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[commands] Fix and deprecate TrapezoidProfileCommand (#6722)

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This commit is contained in:
Gold856
2024-08-14 00:01:17 -04:00
committed by GitHub
parent 55c1c5396d
commit a2060feadc
17 changed files with 240 additions and 272 deletions
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15
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java
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@@ -8,7 +8,6 @@ import static edu.wpi.first.math.trajectory.TrapezoidProfile.State;
import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.Timer;
import java.util.function.Consumer;
import java.util.function.Supplier;
@@ -17,12 +16,12 @@ import java.util.function.Supplier;
*
* <p>This class is provided by the NewCommands VendorDep
*/
@Deprecated(since = "2025", forRemoval = true)
public class TrapezoidProfileCommand extends Command {
private final TrapezoidProfile m_profile;
private final Consumer<State> m_output;
private final Supplier<State> m_goal;
private final Supplier<State> m_currentState;
private final Timer m_timer = new Timer();
/**
* Creates a new TrapezoidProfileCommand that will execute the given {@link TrapezoidProfile}.
@@ -49,23 +48,19 @@ public class TrapezoidProfileCommand extends Command {
}
@Override
public void initialize() {
m_timer.restart();
}
public void initialize() {}
@Override
@SuppressWarnings("removal")
public void execute() {
m_output.accept(m_profile.calculate(m_timer.get(), m_currentState.get(), m_goal.get()));
m_output.accept(m_profile.calculate(0.02, m_currentState.get(), m_goal.get()));
}
@Override
public void end(boolean interrupted) {
m_timer.stop();
}
public void end(boolean interrupted) {}
@Override
public boolean isFinished() {
return m_timer.hasElapsed(m_profile.totalTime());
return m_profile.isFinished(0);
}
}