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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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48
wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
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@@ -47,30 +47,7 @@ class TrapezoidProfileCommand
std::function<void(State)> output,
std::function<State()> goal,
std::function<State()> currentState,
std::initializer_list<Subsystem*> requirements)
: m_profile(profile),
m_output(output),
m_goal(goal),
m_currentState(currentState) {
this->AddRequirements(requirements);
m_newAPI = true;
}
/**
* Creates a new TrapezoidProfileCommand that will execute the given
* TrapezoidalProfile. Output will be piped to the provided consumer function.
*
* @param profile The motion profile to execute.
* @param output The consumer for the profile output.
* @param goal The supplier for the desired state
* @param currentState The current state
* @param requirements The list of requirements.
*/
TrapezoidProfileCommand(frc::TrapezoidProfile<Distance> profile,
std::function<void(State)> output,
std::function<State()> goal,
std::function<State()> currentState,
std::span<Subsystem* const> requirements = {})
Requirements requirements = {})
: m_profile(profile),
m_output(output),
m_goal(goal),
@@ -94,28 +71,7 @@ class TrapezoidProfileCommand
"current state. This allows you to change goals at runtime.")
TrapezoidProfileCommand(frc::TrapezoidProfile<Distance> profile,
std::function<void(State)> output,
std::initializer_list<Subsystem*> requirements)
: m_profile(profile), m_output(output) {
this->AddRequirements(requirements);
m_newAPI = false;
}
/**
* Creates a new TrapezoidProfileCommand that will execute the given
* TrapezoidalProfile. Output will be piped to the provided consumer function.
*
* @param profile The motion profile to execute.
* @param output The consumer for the profile output.
* @param requirements The list of requirements.
* @deprecated The new constructor allows you to pass in a supplier for
* desired and current state. This allows you to change goals at runtime.
*/
WPI_DEPRECATED(
"The new constructor allows you to pass in a supplier for desired and "
"current state. This allows you to change goals at runtime.")
TrapezoidProfileCommand(frc::TrapezoidProfile<Distance> profile,
std::function<void(State)> output,
std::span<Subsystem* const> requirements = {})
Requirements requirements = {})
: m_profile(profile), m_output(output) {
this->AddRequirements(requirements);
m_newAPI = false;