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

This will allow us at the user code side to determine to include old commands, new commands or both.

wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDCommand.h

@@ -0,0 +1,116 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <units/units.h>
+
+#include "frc/controller/ProfiledPIDController.h"
+#include "frc2/command/CommandBase.h"
+#include "frc2/command/CommandHelper.h"
+
+namespace frc2 {
+/**
+ * A command that controls an output with a ProfiledPIDController.  Runs forever
+ * by default - to add exit conditions and/or other behavior, subclass this
+ * class. The controller calculation and output are performed synchronously in
+ * the command's execute() method.
+ *
+ * @see ProfiledPIDController
+ */
+class ProfiledPIDCommand
+    : public CommandHelper<CommandBase, ProfiledPIDCommand> {
+  using State = frc::TrapezoidProfile::State;
+
+ public:
+  /**
+   * Creates a new PIDCommand, which controls the given output with a
+   * ProfiledPIDController.
+   *
+   * @param controller        the controller that controls the output.
+   * @param measurementSource the measurement of the process variable
+   * @param goalSource   the controller's goal
+   * @param useOutput         the controller's output
+   * @param requirements      the subsystems required by this command
+   */
+  ProfiledPIDCommand(frc::ProfiledPIDController controller,
+                     std::function<units::meter_t()> measurementSource,
+                     std::function<State()> goalSource,
+                     std::function<void(double, State)> useOutput,
+                     std::initializer_list<Subsystem*> requirements);
+
+  /**
+   * Creates a new PIDCommand, which controls the given output with a
+   * ProfiledPIDController.
+   *
+   * @param controller        the controller that controls the output.
+   * @param measurementSource the measurement of the process variable
+   * @param goalSource   the controller's goal
+   * @param useOutput         the controller's output
+   * @param requirements      the subsystems required by this command
+   */
+  ProfiledPIDCommand(frc::ProfiledPIDController controller,
+                     std::function<units::meter_t()> measurementSource,
+                     std::function<units::meter_t()> goalSource,
+                     std::function<void(double, State)> useOutput,
+                     std::initializer_list<Subsystem*> requirements);
+
+  /**
+   * Creates a new PIDCommand, which controls the given output with a
+   * ProfiledPIDController with a constant goal.
+   *
+   * @param controller        the controller that controls the output.
+   * @param measurementSource the measurement of the process variable
+   * @param goal         the controller's goal
+   * @param useOutput         the controller's output
+   * @param requirements      the subsystems required by this command
+   */
+  ProfiledPIDCommand(frc::ProfiledPIDController controller,
+                     std::function<units::meter_t()> measurementSource,
+                     State goal, std::function<void(double, State)> useOutput,
+                     std::initializer_list<Subsystem*> requirements);
+
+  /**
+   * Creates a new PIDCommand, which controls the given output with a
+   * ProfiledPIDController with a constant goal.
+   *
+   * @param controller        the controller that controls the output.
+   * @param measurementSource the measurement of the process variable
+   * @param goal         the controller's goal
+   * @param useOutput         the controller's output
+   * @param requirements      the subsystems required by this command
+   */
+  ProfiledPIDCommand(frc::ProfiledPIDController controller,
+                     std::function<units::meter_t()> measurementSource,
+                     units::meter_t goal,
+                     std::function<void(double, State)> useOutput,
+                     std::initializer_list<Subsystem*> requirements);
+
+  ProfiledPIDCommand(ProfiledPIDCommand&& other) = default;
+
+  ProfiledPIDCommand(const ProfiledPIDCommand& other) = default;
+
+  void Initialize() override;
+
+  void Execute() override;
+
+  void End(bool interrupted) override;
+
+  /**
+   * Returns the ProfiledPIDController used by the command.
+   *
+   * @return The ProfiledPIDController
+   */
+  frc::ProfiledPIDController& GetController();
+
+ protected:
+  frc::ProfiledPIDController m_controller;
+  std::function<units::meter_t()> m_measurement;
+  std::function<State()> m_goal;
+  std::function<void(double, State)> m_useOutput;
+};
+}  // namespace frc2