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Use units for new NotifierCommand (#1869)

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This commit is contained in:
Peter Johnson
2019-09-04 22:54:49 -05:00
committed by GitHub
parent 5ffe15d5ff
commit 3e0f7d0995
3 changed files with 8 additions and 5 deletions
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3
wpilibc/src/main/native/cpp/frc2/command/NotifierCommand.cpp
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@@ -9,7 +9,8 @@
using namespace frc2;
NotifierCommand::NotifierCommand(std::function<void()> toRun, double period,
NotifierCommand::NotifierCommand(std::function<void()> toRun,
units::second_t period,
std::initializer_list<Subsystem*> requirements)
: m_toRun(toRun), m_notifier{std::move(toRun)}, m_period{period} {
AddRequirements(requirements);

8
wpilibc/src/main/native/include/frc2/command/NotifierCommand.h
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@@ -9,6 +9,8 @@
#include <frc/Notifier.h>
#include <units/units.h>
#include "CommandBase.h"
#include "CommandHelper.h"
@@ -29,10 +31,10 @@ class NotifierCommand : public CommandHelper<CommandBase, NotifierCommand> {
* Creates a new NotifierCommand.
*
* @param toRun the runnable for the notifier to run
* @param period the period at which the notifier should run, in seconds
* @param period the period at which the notifier should run
* @param requirements the subsystems required by this command
*/
NotifierCommand(std::function<void()> toRun, double period,
NotifierCommand(std::function<void()> toRun, units::second_t period,
std::initializer_list<Subsystem*> requirements);
NotifierCommand(NotifierCommand&& other);
@@ -46,6 +48,6 @@ class NotifierCommand : public CommandHelper<CommandBase, NotifierCommand> {
private:
std::function<void()> m_toRun;
frc::Notifier m_notifier;
double m_period;
units::second_t m_period;
};
} // namespace frc2

2
wpilibc/src/test/native/cpp/frc2/command/NotifierCommandTest.cpp
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@@ -20,7 +20,7 @@ TEST_F(NotifierCommandTest, NotifierCommandScheduleTest) {
int counter = 0;
NotifierCommand command([&counter] { counter++; }, 0.01, {});
NotifierCommand command([&counter] { counter++; }, 0.01_s, {});
scheduler.Schedule(&command);
std::this_thread::sleep_for(std::chrono::milliseconds(250));