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[command] Remove old command-based framework (#4211)

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This commit is contained in:
Tyler Veness
2022-05-04 22:02:53 -07:00
committed by GitHub
parent ee03a7ad3b
commit 99343d40ba
171 changed files with 32 additions and 12798 deletions
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28
wpilibcExamples/src/main/cpp/commands/command/ReplaceMeCommand.cpp
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@@ -1,28 +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.
#include "ReplaceMeCommand.h"
ReplaceMeCommand::ReplaceMeCommand() {
// Use Requires() here to declare subsystem dependencies
// eg. Requires(Robot::chassis.get());
}
// Called just before this Command runs the first time
void ReplaceMeCommand::Initialize() {}
// Called repeatedly when this Command is scheduled to run
void ReplaceMeCommand::Execute() {}
// Make this return true when this Command no longer needs to run execute()
bool ReplaceMeCommand::IsFinished() {
return false;
}
// Called once after isFinished returns true
void ReplaceMeCommand::End() {}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
void ReplaceMeCommand::Interrupted() {}

17
wpilibcExamples/src/main/cpp/commands/command/ReplaceMeCommand.h
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@@ -1,17 +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.
#pragma once
#include <frc/commands/Command.h>
class ReplaceMeCommand : public frc::Command {
public:
ReplaceMeCommand();
void Initialize() override;
void Execute() override;
bool IsFinished() override;
void End() override;
void Interrupted() override;
};

24
wpilibcExamples/src/main/cpp/commands/commandgroup/ReplaceMeCommandGroup.cpp
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@@ -1,24 +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.
#include "ReplaceMeCommandGroup.h"
ReplaceMeCommandGroup::ReplaceMeCommandGroup() {
// Add Commands here:
// e.g. AddSequential(new Command1());
// AddSequential(new Command2());
// these will run in order.
// To run multiple commands at the same time,
// use AddParallel()
// e.g. AddParallel(new Command1());
// AddSequential(new Command2());
// Command1 and Command2 will run in parallel.
// A command group will require all of the subsystems that each member
// would require.
// e.g. if Command1 requires chassis, and Command2 requires arm,
// a CommandGroup containing them would require both the chassis and the
// arm.
}

12
wpilibcExamples/src/main/cpp/commands/commandgroup/ReplaceMeCommandGroup.h
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@@ -1,12 +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.
#pragma once
#include <frc/commands/CommandGroup.h>
class ReplaceMeCommandGroup : public frc::CommandGroup {
public:
ReplaceMeCommandGroup();
};

