[commands] Merge CommandBase into Command and SubsystemBase into Subsystem (#5392)

Moves all CommandBase functionality into Command and deprecates CommandBase for removal.
Moves all SubsystemBase functionality into Subsystem and deprecates SubsystemBase for removal.
Adds a function to CommandScheduler to remove all registered Subsystems.

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java

@@ -7,6 +7,10 @@ package edu.wpi.first.wpilibj2.command;
 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.util.function.BooleanConsumer;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
+import java.util.HashSet;
 import java.util.Set;
 import java.util.function.BooleanSupplier;
 
@@ -20,12 +24,19 @@ import java.util.function.BooleanSupplier;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-public interface Command {
+public abstract class Command implements Sendable {
+  protected Set<Subsystem> m_requirements = new HashSet<>();
+
+  protected Command() {
+    String name = getClass().getName();
+    SendableRegistry.add(this, name.substring(name.lastIndexOf('.') + 1));
+  }
+
   /** The initial subroutine of a command. Called once when the command is initially scheduled. */
-  default void initialize() {}
+  public void initialize() {}
 
   /** The main body of a command. Called repeatedly while the command is scheduled. */
-  default void execute() {}
+  public void execute() {}
 
   /**
    * The action to take when the command ends. Called when either the command finishes normally, or
@@ -36,7 +47,7 @@ public interface Command {
    *
    * @param interrupted whether the command was interrupted/canceled
    */
-  default void end(boolean interrupted) {}
+  public void end(boolean interrupted) {}
 
   /**
    * Whether the command has finished. Once a command finishes, the scheduler will call its end()
@@ -44,7 +55,7 @@ public interface Command {
    *
    * @return whether the command has finished.
    */
-  default boolean isFinished() {
+  public boolean isFinished() {
     return false;
   }
 
@@ -60,7 +71,63 @@ public interface Command {
    * @return the set of subsystems that are required
    * @see InterruptionBehavior
    */
-  Set<Subsystem> getRequirements();
+  public Set<Subsystem> getRequirements() {
+    return m_requirements;
+  }
+
+  /**
+   * Adds the specified subsystems to the requirements of the command. The scheduler will prevent
+   * two commands that require the same subsystem from being scheduled simultaneously.
+   *
+   * <p>Note that the scheduler determines the requirements of a command when it is scheduled, so
+   * this method should normally be called from the command's constructor.
+   *
+   * @param requirements the requirements to add
+   */
+  public final void addRequirements(Subsystem... requirements) {
+    for (Subsystem requirement : requirements) {
+      m_requirements.add(requireNonNullParam(requirement, "requirement", "addRequirements"));
+    }
+  }
+
+  /**
+   * Gets the name of this Command.
+   *
+   * <p>By default, the simple class name is used. This can be changed with {@link
+   * #setName(String)}.
+   *
+   * @return The display name of the Command
+   */
+  public String getName() {
+    return SendableRegistry.getName(this);
+  }
+
+  /**
+   * Sets the name of this Command.
+   *
+   * @param name The display name of the Command.
+   */
+  public void setName(String name) {
+    SendableRegistry.setName(this, name);
+  }
+
+  /**
+   * Gets the subsystem name of this Command.
+   *
+   * @return Subsystem name
+   */
+  public String getSubsystem() {
+    return SendableRegistry.getSubsystem(this);
+  }
+
+  /**
+   * Sets the subsystem name of this Command.
+   *
+   * @param subsystem subsystem name
+   */
+  public void setSubsystem(String subsystem) {
+    SendableRegistry.setSubsystem(this, subsystem);
+  }
 
   /**
    * Decorates this command with a timeout. If the specified timeout is exceeded before the command
@@ -75,7 +142,7 @@ public interface Command {
    * @param seconds the timeout duration
    * @return the command with the timeout added
    */
-  default ParallelRaceGroup withTimeout(double seconds) {
+  public ParallelRaceGroup withTimeout(double seconds) {
     return raceWith(new WaitCommand(seconds));
   }
 
