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[commands] Remove control commands and subsystems (#7921)

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This commit is contained in:
Gold856
2025-04-26 05:06:26 +00:00
committed by GitHub
parent e2cc9e0059
commit 2f0990e9d2
18 changed files with 2 additions and 1421 deletions
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49
wpilibNewCommands/src/main/native/cpp/frc2/command/PIDCommand.cpp
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@@ -1,49 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc2/command/PIDCommand.h"
#include <utility>
#include <wpi/deprecated.h>
using namespace frc2;
PIDCommand::PIDCommand(frc::PIDController controller,
std::function<double()> measurementSource,
std::function<double()> setpointSource,
std::function<void(double)> useOutput,
Requirements requirements)
: m_controller{std::move(controller)},
m_measurement{std::move(measurementSource)},
m_setpoint{std::move(setpointSource)},
m_useOutput{std::move(useOutput)} {
AddRequirements(requirements);
}
WPI_IGNORE_DEPRECATED
PIDCommand::PIDCommand(frc::PIDController controller,
std::function<double()> measurementSource,
double setpoint, std::function<void(double)> useOutput,
Requirements requirements)
: PIDCommand(
controller, measurementSource, [setpoint] { return setpoint; },
useOutput, requirements) {}
WPI_UNIGNORE_DEPRECATED
void PIDCommand::Initialize() {
m_controller.Reset();
}
void PIDCommand::Execute() {
m_useOutput(m_controller.Calculate(m_measurement(), m_setpoint()));
}
void PIDCommand::End(bool interrupted) {
m_useOutput(0);
}
frc::PIDController& PIDCommand::GetController() {
return m_controller;
}

48
wpilibNewCommands/src/main/native/cpp/frc2/command/PIDSubsystem.cpp
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@@ -1,48 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc2/command/PIDSubsystem.h"
#include <utility>
using namespace frc2;
PIDSubsystem::PIDSubsystem(frc::PIDController controller,
double initialPosition)
: m_controller{std::move(controller)} {
SetSetpoint(initialPosition);
AddChild("PID Controller", &m_controller);
}
void PIDSubsystem::Periodic() {
if (m_enabled) {
UseOutput(m_controller.Calculate(GetMeasurement()), GetSetpoint());
}
}
void PIDSubsystem::SetSetpoint(double setpoint) {
m_controller.SetSetpoint(setpoint);
}
double PIDSubsystem::GetSetpoint() const {
return m_controller.GetSetpoint();
}
void PIDSubsystem::Enable() {
m_controller.Reset();
m_enabled = true;
}
void PIDSubsystem::Disable() {
UseOutput(0, 0);
m_enabled = false;
}
bool PIDSubsystem::IsEnabled() {
return m_enabled;
}
frc::PIDController& PIDSubsystem::GetController() {
return m_controller;
}