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[examples] HatchbotInlined: Use Subsystem factories (#4765)

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This commit is contained in:
Starlight220
2022-12-07 01:10:39 +02:00
committed by GitHub
parent 8618dd4160
commit 3149dc64b8
7 changed files with 24 additions and 22 deletions
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6
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
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@@ -33,11 +33,9 @@ void RobotContainer::ConfigureButtonBindings() {
// Configure your button bindings here
// Grab the hatch when the 'Circle' button is pressed.
m_driverController.Circle().OnTrue(
frc2::cmd::RunOnce([this] { m_hatch.GrabHatch(); }, {&m_hatch}));
m_driverController.Circle().OnTrue(m_hatch.GrabHatchCommand());
// Release the hatch when the 'Square' button is pressed.
m_driverController.Square().OnTrue(
frc2::cmd::RunOnce([this] { m_hatch.ReleaseHatch(); }, {&m_hatch}));
m_driverController.Square().OnTrue(m_hatch.ReleaseHatchCommand());
// While holding R1, drive at half speed
m_driverController.R1()
.OnTrue(frc2::cmd::RunOnce([this] { m_drive.SetMaxOutput(0.5); }, {}))

2
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/commands/Autos.cpp
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@@ -51,7 +51,7 @@ frc2::CommandPtr autos::ComplexAuto(DriveSubsystem* drive,
{drive})
.ToPtr(),
// Release the hatch
frc2::cmd::RunOnce([hatch] { hatch->ReleaseHatch(); }, {hatch}),
hatch->ReleaseHatchCommand(),
// Drive backward the specified distance
// Drive forward the specified distance
frc2::FunctionalCommand(

12
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
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@@ -10,10 +10,14 @@ HatchSubsystem::HatchSubsystem()
: m_hatchSolenoid{frc::PneumaticsModuleType::CTREPCM,
kHatchSolenoidPorts[0], kHatchSolenoidPorts[1]} {}
void HatchSubsystem::GrabHatch() {
m_hatchSolenoid.Set(frc::DoubleSolenoid::kForward);
frc2::CommandPtr HatchSubsystem::GrabHatchCommand() {
// implicitly require `this`
return this->RunOnce(
[this] { m_hatchSolenoid.Set(frc::DoubleSolenoid::kForward); });
}
void HatchSubsystem::ReleaseHatch() {
m_hatchSolenoid.Set(frc::DoubleSolenoid::kReverse);
frc2::CommandPtr HatchSubsystem::ReleaseHatchCommand() {
// implicitly require `this`
return this->RunOnce(
[this] { m_hatchSolenoid.Set(frc::DoubleSolenoid::kReverse); });
}

5
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.h
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@@ -6,6 +6,7 @@
#include <frc/DoubleSolenoid.h>
#include <frc/PneumaticsControlModule.h>
#include <frc2/command/CommandPtr.h>
#include <frc2/command/SubsystemBase.h>
#include "Constants.h"
@@ -19,12 +20,12 @@ class HatchSubsystem : public frc2::SubsystemBase {
/**
* Grabs the hatch.
*/
void GrabHatch();
frc2::CommandPtr GrabHatchCommand();
/**
* Releases the hatch.
*/
void ReleaseHatch();
frc2::CommandPtr ReleaseHatchCommand();
private:
// Components (e.g. motor controllers and sensors) should generally be

8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java
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@@ -73,13 +73,9 @@ public class RobotContainer {
*/
private void configureButtonBindings() {
// Grab the hatch when the Circle button is pressed.
m_driverController
.circle()
.onTrue(Commands.runOnce(m_hatchSubsystem::grabHatch, m_hatchSubsystem));
m_driverController.circle().onTrue(m_hatchSubsystem.grabHatchCommand());
// Release the hatch when the Square button is pressed.
m_driverController
.square()
.onTrue(Commands.runOnce(m_hatchSubsystem::releaseHatch, m_hatchSubsystem));
m_driverController.square().onTrue(m_hatchSubsystem.releaseHatchCommand());
// While holding R1, drive at half speed
m_driverController
.R1()

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/commands/Autos.java
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@@ -47,7 +47,7 @@ public final class Autos {
driveSubsystem),
// Release the hatch
Commands.runOnce(hatchSubsystem::releaseHatch, hatchSubsystem),
hatchSubsystem.releaseHatchCommand(),
// Drive backward the specified distance
new FunctionalCommand(

11
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/HatchSubsystem.java
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@@ -10,6 +10,7 @@ import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kReverse;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.HatchConstants;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
/** A hatch mechanism actuated by a single {@link edu.wpi.first.wpilibj.DoubleSolenoid}. */
@@ -21,12 +22,14 @@ public class HatchSubsystem extends SubsystemBase {
HatchConstants.kHatchSolenoidPorts[1]);
/** Grabs the hatch. */
public void grabHatch() {
m_hatchSolenoid.set(kForward);
public CommandBase grabHatchCommand() {
// implicitly require `this`
return this.runOnce(() -> m_hatchSolenoid.set(kForward));
}
/** Releases the hatch. */
public void releaseHatch() {
m_hatchSolenoid.set(kReverse);
public CommandBase releaseHatchCommand() {
// implicitly require `this`
return this.runOnce(() -> m_hatchSolenoid.set(kReverse));
}
}