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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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8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java
View File

@@ -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
View File

@@ -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
View File

@@ -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));
}
}