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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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108
wpilibOldCommands/src/main/native/cpp/commands/PIDCommand.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2011-2019 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 "frc/commands/PIDCommand.h"
#include "frc/smartdashboard/SendableBuilder.h"
using namespace frc;
PIDCommand::PIDCommand(const wpi::Twine& name, double p, double i, double d,
double f, double period)
: Command(name) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
}
PIDCommand::PIDCommand(double p, double i, double d, double f, double period) {
m_controller =
std::make_shared<PIDController>(p, i, d, f, this, this, period);
}
PIDCommand::PIDCommand(const wpi::Twine& name, double p, double i, double d)
: Command(name) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this);
}
PIDCommand::PIDCommand(const wpi::Twine& name, double p, double i, double d,
double period)
: Command(name) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
}
PIDCommand::PIDCommand(double p, double i, double d) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this);
}
PIDCommand::PIDCommand(double p, double i, double d, double period) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
}
PIDCommand::PIDCommand(const wpi::Twine& name, double p, double i, double d,
double f, double period, Subsystem& subsystem)
: Command(name, subsystem) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
}
PIDCommand::PIDCommand(double p, double i, double d, double f, double period,
Subsystem& subsystem)
: Command(subsystem) {
m_controller =
std::make_shared<PIDController>(p, i, d, f, this, this, period);
}
PIDCommand::PIDCommand(const wpi::Twine& name, double p, double i, double d,
Subsystem& subsystem)
: Command(name, subsystem) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this);
}
PIDCommand::PIDCommand(const wpi::Twine& name, double p, double i, double d,
double period, Subsystem& subsystem)
: Command(name, subsystem) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
}
PIDCommand::PIDCommand(double p, double i, double d, Subsystem& subsystem) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this);
}
PIDCommand::PIDCommand(double p, double i, double d, double period,
Subsystem& subsystem) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
}
void PIDCommand::_Initialize() { m_controller->Enable(); }
void PIDCommand::_End() { m_controller->Disable(); }
void PIDCommand::_Interrupted() { _End(); }
void PIDCommand::SetSetpointRelative(double deltaSetpoint) {
SetSetpoint(GetSetpoint() + deltaSetpoint);
}
void PIDCommand::PIDWrite(double output) { UsePIDOutput(output); }
double PIDCommand::PIDGet() { return ReturnPIDInput(); }
std::shared_ptr<PIDController> PIDCommand::GetPIDController() const {
return m_controller;
}
void PIDCommand::SetSetpoint(double setpoint) {
m_controller->SetSetpoint(setpoint);
}
double PIDCommand::GetSetpoint() const { return m_controller->GetSetpoint(); }
double PIDCommand::GetPosition() { return ReturnPIDInput(); }
void PIDCommand::InitSendable(SendableBuilder& builder) {
m_controller->InitSendable(builder);
Command::InitSendable(builder);
builder.SetSmartDashboardType("PIDCommand");
}