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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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35
wpilibNewCommands/src/main/native/include/frc2/command/PIDCommand.h
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@@ -40,23 +40,7 @@ class PIDCommand : public CommandHelper<Command, PIDCommand> {
std::function<double()> measurementSource,
std::function<double()> setpointSource,
std::function<void(double)> useOutput,
std::initializer_list<Subsystem*> requirements);
/**
* Creates a new PIDCommand, which controls the given output with a
* PIDController.
*
* @param controller the controller that controls the output.
* @param measurementSource the measurement of the process variable
* @param setpointSource the controller's reference (aka setpoint)
* @param useOutput the controller's output
* @param requirements the subsystems required by this command
*/
PIDCommand(frc::PIDController controller,
std::function<double()> measurementSource,
std::function<double()> setpointSource,
std::function<void(double)> useOutput,
std::span<Subsystem* const> requirements = {});
Requirements requirements = {});
/**
* Creates a new PIDCommand, which controls the given output with a
@@ -71,22 +55,7 @@ class PIDCommand : public CommandHelper<Command, PIDCommand> {
PIDCommand(frc::PIDController controller,
std::function<double()> measurementSource, double setpoint,
std::function<void(double)> useOutput,
std::initializer_list<Subsystem*> requirements);
/**
* Creates a new PIDCommand, which controls the given output with a
* PIDController with a constant setpoint.
*
* @param controller the controller that controls the output.
* @param measurementSource the measurement of the process variable
* @param setpoint the controller's setpoint (aka setpoint)
* @param useOutput the controller's output
* @param requirements the subsystems required by this command
*/
PIDCommand(frc::PIDController controller,
std::function<double()> measurementSource, double setpoint,
std::function<void(double)> useOutput,
std::span<Subsystem* const> requirements = {});
Requirements requirements = {});
PIDCommand(PIDCommand&& other) = default;