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Add templates for new commands for vscode plugin (#2016)

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This commit is contained in:
Oblarg
2019-12-29 16:02:49 -05:00
committed by Peter Johnson
parent 6ea13ea8f3
commit 5b7dd186d2
45 changed files with 1354 additions and 35 deletions
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1
shared/examplecheck.gradle
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@@ -70,6 +70,7 @@ task checkCommands(type: Task) {
assert it.tags != null
assert it.foldername != null
assert it.replacename != null
assert it.commandversion != null
if (project.isCppCommands) {
assert it.headers != null
assert !it.headers.isEmpty()

24
wpilibcExamples/src/main/cpp/commands/command2/ReplaceMeCommand2.cpp Normal file
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@@ -0,0 +1,24 @@
/*----------------------------------------------------------------------------*/
/* 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 "ReplaceMeCommand2.h"
ReplaceMeCommand2::ReplaceMeCommand2() {
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
void ReplaceMeCommand2::Initialize() {}
// Called repeatedly when this Command is scheduled to run
void ReplaceMeCommand2::Execute() {}
// Called once the command ends or is interrupted.
void ReplaceMeCommand2::End(bool interrupted) {}
// Returns true when the command should end.
bool ReplaceMeCommand2::IsFinished() { return false; }

32
wpilibcExamples/src/main/cpp/commands/command2/ReplaceMeCommand2.h Normal file
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@@ -0,0 +1,32 @@
/*----------------------------------------------------------------------------*/
/* 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 <frc2/command/CommandBase.h>
#include <frc2/command/CommandHelper.h>
/**
* An example command.
*
* <p>Note that this extends CommandHelper, rather extending CommandBase
* directly; this is crucially important, or else the decorator functions in
* Command will *not* work!
*/
class ReplaceMeCommand2
: public frc2::CommandHelper<frc2::CommandBase, ReplaceMeCommand2> {
public:
ReplaceMeCommand2();
void Initialize() override;
void Execute() override;
void End(bool interrupted) override;
bool IsFinished() override;
};

