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Clean up edge detection logic in ButtonScheduler subclasses (#1340)

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This also changes the behavior of whileActive to call start once on the starting edge
instead of every loop iteration.
This commit is contained in:
Tyler Veness
2018-09-26 22:55:34 -07:00
committed by Peter Johnson
parent 6171856020
commit a732854866
8 changed files with 70 additions and 88 deletions
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17
wpilibc/src/main/native/cpp/buttons/CancelButtonScheduler.cpp
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@@ -14,17 +14,14 @@ using namespace frc;
CancelButtonScheduler::CancelButtonScheduler(bool last, Trigger* button,
Command* orders)
: ButtonScheduler(last, button, orders) {
pressedLast = m_button->Grab();
}
: ButtonScheduler(last, button, orders) {}
void CancelButtonScheduler::Execute() {
if (m_button->Grab()) {
if (!pressedLast) {
pressedLast = true;
m_command->Cancel();
}
} else {
pressedLast = false;
bool pressed = m_button->Grab();
if (!m_pressedLast && pressed) {
m_command->Cancel();
}
m_pressedLast = pressed;
}

14
wpilibc/src/main/native/cpp/buttons/HeldButtonScheduler.cpp
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@@ -17,13 +17,13 @@ HeldButtonScheduler::HeldButtonScheduler(bool last, Trigger* button,
: ButtonScheduler(last, button, orders) {}
void HeldButtonScheduler::Execute() {
if (m_button->Grab()) {
m_pressedLast = true;
bool pressed = m_button->Grab();
if (!m_pressedLast && pressed) {
m_command->Start();
} else {
if (m_pressedLast) {
m_pressedLast = false;
m_command->Cancel();
}
} else if (m_pressedLast && !pressed) {
m_command->Cancel();
}
m_pressedLast = pressed;
}

13
wpilibc/src/main/native/cpp/buttons/PressedButtonScheduler.cpp
View File

@@ -17,12 +17,11 @@ PressedButtonScheduler::PressedButtonScheduler(bool last, Trigger* button,
: ButtonScheduler(last, button, orders) {}
void PressedButtonScheduler::Execute() {
if (m_button->Grab()) {
if (!m_pressedLast) {
m_pressedLast = true;
m_command->Start();
}
} else {
m_pressedLast = false;
bool pressed = m_button->Grab();
if (!m_pressedLast && pressed) {
m_command->Start();
}
m_pressedLast = pressed;
}

13
wpilibc/src/main/native/cpp/buttons/ReleasedButtonScheduler.cpp
View File

@@ -17,12 +17,11 @@ ReleasedButtonScheduler::ReleasedButtonScheduler(bool last, Trigger* button,
: ButtonScheduler(last, button, orders) {}
void ReleasedButtonScheduler::Execute() {
if (m_button->Grab()) {
m_pressedLast = true;
} else {
if (m_pressedLast) {
m_pressedLast = false;
m_command->Start();
}
bool pressed = m_button->Grab();
if (m_pressedLast && !pressed) {
m_command->Start();
}
m_pressedLast = pressed;
}

23
wpilibc/src/main/native/cpp/buttons/ToggleButtonScheduler.cpp
View File

@@ -14,21 +14,18 @@ using namespace frc;
ToggleButtonScheduler::ToggleButtonScheduler(bool last, Trigger* button,
Command* orders)
: ButtonScheduler(last, button, orders) {
pressedLast = m_button->Grab();
}
: ButtonScheduler(last, button, orders) {}
void ToggleButtonScheduler::Execute() {
if (m_button->Grab()) {
if (!pressedLast) {
pressedLast = true;
if (m_command->IsRunning()) {
m_command->Cancel();
} else {
m_command->Start();
}
bool pressed = m_button->Grab();
if (!m_pressedLast && pressed) {
if (m_command->IsRunning()) {
m_command->Cancel();
} else {
m_command->Start();
}
} else {
pressedLast = false;
}
m_pressedLast = pressed;
}