Initial checkin of unified hierarchy of WPILib 2015

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

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+package $package;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ *
+ */
+public class $classname extends Command {
+
+    public $classname() {
+        // Use requires() here to declare subsystem dependencies
+        // eg. requires(chassis);
+    }
+
+    // Called just before this Command runs the first time
+    protected void initialize() {
+    }
+
+    // Called repeatedly when this Command is scheduled to run
+    protected void execute() {
+    }
+
+    // Make this return true when this Command no longer needs to run execute()
+    protected boolean isFinished() {
+        return false;
+    }
+
+    // Called once after isFinished returns true
+    protected void end() {
+    }
+
+    // Called when another command which requires one or more of the same
+    // subsystems is scheduled to run
+    protected void interrupted() {
+    }
+}

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

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+package $package;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/**
+ *
+ */
+public class $classname extends CommandGroup {
+    
+    public  $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.java/resources/templates/command-based/ExampleCommand.java

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+
+package $package.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+import $package.Robot;
+
+/**
+ *
+ */
+public class ExampleCommand extends Command {
+
+    public ExampleCommand() {
+        // Use requires() here to declare subsystem dependencies
+        requires(Robot.exampleSubsystem);
+    }
+
+    // Called just before this Command runs the first time
+    protected void initialize() {
+    }
+
+    // Called repeatedly when this Command is scheduled to run
+    protected void execute() {
+    }
+
+    // Make this return true when this Command no longer needs to run execute()
+    protected boolean isFinished() {
+        return false;
+    }
+
+    // Called once after isFinished returns true
+    protected void end() {
+    }
+
+    // Called when another command which requires one or more of the same
+    // subsystems is scheduled to run
+    protected void interrupted() {
+    }
+}

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

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+
+package $package.subsystems;
+
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+/**
+ *
+ */
+public class ExampleSubsystem extends Subsystem {
+    
+    // Put methods for controlling this subsystem
+    // here. Call these from Commands.
+
+    public void initDefaultCommand() {
+        // Set the default command for a subsystem here.
+        //setDefaultCommand(new MySpecialCommand());
+    }
+}
+

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

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+package $package;
+
+import edu.wpi.first.wpilibj.command.PIDSubsystem;
+
+/**
+ *
+ */
+public class $classname extends PIDSubsystem {
+
+    // Initialize your subsystem here
+    public $classname() {
+        // Use these to get going:
+        // setSetpoint() -  Sets where the PID controller should move the system
+        //                  to
+        // enable() - Enables the PID controller.
+    }
+    
+    public void initDefaultCommand() {
+        // Set the default command for a subsystem here.
+        //setDefaultCommand(new MySpecialCommand());
+    }
+    
+    protected double returnPIDInput() {
+        // Return your input value for the PID loop
+        // e.g. a sensor, like a potentiometer:
+        // yourPot.getAverageVoltage() / kYourMaxVoltage;
+    	return 0.0;
+    }
+    
+    protected void usePIDOutput(double output) {
+        // Use output to drive your system, like a motor
+        // e.g. yourMotor.set(output);
+    }
+}

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

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+
+package $package;
+
+import edu.wpi.first.wpilibj.IterativeRobot;
+import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.command.Scheduler;
+import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+import $package.commands.ExampleCommand;
+import $package.subsystems.ExampleSubsystem;
+
+/**
+ * The VM is configured to automatically run this class, and to call the
+ * functions corresponding to each mode, as described in the IterativeRobot
+ * documentation. If you change the name of this class or the package after
+ * creating this project, you must also update the manifest file in the resource
+ * directory.
+ */
+public class Robot extends IterativeRobot {
+
+	public static final ExampleSubsystem exampleSubsystem = new ExampleSubsystem();
+
+    Command autonomousCommand;
+
+    /**
+     * This function is run when the robot is first started up and should be
+     * used for any initialization code.
+     */
+    public void robotInit() {
+        // instantiate the command used for the autonomous period
+        autonomousCommand = new ExampleCommand();
+    }
+
+    public void autonomousInit() {
+        // schedule the autonomous command (example)
+        autonomousCommand.start();
+    }
+
+    /**
+     * This function is called periodically during autonomous
+     */
+    public void autonomousPeriodic() {
+        Scheduler.getInstance().run();
+    }
+
+    public 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();
+    }
+
+    /**
+     * This function is called periodically during operator control
+     */
+    public void teleopPeriodic() {
+        Scheduler.getInstance().run();
+    }
+    
+    /**
+     * This function is called periodically during test mode
+     */
+    public void testPeriodic() {
+        LiveWindow.run();
+    }
+}

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

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+package $package;
+
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+/**
+ *
+ */
+public class $classname extends Subsystem {
+    
+    // Put methods for controlling this subsystem
+    // here. Call these from Commands.
+
+    public void initDefaultCommand() {
+        // Set the default command for a subsystem here.
+        //setDefaultCommand(new MySpecialCommand());
+    }
+}
+

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

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+package $package;
+
+import edu.wpi.first.wpilibj.command.Trigger;
+
+/**
+ *
+ */
+public class $classname extends Trigger {
+    
+    public boolean get() {
+        return false;
+    }
+}