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

wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDCommand.h

@@ -50,29 +50,7 @@ class ProfiledPIDCommand
                      std::function<Distance_t()> measurementSource,
                      std::function<State()> goalSource,
                      std::function<void(double, State)> useOutput,
-                     std::initializer_list<Subsystem*> requirements)
-      : m_controller{controller},
-        m_measurement{std::move(measurementSource)},
-        m_goal{std::move(goalSource)},
-        m_useOutput{std::move(useOutput)} {
-    this->AddRequirements(requirements);
-  }
-
-  /**
-   * Creates a new PIDCommand, which controls the given output with a
-   * ProfiledPIDController.
-   *
-   * @param controller        the controller that controls the output.
-   * @param measurementSource the measurement of the process variable
-   * @param goalSource   the controller's goal
-   * @param useOutput         the controller's output
-   * @param requirements      the subsystems required by this command
-   */
-  ProfiledPIDCommand(frc::ProfiledPIDController<Distance> controller,
-                     std::function<Distance_t()> measurementSource,
-                     std::function<State()> goalSource,
-                     std::function<void(double, State)> useOutput,
-                     std::span<Subsystem* const> requirements = {})
+                     Requirements requirements = {})
       : m_controller{controller},
         m_measurement{std::move(measurementSource)},
         m_goal{std::move(goalSource)},
@@ -94,29 +72,7 @@ class ProfiledPIDCommand
                      std::function<Distance_t()> measurementSource,
                      std::function<Distance_t()> goalSource,
                      std::function<void(double, State)> useOutput,
-                     std::initializer_list<Subsystem*> requirements)
-      : ProfiledPIDCommand(
-            controller, measurementSource,
-            [goalSource = std::move(goalSource)]() {
-              return State{goalSource(), Velocity_t{0}};
-            },
-            useOutput, requirements) {}
-
-  /**
-   * Creates a new PIDCommand, which controls the given output with a
-   * ProfiledPIDController.
-   *
-   * @param controller        the controller that controls the output.
-   * @param measurementSource the measurement of the process variable
-   * @param goalSource   the controller's goal
-   * @param useOutput         the controller's output
-   * @param requirements      the subsystems required by this command
-   */
-  ProfiledPIDCommand(frc::ProfiledPIDController<Distance> controller,
-                     std::function<Distance_t()> measurementSource,
-                     std::function<Distance_t()> goalSource,
-                     std::function<void(double, State)> useOutput,
-                     std::span<Subsystem* const> requirements = {})
+                     Requirements requirements = {})
       : ProfiledPIDCommand(
             controller, measurementSource,
             [goalSource = std::move(goalSource)]() {
@@ -137,25 +93,7 @@ class ProfiledPIDCommand
   ProfiledPIDCommand(frc::ProfiledPIDController<Distance> controller,
                      std::function<Distance_t()> measurementSource, State goal,
                      std::function<void(double, State)> useOutput,
-                     std::initializer_list<Subsystem*> requirements)
-      : ProfiledPIDCommand(
-            controller, measurementSource, [goal] { return goal; }, useOutput,
-            requirements) {}
-
-  /**
-   * Creates a new PIDCommand, which controls the given output with a
-   * ProfiledPIDController with a constant goal.
-   *
-   * @param controller        the controller that controls the output.
-   * @param measurementSource the measurement of the process variable
-   * @param goal         the controller's goal
-   * @param useOutput         the controller's output
-   * @param requirements      the subsystems required by this command
-   */
-  ProfiledPIDCommand(frc::ProfiledPIDController<Distance> controller,
-                     std::function<Distance_t()> measurementSource, State goal,
-                     std::function<void(double, State)> useOutput,
-                     std::span<Subsystem* const> requirements = {})
+                     Requirements requirements = {})
       : ProfiledPIDCommand(
             controller, measurementSource, [goal] { return goal; }, useOutput,
             requirements) {}
@@ -174,26 +112,7 @@ class ProfiledPIDCommand
                      std::function<Distance_t()> measurementSource,
                      Distance_t goal,
                      std::function<void(double, State)> useOutput,
-                     std::initializer_list<Subsystem*> requirements)
-      : ProfiledPIDCommand(
-            controller, measurementSource, [goal] { return goal; }, useOutput,
-            requirements) {}
-
-  /**
-   * Creates a new PIDCommand, which controls the given output with a
-   * ProfiledPIDController with a constant goal.
-   *
-   * @param controller        the controller that controls the output.
-   * @param measurementSource the measurement of the process variable
-   * @param goal         the controller's goal
-   * @param useOutput         the controller's output
-   * @param requirements      the subsystems required by this command
-   */
-  ProfiledPIDCommand(frc::ProfiledPIDController<Distance> controller,
-                     std::function<Distance_t()> measurementSource,
-                     Distance_t goal,
-                     std::function<void(double, State)> useOutput,
-                     std::span<Subsystem* const> requirements = {})
+                     Requirements requirements = {})
       : ProfiledPIDCommand(
             controller, measurementSource, [goal] { return goal; }, useOutput,
             requirements) {}