246
wpilibcExamples/src/main/cpp/commands/commands.json
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@@ -12,10 +12,11 @@
"source": [
"ReplaceMeEmptyClass.cpp"
],
"replacename": "ReplaceMeEmptyClass"
"replacename": "ReplaceMeEmptyClass",
"commandversion": 0
},
{
"name": "Command",
"name": "Command (Old)",
"description": "Create a base command",
"tags": [
"command"
@@ -27,10 +28,11 @@
"source": [
"ReplaceMeCommand.cpp"
],
"replacename": "ReplaceMeCommand"
"replacename": "ReplaceMeCommand",
"commandversion": 1
},
{
"name": "Command Group",
"name": "Command Group (Old)",
"description": "Create a command group",
"tags": [
"commandgroup"
@@ -42,10 +44,11 @@
"source": [
"ReplaceMeCommandGroup.cpp"
],
"replacename": "ReplaceMeCommandGroup"
"replacename": "ReplaceMeCommandGroup",
"commandversion": 1
},
{
"name": "Instant Command",
"name": "Instant Command (Old)",
"description": "A command that runs immediately",
"tags": [
"instantcommand"
@@ -57,10 +60,11 @@
"source": [
"ReplaceMeInstantCommand.cpp"
],
"replacename": "ReplaceMeInstantCommand"
"replacename": "ReplaceMeInstantCommand",
"commandversion": 1
},
{
"name": "Subsystem",
"name": "Subsystem (Old)",
"description": "A subsystem",
"tags": [
"subsystem"
@@ -72,10 +76,11 @@
"source": [
"ReplaceMeSubsystem.cpp"
],
"replacename": "ReplaceMeSubsystem"
"replacename": "ReplaceMeSubsystem",
"commandversion": 1
},
{
"name": "PID Subsystem",
"name": "PID Subsystem (Old)",
"description": "A subsystem that runs a PID loop",
"tags": [
"pidsubsystem",
@@ -88,10 +93,11 @@
"source": [
"ReplaceMePIDSubsystem.cpp"
],
"replacename": "ReplaceMePIDSubsystem"
"replacename": "ReplaceMePIDSubsystem",
"commandversion": 1
},
{
"name": "Timed Command",
"name": "Timed Command (Old)",
"description": "A command that runs for a specified time",
"tags": [
"timedcommand"
@@ -103,10 +109,11 @@
"source": [
"ReplaceMeTimedCommand.cpp"
],
"replacename": "ReplaceMeTimedCommand"
"replacename": "ReplaceMeTimedCommand",
"commandversion": 1
},
{
"name": "Trigger",
"name": "Trigger (Old)",
"description": "A command that runs off of a trigger",
"tags": [
"trigger"
@@ -118,6 +125,215 @@
"source": [
"ReplaceMeTrigger.cpp"
],
"replacename": "ReplaceMeTrigger"
"replacename": "ReplaceMeTrigger",
"commandversion": 1
},
{
"name": "Command (New)",
"description": "A command.",
"tags": [
"command"
],
"foldername": "command2",
"headers": [
"ReplaceMeCommand2.h"
],
"source": [
"ReplaceMeCommand2.cpp"
],
"replacename": "ReplaceMeCommand2",
"commandversion": 2
},
{
"name": "InstantCommand (New)",
"description": "A command that finishes instantly.",
"tags": [
"instantcommand"
],
"foldername": "instantcommand",
"headers": [
"ReplaceMeInstantCommand2.h"
],
"source": [
"ReplaceMeInstantCommand2.cpp"
],
"replacename": "ReplaceMeInstantCommand2",
"commandversion": 2
},
{
"name": "ParallelCommandGroup (New)",
"description": "A command group that runs commands in parallel, ending when all commands have finished.",
"tags": [
"parallelcommandgroup"
],
"foldername": "parallelcommandgroup",
"headers": [
"ReplaceMeParallelCommandGroup.h"
],
"source": [
"ReplaceMeParallelCommandGroup.cpp"
],
"replacename": "ReplaceMeParallelCommandGroup",
"commandversion": 2
},
{
"name": "ParallelDeadlineGroup (New)",
"description": "A command group that runs commands in parallel, ending when a specific command has finished.",
"tags": [
"paralleldeadlinegroup"
],
"foldername": "paralleldeadlinegroup",
"headers": [
"ReplaceMeParallelDeadlineGroup.h"
],
"source": [
"ReplaceMeParallelDeadlineGroup.cpp"
],
"replacename": "ReplaceMeParallelDeadlineGroup",
"commandversion": 2
},
{
"name": "ParallelRaceGroup (New)",
"description": "A command that runs commands in parallel, ending as soon as any command has finished.",
"tags": [
"parallelracegroup"
],
"foldername": "parallelracegroup",
"headers": [
"ReplaceMeParallelRaceGroup.h"
],
"source": [
"ReplaceMeParallelRaceGroup.cpp"
],
"replacename": "ReplaceMeParallelRaceGroup",
"commandversion": 2
},
{
"name": "PIDCommand (New)",
"description": "A command that runs a PIDController.",
"tags": [
"pidcommand"
],
"foldername": "pidcommand",
"headers": [
"ReplaceMePIDCommand.h"
],
"source": [
"ReplaceMePIDCommand.cpp"
],
"replacename": "ReplaceMePIDCommand",
"commandversion": 2
},
{
"name": "PIDSubsystem (New)",
"description": "A subsystem that runs a PIDController.",
"tags": [
"pidsubsystem"
],
"foldername": "pidsubsystem2",
"headers": [
"ReplaceMePIDSubsystem2.h"
],
"source": [
"ReplaceMePIDSubsystem2.cpp"
],
"replacename": "ReplaceMePIDSubsystem2",
"commandversion": 2
},
{
"name": "ProfiledPIDCommand (New)",
"description": "A command that runs a ProfiledPIDController.",
"tags": [
"profiledpidcommand"
],
"foldername": "profiledpidcommand",
"headers": [
"ReplaceMeProfiledPIDCommand.h"
],
"source": [
"ReplaceMeProfiledPIDCommand.cpp"
],
"replacename": "ReplaceMeProfiledPIDCommand",
"commandversion": 2
},
{
"name": "ProfiledPIDSubsystem (New)",
"description": "A subsystem that runs a ProfiledPIDController.",
"tags": [
"profiledpidsubsystem"
],
"foldername": "profiledpidsubsystem",
"headers": [
"ReplaceMeProfiledPIDSubsystem.h"
],
"source": [
"ReplaceMeProfiledPIDSubsystem.cpp"
],
"replacename": "ReplaceMeProfiledPIDSubsystem",
"commandversion": 2
},
{
"name": "SequentialCommandGroup (New)",
"description": "A command group that runs commands in sequence.",
"tags": [
"sequentialcommandgroup"
],
"foldername": "sequentialcommandgroup",
"headers": [
"ReplaceMeSequentialCommandGroup.h"
],
"source": [
"ReplaceMeSequentialCommandGroup.cpp"
],
"replacename": "ReplaceMeSequentialCommandGroup",
"commandversion": 2
},
{
"name": "Subsystem (New)",
"description": "A robot subsystem.",
"tags": [
"subsystem"
],
"foldername": "subsystem2",
"headers": [
"ReplaceMeSubsystem2.h"
],
"source": [
"ReplaceMeSubsystem2.cpp"
],
"replacename": "ReplaceMeSubsystem2",
"commandversion": 2
},
{
"name": "TrapezoidProfileCommand (New)",
"description": "A command that executes a trapezoidal motion profile.",
"tags": [
"trapezoidprofilecommand"
],
"foldername": "trapezoidprofilecommand",
"headers": [
"ReplaceMeTrapezoidProfileCommand.h"
],
"source": [
"ReplaceMeTrapezoidProfileCommand.cpp"
],
"replacename": "ReplaceMeTrapezoidProfileCommand",
"commandversion": 2
},
{
"name": "TrapezoidProfileSubsystem (New)",
"description": "A command that executes a trapezoidal motion profile.",
"tags": [
"trapezoidprofilesubsystem"
],
"foldername": "trapezoidprofilesubsystem",
"headers": [
"ReplaceMeTrapezoidProfileSubsystem.h"
],
"source": [
"ReplaceMeTrapezoidProfileSubsystem.cpp"
],
"replacename": "ReplaceMeTrapezoidProfileSubsystem",
"commandversion": 2
}
]

