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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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42
wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp
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@@ -18,29 +18,7 @@ RamseteCommand::RamseteCommand(
std::function<frc::DifferentialDriveWheelSpeeds()> wheelSpeeds,
frc::PIDController leftController, frc::PIDController rightController,
std::function<void(units::volt_t, units::volt_t)> output,
std::initializer_list<Subsystem*> requirements)
: m_trajectory(std::move(trajectory)),
m_pose(std::move(pose)),
m_controller(controller),
m_feedforward(feedforward),
m_kinematics(std::move(kinematics)),
m_speeds(std::move(wheelSpeeds)),
m_leftController(std::make_unique<frc::PIDController>(leftController)),
m_rightController(std::make_unique<frc::PIDController>(rightController)),
m_outputVolts(std::move(output)),
m_usePID(true) {
AddRequirements(requirements);
}
RamseteCommand::RamseteCommand(
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
frc::RamseteController controller,
frc::SimpleMotorFeedforward<units::meters> feedforward,
frc::DifferentialDriveKinematics kinematics,
std::function<frc::DifferentialDriveWheelSpeeds()> wheelSpeeds,
frc::PIDController leftController, frc::PIDController rightController,
std::function<void(units::volt_t, units::volt_t)> output,
std::span<Subsystem* const> requirements)
Requirements requirements)
: m_trajectory(std::move(trajectory)),
m_pose(std::move(pose)),
m_controller(controller),
@@ -60,23 +38,7 @@ RamseteCommand::RamseteCommand(
frc::DifferentialDriveKinematics kinematics,
std::function<void(units::meters_per_second_t, units::meters_per_second_t)>
output,
std::initializer_list<Subsystem*> requirements)
: m_trajectory(std::move(trajectory)),
m_pose(std::move(pose)),
m_controller(controller),
m_kinematics(std::move(kinematics)),
m_outputVel(std::move(output)),
m_usePID(false) {
AddRequirements(requirements);
}
RamseteCommand::RamseteCommand(
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
frc::RamseteController controller,
frc::DifferentialDriveKinematics kinematics,
std::function<void(units::meters_per_second_t, units::meters_per_second_t)>
output,
std::span<Subsystem* const> requirements)
Requirements requirements)
: m_trajectory(std::move(trajectory)),
m_pose(std::move(pose)),
m_controller(controller),