139
wpilibcExamples/src/main/cpp/commands/commands.json
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@@ -16,120 +16,7 @@
"commandversion": 0
},
{
"name": "Command (Old)",
"description": "Create a base command",
"tags": [
"command"
],
"foldername": "command",
"headers": [
"ReplaceMeCommand.h"
],
"source": [
"ReplaceMeCommand.cpp"
],
"replacename": "ReplaceMeCommand",
"commandversion": 1
},
{
"name": "Command Group (Old)",
"description": "Create a command group",
"tags": [
"commandgroup"
],
"foldername": "commandgroup",
"headers": [
"ReplaceMeCommandGroup.h"
],
"source": [
"ReplaceMeCommandGroup.cpp"
],
"replacename": "ReplaceMeCommandGroup",
"commandversion": 1
},
{
"name": "Instant Command (Old)",
"description": "A command that runs immediately",
"tags": [
"instantcommand"
],
"foldername": "instant",
"headers": [
"ReplaceMeInstantCommand.h"
],
"source": [
"ReplaceMeInstantCommand.cpp"
],
"replacename": "ReplaceMeInstantCommand",
"commandversion": 1
},
{
"name": "Subsystem (Old)",
"description": "A subsystem",
"tags": [
"subsystem"
],
"foldername": "subsystem",
"headers": [
"ReplaceMeSubsystem.h"
],
"source": [
"ReplaceMeSubsystem.cpp"
],
"replacename": "ReplaceMeSubsystem",
"commandversion": 1
},
{
"name": "PID Subsystem (Old)",
"description": "A subsystem that runs a PID loop",
"tags": [
"pidsubsystem",
"pid"
],
"foldername": "pidsubsystem",
"headers": [
"ReplaceMePIDSubsystem.h"
],
"source": [
"ReplaceMePIDSubsystem.cpp"
],
"replacename": "ReplaceMePIDSubsystem",
"commandversion": 1
},
{
"name": "Timed Command (Old)",
"description": "A command that runs for a specified time",
"tags": [
"timedcommand"
],
"foldername": "timed",
"headers": [
"ReplaceMeTimedCommand.h"
],
"source": [
"ReplaceMeTimedCommand.cpp"
],
"replacename": "ReplaceMeTimedCommand",
"commandversion": 1
},
{
"name": "Trigger (Old)",
"description": "A command that runs off of a trigger",
"tags": [
"trigger"
],
"foldername": "trigger",
"headers": [
"ReplaceMeTrigger.h"
],
"source": [
"ReplaceMeTrigger.cpp"
],
"replacename": "ReplaceMeTrigger",
"commandversion": 1
},
{
"name": "Command (New)",
"name": "Command",
"description": "A command.",
"tags": [
"command"
@@ -145,7 +32,7 @@
"commandversion": 2
},
{
"name": "InstantCommand (New)",
"name": "InstantCommand",
"description": "A command that finishes instantly.",
"tags": [
"instantcommand"
@@ -161,7 +48,7 @@
"commandversion": 2
},
{
"name": "ParallelCommandGroup (New)",
"name": "ParallelCommandGroup",
"description": "A command group that runs commands in parallel, ending when all commands have finished.",
"tags": [
"parallelcommandgroup"
@@ -177,7 +64,7 @@
"commandversion": 2
},
{
"name": "ParallelDeadlineGroup (New)",
"name": "ParallelDeadlineGroup",
"description": "A command group that runs commands in parallel, ending when a specific command has finished.",
"tags": [
"paralleldeadlinegroup"
@@ -193,7 +80,7 @@
"commandversion": 2
},
{
"name": "ParallelRaceGroup (New)",
"name": "ParallelRaceGroup",
"description": "A command that runs commands in parallel, ending as soon as any command has finished.",
"tags": [
"parallelracegroup"
@@ -209,7 +96,7 @@
"commandversion": 2
},
{
"name": "PIDCommand (New)",
"name": "PIDCommand",
"description": "A command that runs a PIDController.",
"tags": [
"pidcommand"
@@ -225,7 +112,7 @@
"commandversion": 2
},
{
"name": "PIDSubsystem (New)",
"name": "PIDSubsystem",
"description": "A subsystem that runs a PIDController.",
"tags": [
"pidsubsystem"
@@ -241,7 +128,7 @@
"commandversion": 2
},
{
"name": "ProfiledPIDCommand (New)",
"name": "ProfiledPIDCommand",
"description": "A command that runs a ProfiledPIDController.",
"tags": [
"profiledpidcommand"
@@ -257,7 +144,7 @@
"commandversion": 2
},
{
"name": "ProfiledPIDSubsystem (New)",
"name": "ProfiledPIDSubsystem",
"description": "A subsystem that runs a ProfiledPIDController.",
"tags": [
"profiledpidsubsystem"
@@ -273,7 +160,7 @@
"commandversion": 2
},
{
"name": "SequentialCommandGroup (New)",
"name": "SequentialCommandGroup",
"description": "A command group that runs commands in sequence.",
"tags": [
"sequentialcommandgroup"
@@ -289,7 +176,7 @@
"commandversion": 2
},
{
"name": "Subsystem (New)",
"name": "Subsystem",
"description": "A robot subsystem.",
"tags": [
"subsystem"
@@ -305,7 +192,7 @@
"commandversion": 2
},
{
"name": "TrapezoidProfileCommand (New)",
"name": "TrapezoidProfileCommand",
"description": "A command that executes a trapezoidal motion profile.",
"tags": [
"trapezoidprofilecommand"
@@ -321,7 +208,7 @@
"commandversion": 2
},
{
"name": "TrapezoidProfileSubsystem (New)",
"name": "TrapezoidProfileSubsystem",
"description": "A subsystem that executes a trapezoidal motion profile.",
"tags": [
"trapezoidprofilesubsystem"

13
wpilibcExamples/src/main/cpp/commands/instant/ReplaceMeInstantCommand.cpp
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@@ -1,13 +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.
#include "ReplaceMeInstantCommand.h"
ReplaceMeInstantCommand::ReplaceMeInstantCommand() {
// Use Requires() here to declare subsystem dependencies
// eg. Requires(Robot::chassis.get());
}
// Called once when the command executes
void ReplaceMeInstantCommand::Initialize() {}

13
wpilibcExamples/src/main/cpp/commands/instant/ReplaceMeInstantCommand.h
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@@ -1,13 +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.
#pragma once
#include <frc/commands/InstantCommand.h>
class ReplaceMeInstantCommand : public frc::InstantCommand {
public:
ReplaceMeInstantCommand();
void Initialize() override;
};