18
wpilibcExamples/src/main/cpp/commands/instantcommand/ReplaceMeInstantCommand2.cpp Normal file
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@@ -0,0 +1,18 @@
/*----------------------------------------------------------------------------*/
/* 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 "ReplaceMeInstantCommand2.h"
// NOTE: Consider using this command inline, rather than writing a subclass.
// For more information, see:
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
ReplaceMeInstantCommand2::ReplaceMeInstantCommand2() {
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
void ReplaceMeInstantCommand2::Initialize() {}

20
wpilibcExamples/src/main/cpp/commands/instantcommand/ReplaceMeInstantCommand2.h Normal file
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@@ -0,0 +1,20 @@
/*----------------------------------------------------------------------------*/
/* 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 <frc2/command/CommandHelper.h>
#include <frc2/command/InstantCommand.h>
class ReplaceMeInstantCommand2
: public frc2::CommandHelper<frc2::InstantCommand,
ReplaceMeInstantCommand2> {
public:
ReplaceMeInstantCommand2();
void Initialize() override;
};

16
wpilibcExamples/src/main/cpp/commands/parallelcommandgroup/ReplaceMeParallelCommandGroup.cpp Normal file
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@@ -0,0 +1,16 @@
/*----------------------------------------------------------------------------*/
/* 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 "ReplaceMeParallelCommandGroup.h"
// NOTE: Consider using this command inline, rather than writing a subclass.
// For more information, see:
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
ReplaceMeParallelCommandGroup::ReplaceMeParallelCommandGroup() {
// Add your commands here, e.g.
// AddCommands(FooCommand(), BarCommand());
}

18
wpilibcExamples/src/main/cpp/commands/parallelcommandgroup/ReplaceMeParallelCommandGroup.h Normal file
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@@ -0,0 +1,18 @@
/*----------------------------------------------------------------------------*/
/* 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 <frc2/command/CommandHelper.h>
#include <frc2/command/ParallelCommandGroup.h>
class ReplaceMeParallelCommandGroup
: public frc2::CommandHelper<frc2::ParallelCommandGroup,
ReplaceMeParallelCommandGroup> {
public:
ReplaceMeParallelCommandGroup();
};

21
wpilibcExamples/src/main/cpp/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.cpp Normal file
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@@ -0,0 +1,21 @@
/*----------------------------------------------------------------------------*/
/* 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 "ReplaceMeParallelDeadlineGroup.h"
#include <frc2/command/InstantCommand.h>
// NOTE: Consider using this command inline, rather than writing a subclass.
// For more information, see:
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
ReplaceMeParallelDeadlineGroup::ReplaceMeParallelDeadlineGroup()
: CommandHelper(
// The deadline command
frc2::InstantCommand([] {})) {
// Add your commands here, e.g.
// AddCommands(FooCommand(), BarCommand());
}

18
wpilibcExamples/src/main/cpp/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.h Normal file
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@@ -0,0 +1,18 @@
/*----------------------------------------------------------------------------*/
/* 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 <frc2/command/CommandHelper.h>
#include <frc2/command/ParallelDeadlineGroup.h>
class ReplaceMeParallelDeadlineGroup
: public frc2::CommandHelper<frc2::ParallelDeadlineGroup,
ReplaceMeParallelDeadlineGroup> {
public:
ReplaceMeParallelDeadlineGroup();
};

16
wpilibcExamples/src/main/cpp/commands/parallelracegroup/ReplaceMeParallelRaceGroup.cpp Normal file
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@@ -0,0 +1,16 @@
/*----------------------------------------------------------------------------*/
/* 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 "ReplaceMeParallelRaceGroup.h"
// NOTE: Consider using this command inline, rather than writing a subclass.
// For more information, see:
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
ReplaceMeParallelRaceGroup::ReplaceMeParallelRaceGroup() {
// Add your commands here, e.g.
// AddCommands(FooCommand(), BarCommand());
}

18
wpilibcExamples/src/main/cpp/commands/parallelracegroup/ReplaceMeParallelRaceGroup.h Normal file
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@@ -0,0 +1,18 @@
/*----------------------------------------------------------------------------*/
/* 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 <frc2/command/CommandHelper.h>
#include <frc2/command/ParallelRaceGroup.h>
class ReplaceMeParallelRaceGroup
: public frc2::CommandHelper<frc2::ParallelRaceGroup,
ReplaceMeParallelRaceGroup> {
public:
ReplaceMeParallelRaceGroup();
};

25
wpilibcExamples/src/main/cpp/commands/pidcommand/ReplaceMePIDCommand.cpp Normal file
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@@ -0,0 +1,25 @@
/*----------------------------------------------------------------------------*/
/* 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 "ReplaceMePIDCommand.h"
// NOTE: Consider using this command inline, rather than writing a subclass.
// For more information, see:
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
ReplaceMePIDCommand::ReplaceMePIDCommand()
: CommandHelper(frc2::PIDController(0, 0, 0),
// This should return the measurement
[] { return 0; },
// This should return the setpoint (can also be a constant)
[] { return 0; },
// This uses the output
[](double output) {
// Use the output here
}) {}
// Returns true when the command should end.
bool ReplaceMePIDCommand::IsFinished() { return false; }

