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[examples] Move triggers to subsystem fields (#6318)

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This commit is contained in:
DeltaDizzy
2024-01-28 01:47:06 -06:00
committed by GitHub
parent 177132fa2a
commit 53ebb6679e
5 changed files with 18 additions and 22 deletions
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11
wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp
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@@ -12,16 +12,13 @@
void RapidReactCommandBot::ConfigureBindings() {
// Automatically run the storage motor whenever the ball storage is not full,
// and turn it off whenever it fills.
frc2::Trigger([this] {
return m_storage.IsFull();
}).WhileFalse(m_storage.RunCommand());
// and turn it off whenever it fills. Uses subsystem-hosted trigger to
// improve readability and make inter-subsystem communication easier.
m_storage.HasCargo.WhileFalse(m_storage.RunCommand());
// Automatically disable and retract the intake whenever the ball storage is
// full.
frc2::Trigger([this] {
return m_storage.IsFull();
}).OnTrue(m_intake.RetractCommand());
m_storage.HasCargo.OnTrue(m_intake.RetractCommand());
// Control the drive with split-stick arcade controls
m_drive.SetDefaultCommand(m_drive.ArcadeDriveCommand(

4
wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Storage.cpp
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@@ -12,7 +12,3 @@ Storage::Storage() {
frc2::CommandPtr Storage::RunCommand() {
return Run([this] { m_motor.Set(1.0); }).WithName("Run");
}
bool Storage::IsFull() const {
return m_ballSensor.Get();
}

3
wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Storage.h
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@@ -8,6 +8,7 @@
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc2/command/CommandPtr.h>
#include <frc2/command/SubsystemBase.h>
#include <frc2/command/button/Trigger.h>
#include "Constants.h"
@@ -19,7 +20,7 @@ class Storage : frc2::SubsystemBase {
frc2::CommandPtr RunCommand();
/** Whether the ball storage is full. */
bool IsFull() const;
frc2::Trigger HasCargo{[this] { return m_ballSensor.Get(); }};
private:
frc::PWMSparkMax m_motor{StorageConstants::kMotorPort};

7
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/RapidReactCommandBot.java
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@@ -46,11 +46,12 @@ public class RapidReactCommandBot {
*/
public void configureBindings() {
// Automatically run the storage motor whenever the ball storage is not full,
// and turn it off whenever it fills.
new Trigger(m_storage::isFull).whileFalse(m_storage.runCommand());
// and turn it off whenever it fills. Uses subsystem-hosted trigger to
// improve readability and make inter-subsystem communication easier.
m_storage.hasCargo.whileFalse(m_storage.runCommand());
// Automatically disable and retract the intake whenever the ball storage is full.
new Trigger(m_storage::isFull).onTrue(m_intake.retractCommand());
m_storage.hasCargo.onTrue(m_intake.retractCommand());
// Control the drive with split-stick arcade controls
m_drive.setDefaultCommand(

15
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Storage.java
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@@ -4,28 +4,29 @@
package edu.wpi.first.wpilibj.examples.rapidreactcommandbot.subsystems;
import static edu.wpi.first.wpilibj.examples.rapidreactcommandbot.Constants.StorageConstants;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.examples.rapidreactcommandbot.Constants.StorageConstants;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.button.Trigger;
public class Storage extends SubsystemBase {
private final PWMSparkMax m_motor = new PWMSparkMax(StorageConstants.kMotorPort);
private final DigitalInput m_ballSensor = new DigitalInput(StorageConstants.kBallSensorPort);
// Expose trigger from subsystem to improve readability and ease
// inter-subsystem communications
/** Whether the ball storage is full. */
@SuppressWarnings("checkstyle:MemberName")
public final Trigger hasCargo = new Trigger(m_ballSensor::get);
/** Create a new Storage subsystem. */
public Storage() {
// Set default command to turn off the storage motor and then idle
setDefaultCommand(runOnce(m_motor::disable).andThen(run(() -> {})).withName("Idle"));
}
/** Whether the ball storage is full. */
public boolean isFull() {
return m_ballSensor.get();
}
/** Returns a command that runs the storage motor indefinitely. */
public Command runCommand() {
return run(() -> m_motor.set(1)).withName("run");