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Add template for old command-based style (#2031)

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This commit is contained in:
Prateek Machiraju
2019-11-11 02:20:33 -05:00
committed by Peter Johnson
parent 486fa9c696
commit 55a7f2b4ad
19 changed files with 642 additions and 0 deletions
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12
wpilibcExamples/src/main/cpp/templates/oldcommandbased/cpp/OI.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 "OI.h"
OI::OI() {
// Process operator interface input here.
}

87
wpilibcExamples/src/main/cpp/templates/oldcommandbased/cpp/Robot.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 "Robot.h"
#include <frc/commands/Scheduler.h>
#include <frc/smartdashboard/SmartDashboard.h>
ExampleSubsystem Robot::m_subsystem;
OI Robot::m_oi;
void Robot::RobotInit() {
m_chooser.SetDefaultOption("Default Auto", &m_defaultAuto);
m_chooser.AddOption("My Auto", &m_myAuto);
frc::SmartDashboard::PutData("Auto Modes", &m_chooser);
}
/**
* 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.
*/
void Robot::RobotPeriodic() {}
/**
* 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.
*/
void Robot::DisabledInit() {}
void Robot::DisabledPeriodic() { frc::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.
*
* You can add additional auto modes by adding additional commands to the
* chooser code above (like the commented example) or additional comparisons to
* the if-else structure below with additional strings & commands.
*/
void Robot::AutonomousInit() {
// std::string autoSelected = frc::SmartDashboard::GetString(
// "Auto Selector", "Default");
// if (autoSelected == "My Auto") {
// m_autonomousCommand = &m_myAuto;
// } else {
// m_autonomousCommand = &m_defaultAuto;
// }
m_autonomousCommand = m_chooser.GetSelected();
if (m_autonomousCommand != nullptr) {
m_autonomousCommand->Start();
}
}
void Robot::AutonomousPeriodic() { frc::Scheduler::GetInstance()->Run(); }
void Robot::TeleopInit() {
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
if (m_autonomousCommand != nullptr) {
m_autonomousCommand->Cancel();
m_autonomousCommand = nullptr;
}
}
void Robot::TeleopPeriodic() { frc::Scheduler::GetInstance()->Run(); }
void Robot::TestPeriodic() {}
#ifndef RUNNING_FRC_TESTS
int main() { return frc::StartRobot<Robot>(); }
#endif

31
wpilibcExamples/src/main/cpp/templates/oldcommandbased/cpp/commands/ExampleCommand.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 "commands/ExampleCommand.h"
#include "Robot.h"
ExampleCommand::ExampleCommand() {
// Use Requires() here to declare subsystem dependencies
Requires(&Robot::m_subsystem);
}
// Called just before this Command runs the first time
void ExampleCommand::Initialize() {}
// Called repeatedly when this Command is scheduled to run
void ExampleCommand::Execute() {}
// Make this return true when this Command no longer needs to run execute()
bool ExampleCommand::IsFinished() { return false; }
// Called once after isFinished returns true
void ExampleCommand::End() {}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
void ExampleCommand::Interrupted() {}

31
wpilibcExamples/src/main/cpp/templates/oldcommandbased/cpp/commands/MyAutoCommand.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 "commands/MyAutoCommand.h"
#include "Robot.h"
MyAutoCommand::MyAutoCommand() {
// Use Requires() here to declare subsystem dependencies
Requires(&Robot::m_subsystem);
}
// Called just before this Command runs the first time
void MyAutoCommand::Initialize() {}
// Called repeatedly when this Command is scheduled to run
void MyAutoCommand::Execute() {}
// Make this return true when this Command no longer needs to run execute()
bool MyAutoCommand::IsFinished() { return false; }
// Called once after isFinished returns true
void MyAutoCommand::End() {}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
void MyAutoCommand::Interrupted() {}

20
wpilibcExamples/src/main/cpp/templates/oldcommandbased/cpp/subsystems/ExampleSubsystem.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 "subsystems/ExampleSubsystem.h"
#include "RobotMap.h"
ExampleSubsystem::ExampleSubsystem() : frc::Subsystem("ExampleSubsystem") {}
void ExampleSubsystem::InitDefaultCommand() {
// Set the default command for a subsystem here.
// SetDefaultCommand(new MySpecialCommand());
}
// Put methods for controlling this subsystem
// here. Call these from Commands.

13
wpilibcExamples/src/main/cpp/templates/oldcommandbased/include/OI.h 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. */
/*----------------------------------------------------------------------------*/
#pragma once
class OI {
public:
OI();
};

41
wpilibcExamples/src/main/cpp/templates/oldcommandbased/include/Robot.h 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc/TimedRobot.h>
#include <frc/commands/Command.h>
#include <frc/smartdashboard/SendableChooser.h>
#include "OI.h"
#include "commands/ExampleCommand.h"
#include "commands/MyAutoCommand.h"
#include "subsystems/ExampleSubsystem.h"
class Robot : public frc::TimedRobot {
public:
static ExampleSubsystem m_subsystem;
static OI m_oi;
void RobotInit() override;
void RobotPeriodic() override;
void DisabledInit() override;
void DisabledPeriodic() override;
void AutonomousInit() override;
void AutonomousPeriodic() override;
void TeleopInit() override;
void TeleopPeriodic() override;
void TestPeriodic() override;
private:
// Have it null by default so that if testing teleop it
// doesn't have undefined behavior and potentially crash.
frc::Command* m_autonomousCommand = nullptr;
ExampleCommand m_defaultAuto;
MyAutoCommand m_myAuto;
frc::SendableChooser<frc::Command*> m_chooser;
};