19
wpilibcExamples/src/main/cpp/commands/pidcommand/ReplaceMePIDCommand.h Normal file
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@@ -0,0 +1,19 @@
/*----------------------------------------------------------------------------*/
/* 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 <frc2/command/CommandHelper.h>
#include <frc2/command/PIDCommand.h>
class ReplaceMePIDCommand
: public frc2::CommandHelper<frc2::PIDCommand, ReplaceMePIDCommand> {
public:
ReplaceMePIDCommand();
bool IsFinished() override;
};

22
wpilibcExamples/src/main/cpp/commands/pidsubsystem2/ReplaceMePIDSubsystem2.cpp Normal file
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@@ -0,0 +1,22 @@
/*----------------------------------------------------------------------------*/
/* 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 "ReplaceMePIDSubsystem2.h"
ReplaceMePIDSubsystem2::ReplaceMePIDSubsystem2()
: PIDSubsystem(
// The PIDController used by the subsystem
frc2::PIDController(0, 0, 0)) {}
void ReplaceMePIDSubsystem2::UseOutput(double output, double setpoint) {
// Use the output here
}
double ReplaceMePIDSubsystem2::GetMeasurement() {
// Return the process variable measurement here
return 0;
}

20
wpilibcExamples/src/main/cpp/commands/pidsubsystem2/ReplaceMePIDSubsystem2.h Normal file
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@@ -0,0 +1,20 @@
/*----------------------------------------------------------------------------*/
/* 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 <frc2/command/PIDSubsystem.h>
class ReplaceMePIDSubsystem2 : public frc2::PIDSubsystem {
public:
ReplaceMePIDSubsystem2();
protected:
void UseOutput(double output, double setpoint) override;
double GetMeasurement() override;
};

34
wpilibcExamples/src/main/cpp/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.cpp Normal file
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@@ -0,0 +1,34 @@
/*----------------------------------------------------------------------------*/
/* 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 "ReplaceMeProfiledPIDCommand.h"
// NOTE: Consider using this command inline, rather than writing a subclass.
// For more information, see:
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
ReplaceMeProfiledPIDCommand::ReplaceMeProfiledPIDCommand()
: CommandHelper(
// The ProfiledPIDController that the command will use
frc::ProfiledPIDController<units::meter>(
// The PID gains
0, 0, 0,
// The motion profile constraints
{0_mps, 0_mps_sq}),
// This should return the measurement
[] { return 0_m; },
// This should return the goal state (can also be a constant)
[] {
return frc::TrapezoidProfile<units::meter>::State{0_m, 0_mps};
},
// This uses the output and current trajectory setpoint
[](double output,
frc::TrapezoidProfile<units::meter>::State setpoint) {
// Use the output and setpoint here
}) {}
// Returns true when the command should end.
bool ReplaceMeProfiledPIDCommand::IsFinished() { return false; }

20
wpilibcExamples/src/main/cpp/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.h Normal file
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@@ -0,0 +1,20 @@
/*----------------------------------------------------------------------------*/
/* 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 <frc2/command/CommandHelper.h>
#include <frc2/command/ProfiledPIDCommand.h>
class ReplaceMeProfiledPIDCommand
: public frc2::CommandHelper<frc2::ProfiledPIDCommand<units::meter>,
ReplaceMeProfiledPIDCommand> {
public:
ReplaceMeProfiledPIDCommand();
bool IsFinished() override;
};

27
wpilibcExamples/src/main/cpp/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.cpp Normal file
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@@ -0,0 +1,27 @@
/*----------------------------------------------------------------------------*/
/* 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 "ReplaceMeProfiledPIDSubsystem.h"
ReplaceMeProfiledPIDSubsystem::ReplaceMeProfiledPIDSubsystem()
: ProfiledPIDSubsystem(
// The ProfiledPIDController used by the subsystem
frc::ProfiledPIDController<units::meter>(
// The PID gains
0, 0, 0,
// The constraints for the motion profiles
{0_mps, 0_mps_sq})) {}
void ReplaceMeProfiledPIDSubsystem::UseOutput(
double output, frc::TrapezoidProfile<units::meter>::State setpoint) {
// Use the output and current trajectory setpoint here
}
units::meter_t ReplaceMeProfiledPIDSubsystem::GetMeasurement() {
// Return the process variable measurement here
return 0_m;
}

22
wpilibcExamples/src/main/cpp/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.h Normal file
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@@ -0,0 +1,22 @@
/*----------------------------------------------------------------------------*/
/* 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 <frc2/command/ProfiledPIDSubsystem.h>
class ReplaceMeProfiledPIDSubsystem
: public frc2::ProfiledPIDSubsystem<units::meter> {
public:
ReplaceMeProfiledPIDSubsystem();
protected:
void UseOutput(double output,
frc::TrapezoidProfile<units::meter>::State setpoint) override;
units::meter_t GetMeasurement() override;
};

