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Split the two command implementations into separate libraries (#2012)

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This will allow us at the user code side to determine to include old commands, new commands or both.
This commit is contained in:
Thad House
2019-11-01 21:58:54 -07:00
committed by Peter Johnson
parent 2ad15cae19
commit 509819d83f
271 changed files with 470 additions and 91 deletions
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26
wpilibNewCommands/src/main/native/cpp/frc2/command/WaitCommand.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 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. */
/*----------------------------------------------------------------------------*/
#include "frc2/command/WaitCommand.h"
using namespace frc2;
WaitCommand::WaitCommand(units::second_t duration) : m_duration{duration} {
auto durationStr = std::to_string(duration.to<double>());
SetName(wpi::Twine(GetName()) + ": " + wpi::Twine(durationStr) + " seconds");
}
void WaitCommand::Initialize() {
m_timer.Reset();
m_timer.Start();
}
void WaitCommand::End(bool interrupted) { m_timer.Stop(); }
bool WaitCommand::IsFinished() { return m_timer.HasPeriodPassed(m_duration); }
bool WaitCommand::RunsWhenDisabled() const { return true; }