(&m_stopShooter);
m_driverController.B().OnTrue(m_stopShooter.get());
// Shoot when the 'X' button is held
frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kX)
.OnTrue(&m_shoot)
.OnFalse(&m_stopFeeder);
// We can also *move* command ownership to the scheduler
// Note that we won't be able to access these commands after moving them!
// Shoots if the shooter wheel has reached the target speed
frc2::CommandPtr shoot = frc2::cmd::Either(
// Run the feeder
frc2::cmd::RunOnce([this] { m_shooter.RunFeeder(); }, {&m_shooter}),
// Do nothing
frc2::cmd::None(),
// Determine which of the above to do based on whether the shooter has
// reached the desired speed
[this] { return m_shooter.AtSetpoint(); });
frc2::CommandPtr stopFeeder =
frc2::cmd::RunOnce([this] { m_shooter.StopFeeder(); }, {&m_shooter});
// Shoot when the 'X' button is pressed
m_driverController.X()
.OnTrue(std::move(shoot))
.OnFalse(std::move(stopFeeder));
// We can also define commands inline at the binding!
// (ownership will be passed to the scheduler)
// While holding the shoulder button, drive at half speed
frc2::JoystickButton(&m_driverController,
frc::XboxController::Button::kRightBumper)
.OnTrue(&m_driveHalfSpeed)
.OnFalse(&m_driveFullSpeed);
m_driverController.RightBumper()
.OnTrue(frc2::cmd::RunOnce([this] { m_drive.SetMaxOutput(0.5); }, {}))
.OnFalse(frc2::cmd::RunOnce([this] { m_drive.SetMaxOutput(1); }, {}));
}
frc2::Command* RobotContainer::GetAutonomousCommand() {

72
wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/RobotContainer.h
View File

@@ -4,16 +4,10 @@
#pragma once
#include <frc/XboxController.h>
#include <frc/smartdashboard/SendableChooser.h>
#include <frc2/command/Command.h>
#include <frc2/command/ConditionalCommand.h>
#include <frc2/command/InstantCommand.h>
#include <frc2/command/ParallelRaceGroup.h>
#include <frc2/command/RunCommand.h>
#include <frc2/command/SequentialCommandGroup.h>
#include <frc2/command/WaitCommand.h>
#include <frc2/command/WaitUntilCommand.h>
#include <frc2/command/CommandPtr.h>
#include <frc2/command/Commands.h>
#include <frc2/command/button/CommandXboxController.h>
#include "Constants.h"
#include "subsystems/DriveSubsystem.h"
@@ -32,65 +26,47 @@ class RobotContainer {
public:
RobotContainer();
// The chooser for the autonomous routines
frc2::Command* GetAutonomousCommand();
private:
// The driver's controller
frc::XboxController m_driverController{OIConstants::kDriverControllerPort};
// The robot's subsystems and commands are defined here...
frc2::CommandXboxController m_driverController{
OIConstants::kDriverControllerPort};
// The robot's subsystems
DriveSubsystem m_drive;
ShooterSubsystem m_shooter;
// A simple autonomous routine that shoots the loaded frisbees
// RobotContainer-owned commands
// (These variables will still be valid after binding, because we don't move
// ownership)
frc2::CommandPtr m_spinUpShooter =
frc2::cmd::RunOnce([this] { m_shooter.Enable(); }, {&m_shooter});
frc2::CommandPtr m_stopShooter =
frc2::cmd::RunOnce([this] { m_shooter.Disable(); }, {&m_shooter});
// An autonomous routine that shoots the loaded frisbees
frc2::CommandPtr m_autonomousCommand =
frc2::SequentialCommandGroup{
frc2::cmd::Sequence(
// Start the command by spinning up the shooter...
frc2::InstantCommand([this] { m_shooter.Enable(); }, {&m_shooter}),
frc2::cmd::RunOnce([this] { m_shooter.Enable(); }, {&m_shooter}),
// Wait until the shooter is at speed before feeding the frisbees
frc2::WaitUntilCommand([this] { return m_shooter.AtSetpoint(); }),
frc2::cmd::WaitUntil([this] { return m_shooter.AtSetpoint(); }),
// Start running the feeder
frc2::InstantCommand([this] { m_shooter.RunFeeder(); }, {&m_shooter}),
frc2::cmd::RunOnce([this] { m_shooter.RunFeeder(); }, {&m_shooter}),
// Shoot for the specified time
frc2::WaitCommand(ac::kAutoShootTimeSeconds)}
frc2::cmd::Wait(ac::kAutoShootTimeSeconds))
// Add a timeout (will end the command if, for instance, the shooter
// never gets up to speed)
.WithTimeout(ac::kAutoTimeoutSeconds)
// When the command ends, turn off the shooter and the feeder
.AndThen([this] {
.AndThen(frc2::cmd::RunOnce([this] {
m_shooter.Disable();
m_shooter.StopFeeder();
});
// Assorted commands to be bound to buttons
frc2::InstantCommand m_spinUpShooter{[this] { m_shooter.Enable(); },
{&m_shooter}};
frc2::InstantCommand m_stopShooter{[this] { m_shooter.Disable(); },
{&m_shooter}};
// Shoots if the shooter wheel has reached the target speed
frc2::ConditionalCommand m_shoot{
// Run the feeder
frc2::InstantCommand{[this] { m_shooter.RunFeeder(); }, {&m_shooter}},
// Do nothing
frc2::InstantCommand(),
// Determine which of the above to do based on whether the shooter has
// reached the desired speed
[this] { return m_shooter.AtSetpoint(); }};
frc2::InstantCommand m_stopFeeder{[this] { m_shooter.StopFeeder(); },
{&m_shooter}};
frc2::InstantCommand m_driveHalfSpeed{[this] { m_drive.SetMaxOutput(0.5); },
{}};
frc2::InstantCommand m_driveFullSpeed{[this] { m_drive.SetMaxOutput(1); },
{}};
// The chooser for the autonomous routines
}));
void ConfigureButtonBindings();
};