16
wpilibcExamples/src/main/cpp/commands/sequentialcommandgroup/ReplaceMeSequentialCommandGroup.cpp Normal file
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@@ -0,0 +1,16 @@
/*----------------------------------------------------------------------------*/
/* 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 "ReplaceMeSequentialCommandGroup.h"
// NOTE: Consider using this command inline, rather than writing a subclass.
// For more information, see:
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
ReplaceMeSequentialCommandGroup::ReplaceMeSequentialCommandGroup() {
// Add your commands here, e.g.
// AddCommands(FooCommand(), BarCommand());
}

18
wpilibcExamples/src/main/cpp/commands/sequentialcommandgroup/ReplaceMeSequentialCommandGroup.h Normal file
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@@ -0,0 +1,18 @@
/*----------------------------------------------------------------------------*/
/* 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 <frc2/command/CommandHelper.h>
#include <frc2/command/SequentialCommandGroup.h>
class ReplaceMeSequentialCommandGroup
: public frc2::CommandHelper<frc2::SequentialCommandGroup,
ReplaceMeSequentialCommandGroup> {
public:
ReplaceMeSequentialCommandGroup();
};

13
wpilibcExamples/src/main/cpp/commands/subsystem2/ReplaceMeSubsystem2.cpp Normal file
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@@ -0,0 +1,13 @@
/*----------------------------------------------------------------------------*/
/* 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 "ReplaceMeSubsystem2.h"
ReplaceMeSubsystem2::ReplaceMeSubsystem2() {}
// This method will be called once per scheduler run
void ReplaceMeSubsystem2::Periodic() {}

24
wpilibcExamples/src/main/cpp/commands/subsystem2/ReplaceMeSubsystem2.h Normal file
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@@ -0,0 +1,24 @@
/*----------------------------------------------------------------------------*/
/* 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 <frc2/command/SubsystemBase.h>
class ReplaceMeSubsystem2 : public frc2::SubsystemBase {
public:
ReplaceMeSubsystem2();
/**
* Will be called periodically whenever the CommandScheduler runs.
*/
void Periodic();
private:
// Components (e.g. motor controllers and sensors) should generally be
// declared private and exposed only through public methods.
};

25
wpilibcExamples/src/main/cpp/commands/trapezoidprofilecommand/ReplaceMeTrapezoidProfileCommand.cpp Normal file
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@@ -0,0 +1,25 @@
/*----------------------------------------------------------------------------*/
/* 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 "ReplaceMeTrapezoidProfileCommand.h"
// NOTE: Consider using this command inline, rather than writing a subclass.
// For more information, see:
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
ReplaceMeTrapezoidProfileCommand::ReplaceMeTrapezoidProfileCommand()
: CommandHelper
// The profile to execute
(frc::TrapezoidProfile<units::meter>(
// The maximum velocity and acceleration of the profile
{5_mps, 5_mps_sq},
// The goal state of the profile
{10_m, 0_mps},
// The initial state of the profile
{0_m, 0_mps}),
[](frc::TrapezoidProfile<units::meter>::State state) {
// Use the computed intermediate trajectory state here
}) {}

18
wpilibcExamples/src/main/cpp/commands/trapezoidprofilecommand/ReplaceMeTrapezoidProfileCommand.h Normal file
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@@ -0,0 +1,18 @@
/*----------------------------------------------------------------------------*/
/* 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 <frc2/command/CommandHelper.h>
#include <frc2/command/TrapezoidProfileCommand.h>
class ReplaceMeTrapezoidProfileCommand
: public frc2::CommandHelper<frc2::TrapezoidProfileCommand<units::meter>,
ReplaceMeTrapezoidProfileCommand> {
public:
ReplaceMeTrapezoidProfileCommand();
};

20
wpilibcExamples/src/main/cpp/commands/trapezoidprofilesubsystem/ReplaceMeTrapezoidProfileSubsystem.cpp Normal file
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@@ -0,0 +1,20 @@
/*----------------------------------------------------------------------------*/
/* 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 "ReplaceMeTrapezoidProfileSubsystem.h"
ReplaceMeTrapezoidProfileSubsystem::ReplaceMeTrapezoidProfileSubsystem()
: TrapezoidProfileSubsystem(
// The motion profile constraints
{5_mps, 5_mps_sq},
// The initial position of the mechanism
0_m) {}
void ReplaceMeTrapezoidProfileSubsystem::UseState(
frc::TrapezoidProfile<units::meters>::State state) {
// Use the current profile state here
}

19
wpilibcExamples/src/main/cpp/commands/trapezoidprofilesubsystem/ReplaceMeTrapezoidProfileSubsystem.h Normal file
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@@ -0,0 +1,19 @@
/*----------------------------------------------------------------------------*/
/* 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 <frc2/command/TrapezoidProfileSubsystem.h>
class ReplaceMeTrapezoidProfileSubsystem
: frc2::TrapezoidProfileSubsystem<units::meters> {
public:
ReplaceMeTrapezoidProfileSubsystem();
protected:
void UseState(frc::TrapezoidProfile<units::meters>::State state) override;
};

2
wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.h
View File

@@ -18,8 +18,6 @@ class ExampleSubsystem : public frc2::SubsystemBase {
*/
void Periodic() override;
// Subsystem methods go here.
private:
// Components (e.g. motor controllers and sensors) should generally be
// declared private and exposed only through public methods.

