Initial checkin of unified hierarchy of WPILib 2015

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/Command.cpp

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+#include "$classname.h"
+
+$classname::$classname() {
+	// Use Requires() here to declare subsystem dependencies
+	// eg. Requires(chassis);
+}
+
+// Called just before this Command runs the first time
+void $classname::Initialize() {
+	
+}
+
+// Called repeatedly when this Command is scheduled to run
+void $classname::Execute() {
+	
+}
+
+// Make this return true when this Command no longer needs to run execute()
+bool $classname::IsFinished() {
+	return false;
+}
+
+// Called once after isFinished returns true
+void $classname::End() {
+	
+}
+
+// Called when another command which requires one or more of the same
+// subsystems is scheduled to run
+void $classname::Interrupted() {
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/Command.h

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+#ifndef $classname_H
+#define $classname_H
+
+#include "../CommandBase.h"
+
+/**
+ *
+ *
+ * @author ExampleAuthor
+ */
+class $classname: public CommandBase {
+public:
+	$classname();
+	virtual void Initialize();
+	virtual void Execute();
+	virtual bool IsFinished();
+	virtual void End();
+	virtual void Interrupted();
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/CommandBase.cpp

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+#include "CommandBase.h"
+#include "Subsystems/ExampleSubsystem.h"
+#include "Commands/Scheduler.h"
+
+CommandBase::CommandBase(const char *name) : Command(name) {
+}
+
+CommandBase::CommandBase() : Command() {
+}
+
+// Initialize a single static instance of all of your subsystems to NULL
+ExampleSubsystem* CommandBase::examplesubsystem = NULL;
+OI* CommandBase::oi = NULL;
+
+void CommandBase::init() {
+    // Create a single static instance of all of your subsystems. The following
+	// line should be repeated for each subsystem in the project.
+	examplesubsystem = new ExampleSubsystem();
+	
+	oi = new OI();
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/CommandBase.h

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+#ifndef COMMAND_BASE_H
+#define COMMAND_BASE_H
+
+#include "Commands/Command.h"
+#include "Subsystems/ExampleSubsystem.h"
+#include "OI.h"
+
+
+/**
+ * The base for all commands. All atomic commands should subclass CommandBase.
+ * CommandBase stores creates and stores each control system. To access a
+ * subsystem elsewhere in your code in your code use CommandBase.examplesubsystem
+ */
+class CommandBase: public Command {
+public:
+	CommandBase(const char *name);
+	CommandBase();
+	static void init();
+	// Create a single static instance of all of your subsystems
+	static ExampleSubsystem *examplesubsystem;
+	static OI *oi;
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/CommandGroup.cpp

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+
+#include "$classname.h"
+
+$classname::$classname() {
+	// Add Commands here:
+	// e.g. AddSequential(new Command1());
+	//      AddSequential(new Command2());
+	// these will run in order.
+
+	// To run multiple commands at the same time,
+	// use AddParallel()
+	// e.g. AddParallel(new Command1());
+	//      AddSequential(new Command2());
+	// Command1 and Command2 will run in parallel.
+
+	// A command group will require all of the subsystems that each member
+	// would require.
+	// e.g. if Command1 requires chassis, and Command2 requires arm,
+	// a CommandGroup containing them would require both the chassis and the
+	// arm.
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/CommandGroup.h

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+
+#ifndef $classname_H
+#define $classname_H
+
+#include "Commands/CommandGroup.h"
+
+/**
+ *
+ *
+ * @author ExampleAuthor
+ */
+class $classname: public CommandGroup {
+public:	
+	$classname();
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/ExampleCommand.cpp

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+#include "ExampleCommand.h"
+
+ExampleCommand::ExampleCommand() {
+	// Use Requires() here to declare subsystem dependencies
+	// eg. Requires(chassis);
+}
+
+// Called just before this Command runs the first time
+void ExampleCommand::Initialize() {
+	
+}
+
+// Called repeatedly when this Command is scheduled to run
+void ExampleCommand::Execute() {
+	
+}
+
+// Make this return true when this Command no longer needs to run execute()
+bool ExampleCommand::IsFinished() {
+	return false;
+}
+
+// Called once after isFinished returns true
+void ExampleCommand::End() {
+	
+}
+
+// Called when another command which requires one or more of the same
+// subsystems is scheduled to run
+void ExampleCommand::Interrupted() {
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/ExampleCommand.h

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+#ifndef EXAMPLE_COMMAND_H
+#define EXAMPLE_COMMAND_H
+
+#include "../CommandBase.h"
+
+/**
+ *
+ *
+ * @author ExampleAuthor
+ */
+class ExampleCommand: public CommandBase {
+public:
+	ExampleCommand();
+	virtual void Initialize();
+	virtual void Execute();
+	virtual bool IsFinished();
+	virtual void End();
+	virtual void Interrupted();
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/ExampleSubsystem.cpp

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+#include "ExampleSubsystem.h"
+#include "../Robotmap.h"
+
+ExampleSubsystem::ExampleSubsystem() : Subsystem("ExampleSubsystem") {
+	
+}
+    
+void ExampleSubsystem::InitDefaultCommand() {
+	// Set the default command for a subsystem here.
+	//SetDefaultCommand(new MySpecialCommand());
+}
+
+
+// Put methods for controlling this subsystem
+// here. Call these from Commands.
+

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/ExampleSubsystem.h

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+#ifndef EXAMPLE_SUBSYSTEM_H
+#define EXAMPLE_SUBSYSTEM_H
+#include "Commands/Subsystem.h"
+#include "WPILib.h"
+
+/**
+ *
+ *
+ * @author ExampleAuthor
+ */
+class ExampleSubsystem: public Subsystem {
+private:
+	// It's desirable that everything possible under private except
+	// for methods that implement subsystem capabilities
+public:
+	ExampleSubsystem();
+	void InitDefaultCommand();
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/OI.cpp

