From 26771e38fbc363e79456d1d1a63816f06141e59f Mon Sep 17 00:00:00 2001 From: Gold856 <117957790+Gold856@users.noreply.github.com> Date: Wed, 2 Jul 2025 16:46:59 -0400 Subject: [PATCH] [commands] Deprecate Command.schedule() (#7072) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit It's only syntactic sugar over the CommandScheduler's schedule method and creates a footgun because it’s too obvious to try to use in incorrect places. Co-authored-by: Starlight220 <53231611+Starlight220@users.noreply.github.com> --- .../wpi/first/wpilibj2/command/Command.java | 9 ++++-- .../first/wpilibj2/command/ProxyCommand.java | 2 +- .../wpilibj2/command/ScheduleCommand.java | 2 +- .../wpilibj2/command/button/Trigger.java | 14 +++++----- .../main/native/cpp/frc2/command/Command.cpp | 2 +- .../native/cpp/frc2/command/ProxyCommand.cpp | 2 +- .../cpp/frc2/command/ScheduleCommand.cpp | 2 +- .../cpp/frc2/command/button/Trigger.cpp | 28 +++++++++---------- .../native/include/frc2/command/Command.h | 3 ++ .../native/include/frc2/command/CommandPtr.h | 3 ++ .../command/CommandSendableButtonTest.java | 4 +-- .../wpilibj2/command/ProxyCommandTest.java | 2 +- .../wpilibj2/command/ScheduleCommandTest.java | 4 +-- .../command/button/NetworkButtonTest.java | 4 +-- .../wpilibj2/command/button/TriggerTest.java | 6 ++-- .../command/CommandSendableButtonTest.cpp | 4 +-- .../DriveDistanceOffboard/cpp/Robot.cpp | 2 +- .../examples/HatchbotInlined/cpp/Robot.cpp | 2 +- .../HatchbotTraditional/cpp/Robot.cpp | 2 +- .../MecanumControllerCommand/cpp/Robot.cpp | 2 +- .../RapidReactCommandBot/cpp/Robot.cpp | 2 +- .../cpp/examples/RomiReference/cpp/Robot.cpp | 2 +- .../cpp/examples/SelectCommand/cpp/Robot.cpp | 2 +- .../SwerveControllerCommand/cpp/Robot.cpp | 2 +- .../cpp/examples/SysIdRoutine/cpp/Robot.cpp | 2 +- .../cpp/examples/XRPReference/cpp/Robot.cpp | 2 +- .../cpp/templates/commandbased/cpp/Robot.cpp | 2 +- .../commandbasedskeleton/cpp/Robot.cpp | 2 +- .../examples/drivedistanceoffboard/Robot.java | 2 +- .../examples/hatchbotinlined/Robot.java | 2 +- .../examples/hatchbottraditional/Robot.java | 2 +- .../mecanumcontrollercommand/Robot.java | 2 +- .../examples/rapidreactcommandbot/Robot.java | 2 +- .../wpilibj/examples/romireference/Robot.java | 2 +- .../wpilibj/examples/selectcommand/Robot.java | 2 +- .../swervecontrollercommand/Robot.java | 2 +- .../wpilibj/examples/sysidroutine/Robot.java | 2 +- .../wpilibj/examples/xrpreference/Robot.java | 2 +- .../wpilibj/templates/commandbased/Robot.java | 2 +- .../templates/commandbasedskeleton/Robot.java | 2 +- .../templates/romicommandbased/Robot.java | 2 +- .../templates/xrpcommandbased/Robot.java | 2 +- 42 files changed, 77 insertions(+), 66 deletions(-) diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java index d6cd4c8860..d46ce313c6 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java @@ -533,7 +533,12 @@ public abstract class Command implements Sendable { }); } - /** Schedules this command. */ + /** + * Schedules this command. + * + * @deprecated Use CommandScheduler.getInstance().schedule(Command...) instead + */ + @Deprecated(since = "2025", forRemoval = true) public void schedule() { CommandScheduler.getInstance().schedule(this); } @@ -610,7 +615,7 @@ public abstract class Command implements Sendable { value -> { if (value) { if (!isScheduled()) { - schedule(); + CommandScheduler.getInstance().schedule(this); } } else { if (isScheduled()) { diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyCommand.java index d3235c9e19..67f8fdb1ce 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyCommand.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyCommand.java @@ -58,7 +58,7 @@ public class ProxyCommand extends Command { @Override public void initialize() { m_command = m_supplier.get(); - m_command.schedule(); + CommandScheduler.getInstance().schedule(m_command); } @Override diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java index cc2234119e..788f6fc2b0 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java @@ -28,7 +28,7 @@ public class ScheduleCommand extends Command { @Override public void initialize() { for (Command command : m_toSchedule) { - command.schedule(); + CommandScheduler.getInstance().schedule(command); } } diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java index 8dc3ae52b3..65c6145f6b 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java @@ -93,7 +93,7 @@ public class Trigger implements BooleanSupplier { addBinding( (previous, current) -> { if (previous != current) { - command.schedule(); + CommandScheduler.getInstance().schedule(command); } }); return this; @@ -110,7 +110,7 @@ public class Trigger implements BooleanSupplier { addBinding( (previous, current) -> { if (!previous && current) { - command.schedule(); + CommandScheduler.getInstance().schedule(command); } }); return this; @@ -127,7 +127,7 @@ public class Trigger implements BooleanSupplier { addBinding( (previous, current) -> { if (previous && !current) { - command.schedule(); + CommandScheduler.getInstance().schedule(command); } }); return this; @@ -148,7 +148,7 @@ public class Trigger implements BooleanSupplier { addBinding( (previous, current) -> { if (!previous && current) { - command.schedule(); + CommandScheduler.getInstance().schedule(command); } else if (previous && !current) { command.cancel(); } @@ -171,7 +171,7 @@ public class Trigger implements BooleanSupplier { addBinding( (previous, current) -> { if (previous && !current) { - command.schedule(); + CommandScheduler.getInstance().schedule(command); } else if (!previous && current) { command.cancel(); } @@ -193,7 +193,7 @@ public class Trigger implements BooleanSupplier { if (command.isScheduled()) { command.cancel(); } else { - command.schedule(); + CommandScheduler.getInstance().schedule(command); } } }); @@ -214,7 +214,7 @@ public class Trigger implements BooleanSupplier { if (command.isScheduled()) { command.cancel(); } else { - command.schedule(); + CommandScheduler.getInstance().schedule(command); } } }); diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp index af8e30a33a..fea3c1a865 100644 --- a/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp +++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp @@ -197,7 +197,7 @@ void Command::InitSendable(wpi::SendableBuilder& builder) { [this](bool value) { bool isScheduled = IsScheduled(); if (value && !isScheduled) { - Schedule(); + CommandScheduler::GetInstance().Schedule(this); } else if (!value && isScheduled) { Cancel(); } diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp index 92999ea691..e328abc53c 100644 --- a/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp +++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp @@ -37,7 +37,7 @@ ProxyCommand::ProxyCommand(std::unique_ptr command) { void ProxyCommand::Initialize() { m_command = m_supplier(); - m_command->Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(m_command); } void ProxyCommand::End(bool interrupted) { diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/ScheduleCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/ScheduleCommand.cpp index c96f21835e..e0ce85d291 100644 --- a/wpilibNewCommands/src/main/native/cpp/frc2/command/ScheduleCommand.cpp +++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/ScheduleCommand.cpp @@ -18,7 +18,7 @@ ScheduleCommand::ScheduleCommand(Command* toSchedule) { void ScheduleCommand::Initialize() { for (auto command : m_toSchedule) { - command->Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(command); } } diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp index 00f179da08..6afdbb2b2c 100644 --- a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp +++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp @@ -29,7 +29,7 @@ void Trigger::AddBinding(wpi::unique_function&& body) { Trigger Trigger::OnChange(Command* command) { AddBinding([command](bool previous, bool current) { if (previous != current) { - command->Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(command); } }); return *this; @@ -38,7 +38,7 @@ Trigger Trigger::OnChange(Command* command) { Trigger Trigger::OnChange(CommandPtr&& command) { AddBinding([command = std::move(command)](bool previous, bool current) { if (previous != current) { - command.Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(command); } }); return *this; @@ -47,7 +47,7 @@ Trigger Trigger::OnChange(CommandPtr&& command) { Trigger Trigger::OnTrue(Command* command) { AddBinding([command](bool previous, bool current) { if (!previous && current) { - command->Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(command); } }); return *this; @@ -56,7 +56,7 @@ Trigger Trigger::OnTrue(Command* command) { Trigger Trigger::OnTrue(CommandPtr&& command) { AddBinding([command = std::move(command)](bool previous, bool current) { if (!previous && current) { - command.Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(command); } }); return *this; @@ -65,7 +65,7 @@ Trigger Trigger::OnTrue(CommandPtr&& command) { Trigger Trigger::OnFalse(Command* command) { AddBinding([command](bool previous, bool current) { if (previous && !current) { - command->Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(command); } }); return *this; @@ -74,7 +74,7 @@ Trigger Trigger::OnFalse(Command* command) { Trigger Trigger::OnFalse(CommandPtr&& command) { AddBinding([command = std::move(command)](bool previous, bool current) { if (previous && !current) { - command.Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(command); } }); return *this; @@ -83,7 +83,7 @@ Trigger Trigger::OnFalse(CommandPtr&& command) { Trigger Trigger::WhileTrue(Command* command) { AddBinding([command](bool previous, bool current) { if (!previous && current) { - command->Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(command); } else if (previous && !current) { command->Cancel(); } @@ -94,7 +94,7 @@ Trigger Trigger::WhileTrue(Command* command) { Trigger Trigger::WhileTrue(CommandPtr&& command) { AddBinding([command = std::move(command)](bool previous, bool current) { if (!previous && current) { - command.Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(command); } else if (previous && !current) { command.Cancel(); } @@ -105,7 +105,7 @@ Trigger Trigger::WhileTrue(CommandPtr&& command) { Trigger Trigger::WhileFalse(Command* command) { AddBinding([command](bool previous, bool current) { if (previous && !current) { - command->Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(command); } else if (!previous && current) { command->Cancel(); } @@ -116,7 +116,7 @@ Trigger Trigger::WhileFalse(Command* command) { Trigger Trigger::WhileFalse(CommandPtr&& command) { AddBinding([command = std::move(command)](bool previous, bool current) { if (!previous && current) { - command.Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(command); } else if (previous && !current) { command.Cancel(); } @@ -130,7 +130,7 @@ Trigger Trigger::ToggleOnTrue(Command* command) { if (command->IsScheduled()) { command->Cancel(); } else { - command->Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(command); } } }); @@ -143,7 +143,7 @@ Trigger Trigger::ToggleOnTrue(CommandPtr&& command) { if (command.IsScheduled()) { command.Cancel(); } else { - command.Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(command); } } }); @@ -156,7 +156,7 @@ Trigger Trigger::ToggleOnFalse(Command* command) { if (command->IsScheduled()) { command->Cancel(); } else { - command->Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(command); } } }); @@ -169,7 +169,7 @@ Trigger Trigger::ToggleOnFalse(CommandPtr&& command) { if (command.IsScheduled()) { command.Cancel(); } else { - command.Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(command); } } }); diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/Command.h b/wpilibNewCommands/src/main/native/include/frc2/command/Command.h index 79b6d75968..480d501f8b 100644 --- a/wpilibNewCommands/src/main/native/include/frc2/command/Command.h +++ b/wpilibNewCommands/src/main/native/include/frc2/command/Command.h @@ -398,7 +398,10 @@ class Command : public wpi::Sendable, public wpi::SendableHelper { /** * Schedules this command. + * + * @deprecated Use CommandScheduler::GetInstance().Schedule() instead */ + [[deprecated("Use CommandScheduler::GetInstance().Schedule() instead.")]] void Schedule(); /** diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h b/wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h index fdd53c6425..fb54d3bc09 100644 --- a/wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h +++ b/wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h @@ -277,7 +277,10 @@ CommandPtr final { /** * Schedules this command. + * + * @deprecated Use CommandScheduler::GetInstance().Schedule() instead */ + [[deprecated("Use CommandScheduler::GetInstance().Schedule() instead.")]] void Schedule() const&; // Prevent calls on a temporary, as the returned pointer would be invalid diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandSendableButtonTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandSendableButtonTest.java index c89ed7f7f3..809044aeb0 100644 --- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandSendableButtonTest.java +++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandSendableButtonTest.java @@ -55,7 +55,7 @@ class CommandSendableButtonTest extends CommandTestBase { @Test void trueAndScheduledNoOp() { // Scheduled and true -> no-op - m_command.schedule(); + CommandScheduler.getInstance().schedule(m_command); CommandScheduler.getInstance().run(); SmartDashboard.updateValues(); assertTrue(m_command.isScheduled()); @@ -90,7 +90,7 @@ class CommandSendableButtonTest extends CommandTestBase { @Test void falseAndScheduledCancel() { // Scheduled and false -> cancel - m_command.schedule(); + CommandScheduler.getInstance().schedule(m_command); CommandScheduler.getInstance().run(); SmartDashboard.updateValues(); assertTrue(m_command.isScheduled()); diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ProxyCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ProxyCommandTest.java index 2eae20bbc8..9b1fe4270c 100644 --- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ProxyCommandTest.java +++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ProxyCommandTest.java @@ -22,7 +22,7 @@ class ProxyCommandTest extends CommandTestBase { scheduler.schedule(scheduleCommand); - verify(command1).schedule(); + verify(command1).initialize(); } } diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ScheduleCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ScheduleCommandTest.java index 875b2e5ea9..e5c47493de 100644 --- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ScheduleCommandTest.java +++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ScheduleCommandTest.java @@ -22,8 +22,8 @@ class ScheduleCommandTest extends CommandTestBase { scheduler.schedule(scheduleCommand); - verify(command1).schedule(); - verify(command2).schedule(); + verify(command1).initialize(); + verify(command2).initialize(); } } diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/NetworkButtonTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/NetworkButtonTest.java index b9adc1344c..7b1de35046 100644 --- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/NetworkButtonTest.java +++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/NetworkButtonTest.java @@ -39,10 +39,10 @@ class NetworkButtonTest extends CommandTestBase { pub.set(false); button.onTrue(command); scheduler.run(); - verify(command, never()).schedule(); + verify(command, never()).initialize(); pub.set(true); scheduler.run(); scheduler.run(); - verify(command).schedule(); + verify(command).initialize(); } } diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/TriggerTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/TriggerTest.java index 8cd5fdea2f..58406847ef 100644 --- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/TriggerTest.java +++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/TriggerTest.java @@ -207,7 +207,7 @@ class TriggerTest extends CommandTestBase { .until(button); button.setPressed(false); - command1.schedule(); + scheduler.schedule(command1); scheduler.run(); assertEquals(1, startCounter.get()); assertEquals(0, endCounter.get()); @@ -258,13 +258,13 @@ class TriggerTest extends CommandTestBase { button.setPressed(true); scheduler.run(); - verify(command, never()).schedule(); + verify(command, never()).initialize(); SimHooks.stepTiming(0.3); button.setPressed(true); scheduler.run(); - verify(command).schedule(); + verify(command).initialize(); } @Test diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandSendableButtonTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandSendableButtonTest.cpp index 08caa5cdda..1f2c8446b1 100644 --- a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandSendableButtonTest.cpp +++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandSendableButtonTest.cpp @@ -49,7 +49,7 @@ TEST_F(CommandSendableButtonTest, trueAndNotScheduledSchedules) { TEST_F(CommandSendableButtonTest, trueAndScheduledNoOp) { // Scheduled and true -> no-op - m_command->Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(m_command.value()); GetScheduler().Run(); frc::SmartDashboard::UpdateValues(); EXPECT_TRUE(m_command->IsScheduled()); @@ -82,7 +82,7 @@ TEST_F(CommandSendableButtonTest, falseAndNotScheduledNoOp) { TEST_F(CommandSendableButtonTest, falseAndScheduledCancel) { // Scheduled and false -> cancel - m_command->Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(m_command.value()); GetScheduler().Run(); frc::SmartDashboard::UpdateValues(); EXPECT_TRUE(m_command->IsScheduled()); diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp index 142d59fa6b..18be09af70 100644 --- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp @@ -38,7 +38,7 @@ void Robot::AutonomousInit() { m_autonomousCommand = m_container.GetAutonomousCommand(); if (m_autonomousCommand) { - m_autonomousCommand->Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value()); } } diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp index d731edc1c9..fdd7a4941f 100644 --- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp @@ -47,7 +47,7 @@ void Robot::AutonomousInit() { m_autonomousCommand = m_container.GetAutonomousCommand(); if (m_autonomousCommand != nullptr) { - m_autonomousCommand->Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand); } } diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp index d731edc1c9..fdd7a4941f 100644 --- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp @@ -47,7 +47,7 @@ void Robot::AutonomousInit() { m_autonomousCommand = m_container.GetAutonomousCommand(); if (m_autonomousCommand != nullptr) { - m_autonomousCommand->Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand); } } diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Robot.cpp