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[commands] Add C++ Requirements struct (#5504)

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This commit is contained in:
Joseph Eng
2023-09-17 20:48:39 -07:00
committed by GitHub
parent b265a68eea
commit 633c5a8a22
43 changed files with 273 additions and 1112 deletions
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24
wpilibNewCommands/src/main/native/cpp/frc2/command/PIDCommand.cpp
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@@ -12,19 +12,7 @@ PIDCommand::PIDCommand(frc::PIDController controller,
std::function<double()> measurementSource,
std::function<double()> setpointSource,
std::function<void(double)> useOutput,
std::initializer_list<Subsystem*> requirements)
: m_controller{std::move(controller)},
m_measurement{std::move(measurementSource)},
m_setpoint{std::move(setpointSource)},
m_useOutput{std::move(useOutput)} {
AddRequirements(requirements);
}
PIDCommand::PIDCommand(frc::PIDController controller,
std::function<double()> measurementSource,
std::function<double()> setpointSource,
std::function<void(double)> useOutput,
std::span<Subsystem* const> requirements)
Requirements requirements)
: m_controller{std::move(controller)},
m_measurement{std::move(measurementSource)},
m_setpoint{std::move(setpointSource)},
@@ -35,15 +23,7 @@ PIDCommand::PIDCommand(frc::PIDController controller,
PIDCommand::PIDCommand(frc::PIDController controller,
std::function<double()> measurementSource,
double setpoint, std::function<void(double)> useOutput,
std::initializer_list<Subsystem*> requirements)
: PIDCommand(
controller, measurementSource, [setpoint] { return setpoint; },
useOutput, requirements) {}
PIDCommand::PIDCommand(frc::PIDController controller,
std::function<double()> measurementSource,
double setpoint, std::function<void(double)> useOutput,
std::span<Subsystem* const> requirements)
Requirements requirements)
: PIDCommand(
controller, measurementSource, [setpoint] { return setpoint; },
useOutput, requirements) {}