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+#include "OI.h"
+
+OI::OI() {
+	// Process operator interface input here.
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/OI.h

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+#ifndef OI_H
+#define OI_H
+
+#include "WPILib.h"
+
+class OI {
+private:
+
+public:
+	OI();
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/PIDSubsystem.cpp

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+
+#include "$classname.h"
+#include "../Robotmap.h"
+#include "SmartDashboard/SmartDashboard.h"
+#include "LiveWindow/LiveWindow.h"
+
+#@autogenerated_code("pid", "")
+#parse("${exporter-path}PIDSubsystem-pid.cpp")
+#end
+$classname::$classname() : PIDSubsystem("$classname", 1.0, 0.0, 0.0) {
+	// Use these to get going:
+	// SetSetpoint() -  Sets where the PID controller should move the system
+	//                  to
+	// Enable() - Enables the PID controller.
+}
+
+double $classname::ReturnPIDInput() {
+	// Return your input value for the PID loop
+	// e.g. a sensor, like a potentiometer:
+	// yourPot->SetAverageVoltage() / kYourMaxVoltage;	
+}
+
+void $classname::UsePIDOutput(double output) {
+	// Use output to drive your system, like a motor
+	// e.g. yourMotor->Set(output);
+}
+
+void $classname::InitDefaultCommand() {
+	// Set the default command for a subsystem here.
+	//setDefaultCommand(new MySpecialCommand());
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/PIDSubsystem.h

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+
+#ifndef $classname_H
+#define $classname_H
+
+#include "Commands/PIDSubsystem.h"
+#include "WPILib.h"
+
+/**
+ *
+ *
+ * @author ExampleAuthor
+ */
+class $classname: public PIDSubsystem {
+ public:
+	$classname();
+	double ReturnPIDInput();
+	void UsePIDOutput(double output);
+	void InitDefaultCommand();
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/Robot.cpp

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+//============================================================================
+// Name        : Robot.cpp
+// Author      :
+// Version     :
+// Copyright   :
+// Description : Hello World in C++, Ansi-style
+//============================================================================
+
+#include "WPILib.h"
+#include "Commands/Command.h"
+#include "Commands/ExampleCommand.h"
+#include "CommandBase.h"
+
+class Robot : public IterativeRobot {
+private:
+	Command *autonomousCommand;
+	LiveWindow *lw;
+	
+	virtual void RobotInit() {
+		CommandBase::init();
+		autonomousCommand = new ExampleCommand();
+		lw = LiveWindow::GetInstance();
+	}
+	
+	virtual void AutonomousInit() {
+		autonomousCommand->Start();
+	}
+	
+	virtual void AutonomousPeriodic() {
+		Scheduler::GetInstance()->Run();
+	}
+	
+	virtual void TeleopInit() {
+		// This makes sure that the autonomous stops running when
+		// teleop starts running. If you want the autonomous to 
+		// continue until interrupted by another command, remove
+		// this line or comment it out.
+		autonomousCommand->Cancel();
+	}
+	
+	virtual void TeleopPeriodic() {
+		Scheduler::GetInstance()->Run();
+	}
+	
+	virtual void TestPeriodic() {
+		lw->Run();
+	}
+};
+
+START_ROBOT_CLASS(Robot);
+

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/RobotMap.h

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+#ifndef ROBOTMAP_H
+#define ROBOTMAP_H
+
+
+/**
+ * The RobotMap is a mapping from the ports sensors and actuators are wired into
+ * to a variable name. This provides flexibility changing wiring, makes checking
+ * the wiring easier and significantly reduces the number of magic numbers
+ * floating around.
+ */
+ 
+// For example to map the left and right motors, you could define the
+// following variables to use with your drivetrain subsystem.
+// #define LEFTMOTOR 1
+// #define RIGHTMOTOR 2
+
+// If you are using multiple modules, make sure to define both the port
+// number and the module. For example you with a rangefinder:
+// #define RANGE_FINDER_PORT 1
+// #define RANGE_FINDER_MODULE 1
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/Subsystem.cpp

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+#include "$classname.h"
+#include "../Robotmap.h"
+
+$classname::$classname() : Subsystem("ExampleSubsystem") {
+	
+}
+    
+void $classname::InitDefaultCommand() {
+	// Set the default command for a subsystem here.
+	//SetDefaultCommand(new MySpecialCommand());
+}
+
+
+// Put methods for controlling this subsystem
+// here. Call these from Commands.

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/Subsystem.h

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+#ifndef $classname_H
+#define $classname_H
+#include "Commands/Subsystem.h"
+#include "WPILib.h"
+
+/**
+ *
+ *
+ * @author ExampleAuthor
+ */
+class $classname: public Subsystem {
+private:
+	// It's desirable that everything possible under private except
+	// for methods that implement subsystem capabilities
+public:
+	$classname();
+	void InitDefaultCommand();
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/Trigger.cpp

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+// TODO: convert into C++ template
+
+import edu.wpi.first.wpilibj.command.Trigger;
+
+/**
+ * New and improved C++
+ */
+public class $classname extends Trigger {
+    
+    public boolean get() {
+        return false;
+    }
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/Trigger.h

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+// TODO: convert into C++ template
+
+import edu.wpi.first.wpilibj.command.Trigger;
+
+/**
+ * New and improved C++
+ */
+public class $classname extends Trigger {
+    
+    public boolean get() {
+        return false;
+    }
+}