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[examples] Remove old command-based templates and examples (#3263)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Prateek Machiraju
2021-10-13 22:17:58 -04:00
committed by GitHub
parent 689e9ccfb5
commit 67df469c58
92 changed files with 8 additions and 3199 deletions
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25
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/Main.java
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@@ -1,25 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.templates.oldcommandbased;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.
*
* <p>If you change your main robot class, change the parameter type.
*/
public static void main(String... args) {
RobotBase.startRobot(Robot::new);
}
}

39
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/OI.java
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@@ -1,39 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.templates.oldcommandbased;
/**
* This class is the glue that binds the controls on the physical operator interface to the commands
* and command groups that allow control of the robot.
*/
public class OI {
//// CREATING BUTTONS
// One type of button is a joystick button which is any button on a
//// joystick.
// You create one by telling it which joystick it's on and which button
// number it is.
// Joystick stick = new Joystick(port);
// Button button = new JoystickButton(stick, buttonNumber);
// There are a few additional built in buttons you can use. Additionally,
// by subclassing Button you can create custom triggers and bind those to
// commands the same as any other Button.
//// TRIGGERING COMMANDS WITH BUTTONS
// Once you have a button, it's trivial to bind it to a button in one of
// three ways:
// Start the command when the button is pressed and let it run the command
// until it is finished as determined by it's isFinished method.
// button.whenPressed(new ExampleCommand());
// Run the command while the button is being held down and interrupt it once
// the button is released.
// button.whileHeld(new ExampleCommand());
// Start the command when the button is released and let it run the command
// until it is finished as determined by it's isFinished method.
// button.whenReleased(new ExampleCommand());
}

115
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/Robot.java
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@@ -1,115 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.templates.oldcommandbased;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.templates.oldcommandbased.commands.ExampleCommand;
import edu.wpi.first.wpilibj.templates.oldcommandbased.subsystems.ExampleSubsystem;
/**
* The VM is configured to automatically run this class, and to call the functions corresponding to
* each mode, as described in the TimedRobot documentation. If you change the name of this class or
* the package after creating this project, you must also update the build.gradle file in the
* project.
*/
public class Robot extends TimedRobot {
public static final ExampleSubsystem m_subsystem = new ExampleSubsystem();
public static OI m_oi;
Command m_autonomousCommand;
SendableChooser<Command> m_chooser = new SendableChooser<>();
/**
* This function is run when the robot is first started up and should be used for any
* initialization code.
*/
@Override
public void robotInit() {
m_oi = new OI();
m_chooser.setDefaultOption("Default Auto", new ExampleCommand());
// chooser.addOption("My Auto", new MyAutoCommand());
SmartDashboard.putData("Auto mode", m_chooser);
}
/**
* This function is called every robot packet, no matter the mode. Use this for items like
* diagnostics that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
*/
@Override
public void robotPeriodic() {}
/**
* This function is called once each time the robot enters Disabled mode. You can use it to reset
* any subsystem information you want to clear when the robot is disabled.
*/
@Override
public void disabledInit() {}
@Override
public void disabledPeriodic() {
Scheduler.getInstance().run();
}
/**
* This autonomous (along with the chooser code above) shows how to select between different
* autonomous modes using the dashboard. The sendable chooser code works with the Java
* SmartDashboard. If you prefer the LabVIEW Dashboard, remove all of the chooser code and
* uncomment the getString code to get the auto name from the text box below the Gyro
*
* <p>You can add additional auto modes by adding additional commands to the chooser code above
* (like the commented example) or additional comparisons to the switch structure below with
* additional strings & commands.
*/
@Override
public void autonomousInit() {
m_autonomousCommand = m_chooser.getSelected();
/*
* String autoSelected = SmartDashboard.getString("Auto Selector",
* "Default"); switch(autoSelected) { case "My Auto": autonomousCommand
* = new MyAutoCommand(); break; case "Default Auto": default:
* autonomousCommand = new ExampleCommand(); break; }
*/
// schedule the autonomous command (example)
if (m_autonomousCommand != null) {
m_autonomousCommand.start();
}
}
/** This function is called periodically during autonomous. */
@Override
public void autonomousPeriodic() {
Scheduler.getInstance().run();
}
@Override
public void teleopInit() {
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
if (m_autonomousCommand != null) {
m_autonomousCommand.cancel();
}
}
/** This function is called periodically during operator control. */
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
}
/** This function is called periodically during test mode. */
@Override
public void testPeriodic() {}
}

22
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/RobotMap.java
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@@ -1,22 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.templates.oldcommandbased;
/**
* The RobotMap is a mapping from the ports sensors and actuators are wired into to a variable name.
* This provides flexibility changing wiring, makes checking the wiring easier and significantly
* reduces the number of magic numbers floating around.
*/
public class RobotMap {
// For example to map the left and right motors, you could define the
// following variables to use with your drivetrain subsystem.
// public static int leftMotor = 1;
// public static int rightMotor = 2;
// If you are using multiple modules, make sure to define both the port
// number and the module. For example you with a rangefinder:
// public static int rangefinderPort = 1;
// public static int rangefinderModule = 1;
}

39
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/commands/ExampleCommand.java
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@@ -1,39 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.templates.oldcommandbased.commands;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.templates.oldcommandbased.Robot;
/** An example command. You can replace me with your own command. */
public class ExampleCommand extends Command {
public ExampleCommand() {
// Use requires() here to declare subsystem dependencies
requires(Robot.m_subsystem);
}
// Called just before this Command runs the first time
@Override
protected void initialize() {}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return false;
}
// Called once after isFinished returns true
@Override
protected void end() {}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
protected void interrupted() {}
}

19
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/subsystems/ExampleSubsystem.java
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@@ -1,19 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.templates.oldcommandbased.subsystems;
import edu.wpi.first.wpilibj.command.Subsystem;
/** An example subsystem. You can replace with me with your own subsystem. */
public class ExampleSubsystem extends Subsystem {
// Put methods for controlling this subsystem
// here. Call these from Commands.
@Override
protected void initDefaultCommand() {
// Set the default command for a subsystem here.
// setDefaultCommand(new MySpecialCommand());
}
}

17
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json
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@@ -8,7 +8,7 @@
"foldername": "timed",
"gradlebase": "java",
"mainclass": "Main",
"commandversion": 1
"commandversion": 2
},
{
"name": "Timed Skeleton (Advanced)",
@@ -19,7 +19,7 @@
"foldername": "timedskeleton",
"gradlebase": "java",
"mainclass": "Main",
"commandversion": 1
"commandversion": 2
},
{
"name": "RobotBase Skeleton (Advanced)",
@@ -30,7 +30,7 @@
"foldername": "robotbaseskeleton",
"gradlebase": "java",
"mainclass": "Main",
"commandversion": 1
"commandversion": 2
},
{
"name": "Command Robot",
@@ -43,17 +43,6 @@
"mainclass": "Main",
"commandversion": 2
},
{
"name": "Old Command Robot",
"description": "Old-command style (deprecated)",
"tags": [
"Command"
],
"foldername": "oldcommandbased",
"gradlebase": "java",
"mainclass": "Main",
"commandversion": 1
},
{
"name": "Romi - Timed Robot",
"description": "Romi - Timed style",