index 142d59fa6b..18be09af70 100644 --- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Robot.cpp @@ -38,7 +38,7 @@ void Robot::AutonomousInit() { m_autonomousCommand = m_container.GetAutonomousCommand(); if (m_autonomousCommand) { - m_autonomousCommand->Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value()); } } diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/Robot.cpp index d28c275f8e..51c6813ac5 100644 --- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/Robot.cpp @@ -26,7 +26,7 @@ void Robot::AutonomousInit() { m_autonomousCommand = m_robot.GetAutonomousCommand(); if (m_autonomousCommand) { - m_autonomousCommand->Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value()); } } diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/Robot.cpp index 5916340735..904a39eb4f 100644 --- a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/Robot.cpp @@ -37,7 +37,7 @@ void Robot::AutonomousInit() { m_autonomousCommand = m_container.GetAutonomousCommand(); if (m_autonomousCommand != nullptr) { - m_autonomousCommand->Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand); } } diff --git a/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp index 580decec83..798be1ab1d 100644 --- a/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp @@ -38,7 +38,7 @@ void Robot::AutonomousInit() { m_autonomousCommand = m_container.GetAutonomousCommand(); if (m_autonomousCommand != nullptr) { - m_autonomousCommand->Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand); } } diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/Robot.cpp index 142d59fa6b..18be09af70 100644 --- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/Robot.cpp @@ -38,7 +38,7 @@ void Robot::AutonomousInit() { m_autonomousCommand = m_container.GetAutonomousCommand(); if (m_autonomousCommand) { - m_autonomousCommand->Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value()); } } diff --git a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/Robot.cpp index 2ed3f804f5..5666887c98 100644 --- a/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/SysIdRoutine/cpp/Robot.cpp @@ -22,7 +22,7 @@ void Robot::AutonomousInit() { m_autonomousCommand = m_container.GetAutonomousCommand(); if (m_autonomousCommand) { - m_autonomousCommand->Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value()); } } diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/Robot.cpp index 5916340735..904a39eb4f 100644 --- a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/Robot.cpp @@ -37,7 +37,7 @@ void Robot::AutonomousInit() { m_autonomousCommand = m_container.GetAutonomousCommand(); if (m_autonomousCommand != nullptr) { - m_autonomousCommand->Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand); } } diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp index 6a1eb4beea..14844d189f 100644 --- a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp @@ -37,7 +37,7 @@ void Robot::AutonomousInit() { m_autonomousCommand = m_container.GetAutonomousCommand(); if (m_autonomousCommand) { - m_autonomousCommand->Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value()); } } diff --git a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp index 2ed3f804f5..5666887c98 100644 --- a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp @@ -22,7 +22,7 @@ void Robot::AutonomousInit() { m_autonomousCommand = m_container.GetAutonomousCommand(); if (m_autonomousCommand) { - m_autonomousCommand->Schedule(); + frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value()); } } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Robot.java index 208c6bc8f0..0525a1d4f6 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Robot.java @@ -65,7 +65,7 @@ public class Robot extends TimedRobot { // schedule the autonomous command (example) if (m_autonomousCommand != null) { - m_autonomousCommand.schedule(); + CommandScheduler.getInstance().schedule(m_autonomousCommand); } } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Robot.java index df9582e035..faaa97ffd4 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Robot.java @@ -67,7 +67,7 @@ public class Robot extends TimedRobot { // schedule the autonomous command (example) if (m_autonomousCommand != null) { - m_autonomousCommand.schedule(); + CommandScheduler.getInstance().schedule(m_autonomousCommand); } } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java index 39ea80d06a..720316874b 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java @@ -74,7 +74,7 @@ public class Robot extends TimedRobot { // schedule the autonomous command (example) if (m_autonomousCommand != null) { - m_autonomousCommand.schedule(); + CommandScheduler.getInstance().schedule(m_autonomousCommand); } } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Robot.java