40
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/command2/ReplaceMeCommand.java Normal file
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@@ -0,0 +1,40 @@
/*----------------------------------------------------------------------------*/
/* 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.commands.command2;
import edu.wpi.first.wpilibj2.command.CommandBase;
public class ReplaceMeCommand extends CommandBase {
/**
* Creates a new ReplaceMeCommand.
*/
public ReplaceMeCommand() {
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

166
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/commands.json
View File

@@ -6,34 +6,38 @@
"class"
],
"foldername": "emptyclass",
"replacename": "ReplaceMeEmptyClass"
"replacename": "ReplaceMeEmptyClass",
"commandversion": 0
},
{
"name": "Command",
"name": "Command (Old)",
"description": "Create a base command",
"tags": [
"command"
],
"foldername": "command",
"replacename": "ReplaceMeCommand"
"replacename": "ReplaceMeCommand",
"commandversion": 1
},
{
"name": "Command Group",
"name": "Command Group (Old)",
"description": "Create a command group",
"tags": [
"commandgroup"
],
"foldername": "commandgroup",
"replacename": "ReplaceMeCommandGroup"
"replacename": "ReplaceMeCommandGroup",
"commandversion": 1
},
{
"name": "Instant Command",
"name": "Instant Command (Old)",
"description": "A command that runs immediately",
"tags": [
"instantcommand"
],
"foldername": "instant",
"replacename": "ReplaceMeInstantCommand"
"replacename": "ReplaceMeInstantCommand",
"commandversion": 1
},
{
"name": "Subsystem",
@@ -42,34 +46,168 @@
"subsystem"
],
"foldername": "subsystem",
"replacename": "ReplaceMeSubsystem"
"replacename": "ReplaceMeSubsystem",
"commandversion": 1
},
{
"name": "PID Subsystem",
"name": "PID Subsystem (Old)",
"description": "A subsystem that runs a PID loop",
"tags": [
"pidsubsystem",
"pid"
],
"foldername": "pidsubsystem",
"replacename": "ReplaceMePIDSubsystem"
"replacename": "ReplaceMePIDSubsystem",
"commandversion": 1
},
{
"name": "Timed Command",
"name": "Timed Command (Old)",
"description": "A command that runs for a specified time",
"tags": [
"timedcommand"
],
"foldername": "timed",
"replacename": "ReplaceMeTimedCommand"
"replacename": "ReplaceMeTimedCommand",
"commandversion": 1
},
{
"name": "Trigger",
"name": "Trigger (Old)",
"description": "A command that runs off of a trigger",
"tags": [
"trigger"
],
"foldername": "trigger",
"replacename": "ReplaceMeTrigger"
"replacename": "ReplaceMeTrigger",
"commandversion": 1
},
{
"name": "Command (New)",
"description": "A command.",
"tags": [
"command"
],
"foldername": "command2",
"replacename": "ReplaceMeCommand",
"commandversion": 2
},
{
"name": "InstantCommand (New)",
"description": "A command that finishes instantly.",
"tags": [
"instantcommand"
],
"foldername": "instantcommand",
"replacename": "ReplaceMeInstantCommand",
"commandversion": 2
},
{
"name": "ParallelCommandGroup (New)",
"description": "A command group that runs commands in parallel, ending when all commands have finished.",
"tags": [
"parallelcommandgroup"
],
"foldername": "parallelcommandgroup",
"replacename": "ReplaceMeParallelCommandGroup",
"commandversion": 2
},
{
"name": "ParallelDeadlineGroup (New)",
"description": "A command group that runs commands in parallel, ending when a specific command has finished.",
"tags": [
"paralleldeadlinegroup"
],
"foldername": "paralleldeadlinegroup",
"replacename": "ReplaceMeParallelDeadlineGroup",
"commandversion": 2
},
{
"name": "ParallelRaceGroup (New)",
"description": "A command that runs commands in parallel, ending as soon as any command has finished.",
"tags": [
"parallelracegroup"
],
"foldername": "parallelracegroup",
"replacename": "ReplaceMeParallelRaceGroup",
"commandversion": 2
},
{
"name": "PIDCommand (New)",
"description": "A command that runs a PIDController.",
"tags": [
"pidcommand"
],
"foldername": "pidcommand",
"replacename": "ReplaceMePIDCommand",
"commandversion": 2
},
{
"name": "PIDSubsystem (New)",
"description": "A subsystem that runs a PIDController.",
"tags": [
"pidsubsystem"
],
"foldername": "pidsubsystem2",
"replacename": "ReplaceMePIDSubsystem",
"commandversion": 2
},
{
"name": "ProfiledPIDCommand (New)",
"description": "A command that runs a ProfiledPIDController.",
"tags": [
"profiledpidcommand"
],
"foldername": "profiledpidcommand",
"replacename": "ReplaceMeProfiledPIDCommand",
"commandversion": 2
},
{
"name": "ProfiledPIDSubsystem (New)",
"description": "A subsystem that runs a ProfiledPIDController.",
"tags": [
"profiledpidsubsystem"
],
"foldername": "profiledpidsubsystem",
"replacename": "ReplaceMeProfiledPIDSubsystem",
"commandversion": 2
},
{
"name": "SequentialCommandGroup (New)",
"description": "A command group that runs commands in sequence.",
"tags": [
"sequentialcommandgroup"
],
"foldername": "sequentialcommandgroup",
"replacename": "ReplaceMeSequentialCommandGroup",
"commandversion": 2
},
{
"name": "Subsystem (New)",
"description": "A robot subsystem.",
"tags": [
"subsystem"
],
"foldername": "subsystem2",
"replacename": "ReplaceMeSubsystem",
"commandversion": 2
},
{
"name": "TrapezoidProfileCommand (New)",
"description": "A command that executes a trapezoidal motion profile.",
"tags": [
"trapezoidprofilecommand"
],
"foldername": "trapezoidprofilecommand",
"replacename": "ReplaceMeTrapezoidProfileCommand",
"commandversion": 2
},
{
"name": "TrapezoidProfileSubsystem (New)",
"description": "A command that executes a trapezoidal motion profile.",
"tags": [
"trapezoidprofilesubsystem"
],
"foldername": "trapezoidprofilesubsystem",
"replacename": "ReplaceMeTrapezoidProfileSubsystem",
"commandversion": 2
}
]

