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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;
};

25
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
}
]