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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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74
wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc
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@@ -20,7 +20,7 @@ SwerveControllerCommand<NumModules>::SwerveControllerCommand(
frc::ProfiledPIDController<units::radians> thetaController,
std::function<frc::Rotation2d()> desiredRotation,
std::function<void(std::array<frc::SwerveModuleState, NumModules>)> output,
std::initializer_list<Subsystem*> requirements)
Requirements requirements)
: m_trajectory(std::move(trajectory)),
m_pose(std::move(pose)),
m_kinematics(kinematics),
@@ -37,41 +37,7 @@ SwerveControllerCommand<NumModules>::SwerveControllerCommand(
frc::PIDController xController, frc::PIDController yController,
frc::ProfiledPIDController<units::radians> thetaController,
std::function<void(std::array<frc::SwerveModuleState, NumModules>)> output,
std::initializer_list<Subsystem*> requirements)
: m_trajectory(std::move(trajectory)),
m_pose(std::move(pose)),
m_kinematics(kinematics),
m_controller(xController, yController, thetaController),
m_outputStates(output) {
this->AddRequirements(requirements);
}
template <size_t NumModules>
SwerveControllerCommand<NumModules>::SwerveControllerCommand(
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
frc::SwerveDriveKinematics<NumModules> kinematics,
frc::PIDController xController, frc::PIDController yController,
frc::ProfiledPIDController<units::radians> thetaController,
std::function<frc::Rotation2d()> desiredRotation,
std::function<void(std::array<frc::SwerveModuleState, NumModules>)> output,
std::span<Subsystem* const> requirements)
: m_trajectory(std::move(trajectory)),
m_pose(std::move(pose)),
m_kinematics(kinematics),
m_controller(xController, yController, thetaController),
m_desiredRotation(std::move(desiredRotation)),
m_outputStates(output) {
this->AddRequirements(requirements);
}
template <size_t NumModules>
SwerveControllerCommand<NumModules>::SwerveControllerCommand(
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
frc::SwerveDriveKinematics<NumModules> kinematics,
frc::PIDController xController, frc::PIDController yController,
frc::ProfiledPIDController<units::radians> thetaController,
std::function<void(std::array<frc::SwerveModuleState, NumModules>)> output,
std::span<Subsystem* const> requirements)
Requirements requirements)
: m_trajectory(std::move(trajectory)),
m_pose(std::move(pose)),
m_kinematics(kinematics),
@@ -87,7 +53,7 @@ SwerveControllerCommand<NumModules>::SwerveControllerCommand(
frc::HolonomicDriveController controller,
std::function<frc::Rotation2d()> desiredRotation,
std::function<void(std::array<frc::SwerveModuleState, NumModules>)> output,
std::initializer_list<Subsystem*> requirements)
Requirements requirements)
: m_trajectory(std::move(trajectory)),
m_pose(std::move(pose)),
m_kinematics(kinematics),
@@ -103,39 +69,7 @@ SwerveControllerCommand<NumModules>::SwerveControllerCommand(
frc::SwerveDriveKinematics<NumModules> kinematics,
frc::HolonomicDriveController controller,
std::function<void(std::array<frc::SwerveModuleState, NumModules>)> output,
std::initializer_list<Subsystem*> requirements)
: m_trajectory(std::move(trajectory)),
m_pose(std::move(pose)),
m_kinematics(kinematics),
m_controller(std::move(controller)),
m_outputStates(output) {
this->AddRequirements(requirements);
}
template <size_t NumModules>
SwerveControllerCommand<NumModules>::SwerveControllerCommand(
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
frc::SwerveDriveKinematics<NumModules> kinematics,
frc::HolonomicDriveController controller,
std::function<frc::Rotation2d()> desiredRotation,
std::function<void(std::array<frc::SwerveModuleState, NumModules>)> output,
std::span<Subsystem* const> requirements)
: m_trajectory(std::move(trajectory)),
m_pose(std::move(pose)),
m_kinematics(kinematics),
m_controller(std::move(controller)),
m_desiredRotation(std::move(desiredRotation)),
m_outputStates(output) {
this->AddRequirements(requirements);
}
template <size_t NumModules>
SwerveControllerCommand<NumModules>::SwerveControllerCommand(
frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
frc::SwerveDriveKinematics<NumModules> kinematics,
frc::HolonomicDriveController controller,
std::function<void(std::array<frc::SwerveModuleState, NumModules>)> output,
std::span<Subsystem* const> requirements)
Requirements requirements)
: m_trajectory(std::move(trajectory)),
m_pose(std::move(pose)),
m_kinematics(kinematics),