index f4453a37e2..beec10031a 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Robot.java @@ -65,7 +65,7 @@ public class Robot extends TimedRobot { // schedule the autonomous command (example) if (m_autonomousCommand != null) { - m_autonomousCommand.schedule(); + CommandScheduler.getInstance().schedule(m_autonomousCommand); } } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Robot.java index 463e1d6f3c..c90dd0d18b 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Robot.java @@ -63,7 +63,7 @@ public class Robot extends TimedRobot { m_autonomousCommand = m_robot.getAutonomousCommand(); if (m_autonomousCommand != null) { - m_autonomousCommand.schedule(); + CommandScheduler.getInstance().schedule(m_autonomousCommand); } } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Robot.java index 6ea9e353ed..337a478264 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Robot.java @@ -58,7 +58,7 @@ public class Robot extends TimedRobot { // schedule the autonomous command (example) if (m_autonomousCommand != null) { - m_autonomousCommand.schedule(); + CommandScheduler.getInstance().schedule(m_autonomousCommand); } } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Robot.java index 8bcf44391b..0e00fa479e 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Robot.java @@ -65,7 +65,7 @@ public class Robot extends TimedRobot { // schedule the autonomous command (example) if (m_autonomousCommand != null) { - m_autonomousCommand.schedule(); + CommandScheduler.getInstance().schedule(m_autonomousCommand); } } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Robot.java index 850fcfe71e..94f7eecf72 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Robot.java @@ -65,7 +65,7 @@ public class Robot extends TimedRobot { // schedule the autonomous command (example) if (m_autonomousCommand != null) { - m_autonomousCommand.schedule(); + CommandScheduler.getInstance().schedule(m_autonomousCommand); } } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/Robot.java index fcf7e60473..1ce1d49946 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysidroutine/Robot.java @@ -55,7 +55,7 @@ public class Robot extends TimedRobot { m_autonomousCommand = m_robot.getAutonomousCommand(); if (m_autonomousCommand != null) { - m_autonomousCommand.schedule(); + CommandScheduler.getInstance().schedule(m_autonomousCommand); } } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/Robot.java index bf3b76c13d..9bb81b3374 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/Robot.java @@ -58,7 +58,7 @@ public class Robot extends TimedRobot { // schedule the autonomous command (example) if (m_autonomousCommand != null) { - m_autonomousCommand.schedule(); + CommandScheduler.getInstance().schedule(m_autonomousCommand); } } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java index 3ea9a26269..053bd402fc 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java @@ -58,7 +58,7 @@ public class Robot extends TimedRobot { // schedule the autonomous command (example) if (m_autonomousCommand != null) { - m_autonomousCommand.schedule(); + CommandScheduler.getInstance().schedule(m_autonomousCommand); } } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbasedskeleton/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbasedskeleton/Robot.java index 753f54f362..45dc6fc8f2 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbasedskeleton/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbasedskeleton/Robot.java @@ -36,7 +36,7 @@ public class Robot extends TimedRobot { m_autonomousCommand = m_robotContainer.getAutonomousCommand(); if (m_autonomousCommand != null) { - m_autonomousCommand.schedule(); + CommandScheduler.getInstance().schedule(m_autonomousCommand); } } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Robot.java index 3282138cf2..6831a89e26 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Robot.java @@ -58,7 +58,7 @@ public class Robot extends TimedRobot { // schedule the autonomous command (example) if (m_autonomousCommand != null) { - m_autonomousCommand.schedule(); + CommandScheduler.getInstance().schedule(m_autonomousCommand); } } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrpcommandbased/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrpcommandbased/Robot.java index f9a51fec87..4196c275e2 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrpcommandbased/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrpcommandbased/Robot.java @@ -58,7 +58,7 @@ public class Robot extends TimedRobot { // schedule the autonomous command (example) if (m_autonomousCommand != null) { - m_autonomousCommand.schedule(); + CommandScheduler.getInstance().schedule(m_autonomousCommand); } }