24
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/instantcommand/ReplaceMeInstantCommand.java Normal file
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@@ -0,0 +1,24 @@
/*----------------------------------------------------------------------------*/
/* 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.commands.instantcommand;
import edu.wpi.first.wpilibj2.command.InstantCommand;
// NOTE: Consider using this command inline, rather than writing a subclass. For more
// information, see:
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
public class ReplaceMeInstantCommand extends InstantCommand {
public ReplaceMeInstantCommand() {
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
}
}

23
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/parallelcommandgroup/ReplaceMeParallelCommandGroup.java Normal file
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@@ -0,0 +1,23 @@
/*----------------------------------------------------------------------------*/
/* 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.commands.parallelcommandgroup;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
// NOTE: Consider using this command inline, rather than writing a subclass. For more
// information, see:
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
public class ReplaceMeParallelCommandGroup extends ParallelCommandGroup {
/**
* Creates a new ReplaceMeParallelCommandGroup.
*/
public ReplaceMeParallelCommandGroup() {
// Add your commands in the super() call, e.g.
// super(new FooCommand(), new BarCommand());super();
}
}

26
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.java Normal file
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@@ -0,0 +1,26 @@
/*----------------------------------------------------------------------------*/
/* 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.commands.paralleldeadlinegroup;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
// NOTE: Consider using this command inline, rather than writing a subclass. For more
// information, see:
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
public class ReplaceMeParallelDeadlineGroup extends ParallelDeadlineGroup {
/**
* Creates a new ReplaceMeParallelDeadlineGroup.
*/
public ReplaceMeParallelDeadlineGroup() {
// Add your commands in the super() call. Add the deadline first.
super(
new InstantCommand()
);
}
}

24
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/parallelracegroup/ReplaceMeParallelRaceGroup.java Normal file
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@@ -0,0 +1,24 @@
/*----------------------------------------------------------------------------*/
/* 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.commands.parallelracegroup;
import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
// NOTE: Consider using this command inline, rather than writing a subclass. For more
// information, see:
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
public class ReplaceMeParallelRaceGroup extends ParallelRaceGroup {
/**
* Creates a new ReplaceMeParallelRaceGroup.
*/
public ReplaceMeParallelRaceGroup() {
// Add your commands in the super() call, e.g.
// super(new FooCommand(), new BarCommand());
super();
}
}

41
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidcommand/ReplaceMePIDCommand.java Normal file
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@@ -0,0 +1,41 @@
/*----------------------------------------------------------------------------*/
/* 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.commands.pidcommand;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj2.command.PIDCommand;
// NOTE: Consider using this command inline, rather than writing a subclass. For more
// information, see:
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
public class ReplaceMePIDCommand extends PIDCommand {
/**
* Creates a new ReplaceMePIDCommand.
*/
public ReplaceMePIDCommand() {
super(
// The controller that the command will use
new PIDController(0, 0, 0),
// This should return the measurement
() -> 0,
// This should return the setpoint (can also be a constant)
() -> 0,
// This uses the output
output -> {
// Use the output here
});
// Use addRequirements() here to declare subsystem dependencies.
// Configure additional PID options by calling `getController` here.
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

33
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidsubsystem2/ReplaceMePIDSubsystem.java Normal file
View File

@@ -0,0 +1,33 @@
/*----------------------------------------------------------------------------*/
/* 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.commands.pidsubsystem2;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj2.command.PIDSubsystem;
public class ReplaceMePIDSubsystem extends PIDSubsystem {
/**
* Creates a new ReplaceMePIDSubsystem.
*/
public ReplaceMePIDSubsystem() {
super(
// The PIDController used by the subsystem
new PIDController(0, 0, 0));
}
@Override
public void useOutput(double output, double setpoint) {
// Use the output here
}
@Override
public double getMeasurement() {
// Return the process variable measurement here
return 0;
}
}

46
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.java Normal file
View File

