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Add ArrayRef overloads to new command classes (#2216)

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Also default requirements to {} in all cases for consistency.
This commit is contained in:
Peter Johnson
2020-01-01 20:09:17 -08:00
committed by GitHub
parent 6190fcb237
commit 32c62449be
30 changed files with 773 additions and 49 deletions
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35
wpilibNewCommands/src/main/native/include/frc2/command/PIDCommand.h
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -40,7 +40,23 @@ class PIDCommand : public CommandHelper<CommandBase, PIDCommand> {
std::function<double()> measurementSource,
std::function<double()> setpointSource,
std::function<void(double)> useOutput,
std::initializer_list<Subsystem*> requirements = {});
std::initializer_list<Subsystem*> requirements);
/**
* Creates a new PIDCommand, which controls the given output with a
* PIDController.
*
* @param controller the controller that controls the output.
* @param measurementSource the measurement of the process variable
* @param setpointSource the controller's reference (aka setpoint)
* @param useOutput the controller's output
* @param requirements the subsystems required by this command
*/
PIDCommand(PIDController controller,
std::function<double()> measurementSource,
std::function<double()> setpointSource,
std::function<void(double)> useOutput,
wpi::ArrayRef<Subsystem*> requirements = {});
/**
* Creates a new PIDCommand, which controls the given output with a
@@ -57,6 +73,21 @@ class PIDCommand : public CommandHelper<CommandBase, PIDCommand> {
std::function<void(double)> useOutput,
std::initializer_list<Subsystem*> requirements);
/**
* Creates a new PIDCommand, which controls the given output with a
* PIDController with a constant setpoint.
*
* @param controller the controller that controls the output.
* @param measurementSource the measurement of the process variable
* @param setpoint the controller's setpoint (aka setpoint)
* @param useOutput the controller's output
* @param requirements the subsystems required by this command
*/
PIDCommand(PIDController controller,
std::function<double()> measurementSource, double setpoint,
std::function<void(double)> useOutput,
wpi::ArrayRef<Subsystem*> requirements = {});
PIDCommand(PIDCommand&& other) = default;
PIDCommand(const PIDCommand& other) = default;