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[commands] Refactor lambda-based commands to inherit FunctionalCommand (#4451)

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This commit is contained in:
Starlight220
2022-10-07 01:49:27 +03:00
committed by GitHub
parent b2276e47de
commit 5cf961edb9
9 changed files with 44 additions and 119 deletions
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22
wpilibNewCommands/src/main/native/cpp/frc2/command/InstantCommand.cpp
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@@ -8,22 +8,14 @@ using namespace frc2;
InstantCommand::InstantCommand(std::function<void()> toRun,
std::initializer_list<Subsystem*> requirements)
: m_toRun{std::move(toRun)} {
AddRequirements(requirements);
}
: CommandHelper(
std::move(toRun), [] {}, [](bool interrupted) {}, [] { return true; },
requirements) {}
InstantCommand::InstantCommand(std::function<void()> toRun,
wpi::span<Subsystem* const> requirements)
: m_toRun{std::move(toRun)} {
AddRequirements(requirements);
}
: CommandHelper(
std::move(toRun), [] {}, [](bool interrupted) {}, [] { return true; },
requirements) {}
InstantCommand::InstantCommand() : m_toRun{[] {}} {}
void InstantCommand::Initialize() {
m_toRun();
}
bool InstantCommand::IsFinished() {
return true;
}
InstantCommand::InstantCommand() : InstantCommand([] {}) {}