@@ -0,0 +1,46 @@
/*----------------------------------------------------------------------------*/
/* 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.commands.profiledpidcommand;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.ProfiledPIDCommand;
// NOTE: Consider using this command inline, rather than writing a subclass. For more
// information, see:
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
public class ReplaceMeProfiledPIDCommand extends ProfiledPIDCommand {
/**
* Creates a new ReplaceMeProfiledPIDCommand.
*/
public ReplaceMeProfiledPIDCommand() {
super(
// The ProfiledPIDController used by the command
new ProfiledPIDController(
// The PID gains
0, 0, 0,
// The motion profile constraints
new TrapezoidProfile.Constraints(0, 0)),
// This should return the measurement
() -> 0,
// This should return the goal (can also be a constant)
() -> new TrapezoidProfile.State(),
// This uses the output
(output, setpoint) -> {
// Use the output (and setpoint, if desired) here
});
// Use addRequirements() here to declare subsystem dependencies.
// Configure additional PID options by calling `getController` here.
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

36
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.java Normal file
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@@ -0,0 +1,36 @@
/*----------------------------------------------------------------------------*/
/* 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.commands.profiledpidsubsystem;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.ProfiledPIDSubsystem;
public class ReplaceMeProfiledPIDSubsystem extends ProfiledPIDSubsystem {
/**
* Creates a new ReplaceMeProfiledPIDSubsystem.
*/
public ReplaceMeProfiledPIDSubsystem() {
super(
// The ProfiledPIDController used by the subsystem
new ProfiledPIDController(0, 0, 0,
// The motion profile constraints
new TrapezoidProfile.Constraints(0, 0)));
}
@Override
public void useOutput(double output, TrapezoidProfile.State setpoint) {
// Use the output (and optionally the setpoint) here
}
@Override
public double getMeasurement() {
// Return the process variable measurement here
return 0;
}
}

24
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/sequentialcommandgroup/ReplaceMeSequentialCommandGroup.java Normal file
View File

@@ -0,0 +1,24 @@
/*----------------------------------------------------------------------------*/
/* 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.commands.sequentialcommandgroup;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
// NOTE: Consider using this command inline, rather than writing a subclass. For more
// information, see:
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
public class ReplaceMeSequentialCommandGroup extends SequentialCommandGroup {
/**
* Creates a new ReplaceMeSequentialCommandGroup.
*/
public ReplaceMeSequentialCommandGroup() {
// Add your commands in the super() call, e.g.
// super(new FooCommand(), new BarCommand());
super();
}
}

24
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/subsystem2/ReplaceMeSubsystem.java Normal file
View File

@@ -0,0 +1,24 @@
/*----------------------------------------------------------------------------*/
/* 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.commands.subsystem2;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class ReplaceMeSubsystem extends SubsystemBase {
/**
* Creates a new ReplaceMeSubsystem.
*/
public ReplaceMeSubsystem() {
}
@Override
public void periodic() {
// This method will be called once per scheduler run
}
}

34
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trapezoidprofilecommand/ReplaceMeTrapezoidProfileCommand.java Normal file
View File

@@ -0,0 +1,34 @@
/*----------------------------------------------------------------------------*/
/* 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.commands.trapezoidprofilecommand;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.TrapezoidProfileCommand;
// NOTE: Consider using this command inline, rather than writing a subclass. For more
// information, see:
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
public class ReplaceMeTrapezoidProfileCommand extends TrapezoidProfileCommand {
/**
* Creates a new ReplaceMeTrapezoidProfileCommand.
*/
public ReplaceMeTrapezoidProfileCommand() {
super(
// The motion profile to be executed
new TrapezoidProfile(
// The motion profile constraints
new TrapezoidProfile.Constraints(0, 0),
// Goal state
new TrapezoidProfile.State(),
// Initial state
new TrapezoidProfile.State()),
state -> {
// Use current trajectory state here
});
}
}

29
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trapezoidprofilesubsystem/ReplaceMeTrapezoidProfileSubsystem.java Normal file
View File

@@ -0,0 +1,29 @@
/*----------------------------------------------------------------------------*/
/* 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.commands.trapezoidprofilesubsystem;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.TrapezoidProfileSubsystem;
public class ReplaceMeTrapezoidProfileSubsystem extends TrapezoidProfileSubsystem {
/**
* Creates a new ReplaceMeTrapezoidProfileSubsystem.
*/
public ReplaceMeTrapezoidProfileSubsystem() {
super(
// The constraints for the generated profiles
new TrapezoidProfile.Constraints(0, 0),
// The initial position of the mechanism
0);
}
@Override
protected void useState(TrapezoidProfile.State state) {
// Use the computed profile state here.
}
}

22
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/ExampleCommand.java
View File

@@ -24,6 +24,28 @@ public class ExampleCommand extends CommandBase {
*/
public ExampleCommand(ExampleSubsystem subsystem) {
m_subsystem = subsystem;
// Use addRequirements() here to declare subsystem dependencies.
addRequirements(subsystem);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}

5
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java
View File

@@ -17,11 +17,8 @@ public class ExampleSubsystem extends SubsystemBase {
}
/**
* Will be called periodically whenever the CommandScheduler runs.
*/
@Override
public void periodic() {
// This method will be called once per scheduler run
}
}