33
wpilibcExamples/src/main/cpp/commands/pidsubsystem/ReplaceMePIDSubsystem.cpp
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@@ -1,33 +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.
#include "ReplaceMePIDSubsystem.h"
#include <frc/livewindow/LiveWindow.h>
#include <frc/smartdashboard/SmartDashboard.h>
ReplaceMePIDSubsystem::ReplaceMePIDSubsystem()
: PIDSubsystem("ReplaceMePIDSubsystem", 1.0, 0.0, 0.0) {
// Use these to get going:
// SetSetpoint() - Sets where the PID controller should move the system
// to
// Enable() - Enables the PID controller.
}
double ReplaceMePIDSubsystem::ReturnPIDInput() {
// Return your input value for the PID loop
// e.g. a sensor, like a potentiometer:
// yourPot->SetAverageVoltage() / kYourMaxVoltage;
return 0;
}
void ReplaceMePIDSubsystem::UsePIDOutput(double output) {
// Use output to drive your system, like a motor
// e.g. yourMotor->Set(output);
}
void ReplaceMePIDSubsystem::InitDefaultCommand() {
// Set the default command for a subsystem here.
// SetDefaultCommand(new MySpecialCommand());
}

15
wpilibcExamples/src/main/cpp/commands/pidsubsystem/ReplaceMePIDSubsystem.h
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@@ -1,15 +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.
#pragma once
#include <frc/commands/PIDSubsystem.h>
class ReplaceMePIDSubsystem : public frc::PIDSubsystem {
public:
ReplaceMePIDSubsystem();
double ReturnPIDInput() override;
void UsePIDOutput(double output) override;
void InitDefaultCommand() override;
};

15
wpilibcExamples/src/main/cpp/commands/subsystem/ReplaceMeSubsystem.cpp
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@@ -1,15 +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.
#include "ReplaceMeSubsystem.h"
ReplaceMeSubsystem::ReplaceMeSubsystem() : Subsystem("ExampleSubsystem") {}
void ReplaceMeSubsystem::InitDefaultCommand() {
// Set the default command for a subsystem here.
// SetDefaultCommand(new MySpecialCommand());
}
// Put methods for controlling this subsystem
// here. Call these from Commands.

17
wpilibcExamples/src/main/cpp/commands/subsystem/ReplaceMeSubsystem.h
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@@ -1,17 +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.
#pragma once
#include <frc/commands/Subsystem.h>
class ReplaceMeSubsystem : public frc::Subsystem {
private:
// It's desirable that everything possible under private except
// for methods that implement subsystem capabilities
public:
ReplaceMeSubsystem();
void InitDefaultCommand() override;
};

24
wpilibcExamples/src/main/cpp/commands/timed/ReplaceMeTimedCommand.cpp
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@@ -1,24 +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.
#include "ReplaceMeTimedCommand.h"
ReplaceMeTimedCommand::ReplaceMeTimedCommand(units::second_t timeout)
: TimedCommand(timeout) {
// Use Requires() here to declare subsystem dependencies
// eg. Requires(Robot::chassis.get());
}
// Called just before this Command runs the first time
void ReplaceMeTimedCommand::Initialize() {}
// Called repeatedly when this Command is scheduled to run
void ReplaceMeTimedCommand::Execute() {}
// Called once after command times out
void ReplaceMeTimedCommand::End() {}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
void ReplaceMeTimedCommand::Interrupted() {}

17
wpilibcExamples/src/main/cpp/commands/timed/ReplaceMeTimedCommand.h
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@@ -1,17 +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.
#pragma once
#include <frc/commands/TimedCommand.h>
#include <units/time.h>
class ReplaceMeTimedCommand : public frc::TimedCommand {
public:
explicit ReplaceMeTimedCommand(units::second_t timeout);
void Initialize() override;
void Execute() override;
void End() override;
void Interrupted() override;
};

11
wpilibcExamples/src/main/cpp/commands/trigger/ReplaceMeTrigger.cpp
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@@ -1,11 +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.
#include "ReplaceMeTrigger.h"
ReplaceMeTrigger::ReplaceMeTrigger() = default;
bool ReplaceMeTrigger::Get() {
return false;
}

13
wpilibcExamples/src/main/cpp/commands/trigger/ReplaceMeTrigger.h
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@@ -1,13 +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.
#pragma once
#include <frc/buttons/Trigger.h>
class ReplaceMeTrigger : public frc::Trigger {
public:
ReplaceMeTrigger();
bool Get() override;
};