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Add new Java Command framework (#1682)

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The old command framework is still available, but will be deprecated.

Due to name conflicts, the new framework is in the wpilibj2 package.
Eventually (after the old command framework is removed in a future year)
it will be moved into the main wpilibj package.
This commit is contained in:
Oblarg
2019-08-25 17:47:07 -04:00
committed by Peter Johnson
parent 1379735aff
commit 558c383088
126 changed files with 9510 additions and 168 deletions
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19
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Constants.java Normal file
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@@ -0,0 +1,19 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates.commandbased;
/**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
* constants. This class should not be used for any other purpose. All constants should be
* declared globally (i.e. public static). Do not put anything functional in this class.
*
* <p>It is advised to statically import this class (or one of its inner classes) wherever the
* constants are needed, to reduce verbosity.
*/
public final class Constants {
}

8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Main.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2018-2019 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. */
@@ -10,9 +10,9 @@ package edu.wpi.first.wpilibj.templates.commandbased;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all.
* Unless you know what you are doing, do not modify this file except to
* change the parameter class to the startRobot call.
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {

42
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/OI.java
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@@ -1,42 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates.commandbased;
/**
* This class is the glue that binds the controls on the physical operator
* interface to the commands and command groups that allow control of the robot.
*/
public class OI {
//// CREATING BUTTONS
// One type of button is a joystick button which is any button on a
//// joystick.
// You create one by telling it which joystick it's on and which button
// number it is.
// Joystick stick = new Joystick(port);
// Button button = new JoystickButton(stick, buttonNumber);
// There are a few additional built in buttons you can use. Additionally,
// by subclassing Button you can create custom triggers and bind those to
// commands the same as any other Button.
//// TRIGGERING COMMANDS WITH BUTTONS
// Once you have a button, it's trivial to bind it to a button in one of
// three ways:
// Start the command when the button is pressed and let it run the command
// until it is finished as determined by it's isFinished method.
// button.whenPressed(new ExampleCommand());
// Run the command while the button is being held down and interrupt it once
// the button is released.
// button.whileHeld(new ExampleCommand());
// Start the command when the button is released and let it run the command
// until it is finished as determined by it's isFinished method.
// button.whenReleased(new ExampleCommand());
}

76
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2019 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. */
@@ -8,55 +8,49 @@
package edu.wpi.first.wpilibj.templates.commandbased;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.templates.commandbased.commands.ExampleCommand;
import edu.wpi.first.wpilibj.templates.commandbased.subsystems.ExampleSubsystem;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the TimedRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the build.gradle file in the
* The VM is configured to automatically run this class, and to call the functions corresponding to
* each mode, as described in the TimedRobot documentation. If you change the name of this class or
* the package after creating this project, you must also update the build.gradle file in the
* project.
*/
public class Robot extends TimedRobot {
public static ExampleSubsystem m_subsystem = new ExampleSubsystem();
public static OI m_oi;
private Command m_autonomousCommand;
Command m_autonomousCommand;
SendableChooser<Command> m_chooser = new SendableChooser<>();
private RobotContainer m_robotContainer;
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
* This function is run when the robot is first started up and should be used for any
* initialization code.
*/
@Override
public void robotInit() {
m_oi = new OI();
m_chooser.setDefaultOption("Default Auto", new ExampleCommand());
// chooser.addOption("My Auto", new MyAutoCommand());
SmartDashboard.putData("Auto mode", m_chooser);
// Instantiate our RobotContainer. This will perform all our button bindings, and put our
// autonomous chooser on the dashboard.
m_robotContainer = new RobotContainer();
}
/**
* This function is called every robot packet, no matter the mode. Use
* this for items like diagnostics that you want ran during disabled,
* autonomous, teleoperated and test.
* This function is called every robot packet, no matter the mode. Use this for items like
* diagnostics that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before
* LiveWindow and SmartDashboard integrated updating.
*/
@Override
public void robotPeriodic() {
// Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
// commands, running already-scheduled commands, removing finished or interrupted commands,
// and running subsystem periodic() methods. This must be called from the robot's periodic
// block in order for anything in the Command-based framework to work.
CommandScheduler.getInstance().run();
}
/**
* This function is called once each time the robot enters Disabled mode.
* You can use it to reset any subsystem information you want to clear when
* the robot is disabled.
*/
@Override
public void disabledInit() {
@@ -64,34 +58,18 @@ public class Robot extends TimedRobot {
@Override
public void disabledPeriodic() {
Scheduler.getInstance().run();
}
/**
* This autonomous (along with the chooser code above) shows how to select
* between different autonomous modes using the dashboard. The sendable
* chooser code works with the Java SmartDashboard. If you prefer the
* LabVIEW Dashboard, remove all of the chooser code and uncomment the
* getString code to get the auto name from the text box below the Gyro
*
* <p>You can add additional auto modes by adding additional commands to the
* chooser code above (like the commented example) or additional comparisons
* to the switch structure below with additional strings & commands.
* This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
*/
@Override
public void autonomousInit() {
m_autonomousCommand = m_chooser.getSelected();
/*
* String autoSelected = SmartDashboard.getString("Auto Selector",
* "Default"); switch(autoSelected) { case "My Auto": autonomousCommand
* = new MyAutoCommand(); break; case "Default Auto": default:
* autonomousCommand = new ExampleCommand(); break; }
*/
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
// schedule the autonomous command (example)
if (m_autonomousCommand != null) {
m_autonomousCommand.start();
m_autonomousCommand.schedule();
}
}
@@ -100,7 +78,6 @@ public class Robot extends TimedRobot {
*/
@Override
public void autonomousPeriodic() {
Scheduler.getInstance().run();
}
@Override
@@ -119,7 +96,12 @@ public class Robot extends TimedRobot {
*/
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
}
@Override
public void testInit() {
// Cancels all running commands at the start of test mode.
CommandScheduler.getInstance().cancelAll();
}
/**