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wpilibcExamples/src/main/cpp/templates/oldcommandbased/include/RobotMap.h 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. */
/*----------------------------------------------------------------------------*/
#pragma once
/**
* 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.
*/
// For example to map the left and right motors, you could define the
// following variables to use with your drivetrain subsystem.
// constexpr int kLeftMotor = 1;
// constexpr int kRightMotor = 2;
// If you are using multiple modules, make sure to define both the port
// number and the module. For example you with a rangefinder:
// constexpr int kRangeFinderPort = 1;
// constexpr int kRangeFinderModule = 1;

20
wpilibcExamples/src/main/cpp/templates/oldcommandbased/include/commands/ExampleCommand.h 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc/commands/Command.h>
class ExampleCommand : public frc::Command {
public:
ExampleCommand();
void Initialize() override;
void Execute() override;
bool IsFinished() override;
void End() override;
void Interrupted() override;
};

20
wpilibcExamples/src/main/cpp/templates/oldcommandbased/include/commands/MyAutoCommand.h 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc/commands/Command.h>
class MyAutoCommand : public frc::Command {
public:
MyAutoCommand();
void Initialize() override;
void Execute() override;
bool IsFinished() override;
void End() override;
void Interrupted() override;
};

20
wpilibcExamples/src/main/cpp/templates/oldcommandbased/include/subsystems/ExampleSubsystem.h 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc/commands/Subsystem.h>
class ExampleSubsystem : public frc::Subsystem {
public:
ExampleSubsystem();
void InitDefaultCommand() override;
private:
// It's desirable that everything possible under private except
// for methods that implement subsystem capabilities
};

10
wpilibcExamples/src/main/cpp/templates/templates.json
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@@ -38,5 +38,15 @@
"foldername": "commandbased",
"gradlebase": "cpp",
"commandversion": 2
},
{
"name": "Old Command Robot",
"description": "Old-Command style (deprecated)",
"tags": [
"Command"
],
"foldername": "oldcommandbased",
"gradlebase": "cpp",
"commandversion": 1
}
]

29
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/Main.java 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates.oldcommandbased;
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.
*/
public final class Main {
private Main() {
}
/**
* Main initialization function. Do not perform any initialization here.
*
* <p>If you change your main robot class, change the parameter type.
*/
public static void main(String... args) {
RobotBase.startRobot(Robot::new);
}
}

42
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/OI.java 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates.oldcommandbased;
/**
* 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());
}

131
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/Robot.java 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates.oldcommandbased;
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.oldcommandbased.commands.ExampleCommand;
import edu.wpi.first.wpilibj.templates.oldcommandbased.subsystems.ExampleSubsystem;
/**
* 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;
Command m_autonomousCommand;
SendableChooser<Command> m_chooser = new SendableChooser<>();
/**
* 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);
}
/**
* 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() {
}
/**
* 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() {
}
@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.
*/
@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; }
*/
// schedule the autonomous command (example)
if (m_autonomousCommand != null) {
m_autonomousCommand.start();
}
}
/**
* This function is called periodically during autonomous.
*/
@Override
public void autonomousPeriodic() {
Scheduler.getInstance().run();
}
@Override
public void teleopInit() {
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
if (m_autonomousCommand != null) {
m_autonomousCommand.cancel();
}
}
/**
* This function is called periodically during operator control.
*/
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
}
/**
* This function is called periodically during test mode.
*/
@Override
public void testPeriodic() {
}
}

26
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/RobotMap.java 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates.oldcommandbased;
/**
* 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;
}

48
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/commands/ExampleCommand.java 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates.oldcommandbased.commands;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.templates.oldcommandbased.Robot;
/**
* An example command. You can replace me with your own command.
*/
public class ExampleCommand extends Command {
public ExampleCommand() {
// Use requires() here to declare subsystem dependencies
requires(Robot.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() {
}
}

25
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/subsystems/ExampleSubsystem.java 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.templates.oldcommandbased.subsystems;
import edu.wpi.first.wpilibj.command.Subsystem;
/**
* An example subsystem. You can replace with me with your own subsystem.
*/
public class ExampleSubsystem extends Subsystem {
// Put methods for controlling this subsystem
// here. Call these from Commands.
@Override
protected void initDefaultCommand() {
// Set the default command for a subsystem here.
// setDefaultCommand(new MySpecialCommand());
}
}

11
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json
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@@ -42,5 +42,16 @@
"gradlebase": "java",
"mainclass": "Main",
"commandversion": 2
},
{
"name": "Old Command Robot",
"description": "Old-command style (deprecated)",
"tags": [
"Command"
],
"foldername": "oldcommandbased",
"gradlebase": "java",
"mainclass": "Main",
"commandversion": 1
}
]