57
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java Normal file
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@@ -0,0 +1,57 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates.commandbased;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.templates.commandbased.commands.ExampleCommand;
import edu.wpi.first.wpilibj.templates.commandbased.subsystems.ExampleSubsystem;
import edu.wpi.first.wpilibj2.command.Command;
/**
* This class is where the bulk of the robot should be declared. Since Command-based is a
* "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
* periodic methods (other than the scheduler calls). Instead, the structure of the robot
* (including subsystems, commands, and button mappings) should be declared here.
*/
public class RobotContainer {
// The robot's subsystems and commands are defined here...
private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem();
private final ExampleCommand m_autoCommand = new ExampleCommand(m_exampleSubsystem);
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
public RobotContainer() {
// Configure the button bindings
configureButtonBindings();
}
/**
* Use this method to define your button->command mappings. Buttons can be created by
* instantiating a {@link GenericHID} or one of its subclasses ({@link
* edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then calling passing it to a
* {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
*/
private void configureButtonBindings() {
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
*
* @return the command to run in autonomous
*/
public Command getAutonomousCommand() {
// An ExampleCommand will run in autonomous
return m_autoCommand;
}
}

26
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotMap.java
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@@ -1,26 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates.commandbased;
/**
* The RobotMap is a mapping from the ports sensors and actuators are wired into
* to a variable name. This provides flexibility changing wiring, makes checking
* the wiring easier and significantly reduces the number of magic numbers
* floating around.
*/
public class RobotMap {
// For example to map the left and right motors, you could define the
// following variables to use with your drivetrain subsystem.
// public static int leftMotor = 1;
// public static int rightMotor = 2;
// If you are using multiple modules, make sure to define both the port
// number and the module. For example you with a rangefinder:
// public static int rangefinderPort = 1;
// public static int rangefinderModule = 1;
}

49
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/ExampleCommand.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2018-2019 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. */
@@ -7,42 +7,23 @@
package edu.wpi.first.wpilibj.templates.commandbased.commands;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.templates.commandbased.Robot;
import edu.wpi.first.wpilibj.templates.commandbased.subsystems.ExampleSubsystem;
import edu.wpi.first.wpilibj2.command.CommandBase;
/**
* An example command. You can replace me with your own command.
* An example command that uses an example subsystem.
*/
public class ExampleCommand extends Command {
public ExampleCommand() {
// Use requires() here to declare subsystem dependencies
requires(Robot.m_subsystem);
}
public class ExampleCommand extends CommandBase {
@SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
private final ExampleSubsystem m_subsystem;
// Called just before this Command runs the first time
@Override
protected void initialize() {
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return false;
}
// Called once after isFinished returns true
@Override
protected void end() {
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
protected void interrupted() {
/**
* Creates a new ExampleCommand.
*
* @param subsystem The subsystem used by this command.
*/
public ExampleCommand(ExampleSubsystem subsystem) {
m_subsystem = subsystem;
addRequirements(subsystem);
}
}

25
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2018-2019 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. */
@@ -7,18 +7,21 @@
package edu.wpi.first.wpilibj.templates.commandbased.subsystems;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
/**
* An example subsystem. You can replace me with your own Subsystem.
*/
public class ExampleSubsystem extends Subsystem {
// Put methods for controlling this subsystem
// here. Call these from Commands.
public class ExampleSubsystem extends SubsystemBase {
/**
* Creates a new ExampleSubsystem.
*/
public ExampleSubsystem() {
}
/**
* Will be called periodically whenever the CommandScheduler runs.
*/
@Override
public void initDefaultCommand() {
// Set the default command for a subsystem here.
// setDefaultCommand(new MySpecialCommand());
public void periodic() {
}
}