@@ -93,7 +160,7 @@ public interface Command {
    * @return the command with the interrupt condition added
    * @see #onlyWhile(BooleanSupplier)
    */
-  default ParallelRaceGroup until(BooleanSupplier condition) {
+  public ParallelRaceGroup until(BooleanSupplier condition) {
     return raceWith(new WaitUntilCommand(condition));
   }
 
@@ -111,7 +178,7 @@ public interface Command {
    * @return the command with the run condition added
    * @see #until(BooleanSupplier)
    */
-  default ParallelRaceGroup onlyWhile(BooleanSupplier condition) {
+  public ParallelRaceGroup onlyWhile(BooleanSupplier condition) {
     return until(() -> !condition.getAsBoolean());
   }
 
@@ -128,7 +195,7 @@ public interface Command {
    * @param requirements the required subsystems
    * @return the decorated command
    */
-  default SequentialCommandGroup beforeStarting(Runnable toRun, Subsystem... requirements) {
+  public SequentialCommandGroup beforeStarting(Runnable toRun, Subsystem... requirements) {
     return beforeStarting(new InstantCommand(toRun, requirements));
   }
 
@@ -144,7 +211,7 @@ public interface Command {
    * @param before the command to run before this one
    * @return the decorated command
    */
-  default SequentialCommandGroup beforeStarting(Command before) {
+  public SequentialCommandGroup beforeStarting(Command before) {
     return new SequentialCommandGroup(before, this);
   }
 
@@ -161,7 +228,7 @@ public interface Command {
    * @param requirements the required subsystems
    * @return the decorated command
    */
-  default SequentialCommandGroup andThen(Runnable toRun, Subsystem... requirements) {
+  public SequentialCommandGroup andThen(Runnable toRun, Subsystem... requirements) {
     return andThen(new InstantCommand(toRun, requirements));
   }
 
@@ -178,7 +245,7 @@ public interface Command {
    * @param next the commands to run next
    * @return the decorated command
    */
-  default SequentialCommandGroup andThen(Command... next) {
+  public SequentialCommandGroup andThen(Command... next) {
     SequentialCommandGroup group = new SequentialCommandGroup(this);
     group.addCommands(next);
     return group;
@@ -198,7 +265,7 @@ public interface Command {
    * @param parallel the commands to run in parallel
    * @return the decorated command
    */
-  default ParallelDeadlineGroup deadlineWith(Command... parallel) {
+  public ParallelDeadlineGroup deadlineWith(Command... parallel) {
     return new ParallelDeadlineGroup(this, parallel);
   }
 
@@ -216,7 +283,7 @@ public interface Command {
    * @param parallel the commands to run in parallel
    * @return the decorated command
    */
-  default ParallelCommandGroup alongWith(Command... parallel) {
+  public ParallelCommandGroup alongWith(Command... parallel) {
     ParallelCommandGroup group = new ParallelCommandGroup(this);
     group.addCommands(parallel);
     return group;
@@ -236,7 +303,7 @@ public interface Command {
    * @param parallel the commands to run in parallel
    * @return the decorated command
    */
-  default ParallelRaceGroup raceWith(Command... parallel) {
+  public ParallelRaceGroup raceWith(Command... parallel) {
     ParallelRaceGroup group = new ParallelRaceGroup(this);
     group.addCommands(parallel);
     return group;
@@ -254,7 +321,7 @@ public interface Command {
    *
    * @return the decorated command
    */
-  default RepeatCommand repeatedly() {
+  public RepeatCommand repeatedly() {
     return new RepeatCommand(this);
   }
 
@@ -265,7 +332,7 @@ public interface Command {
    *
    * @return the decorated command
    */
-  default ProxyCommand asProxy() {
+  public ProxyCommand asProxy() {
     return new ProxyCommand(this);
   }
 
@@ -284,7 +351,7 @@ public interface Command {
    * @return the decorated command
    * @see #onlyIf(BooleanSupplier)
    */
-  default ConditionalCommand unless(BooleanSupplier condition) {
+  public ConditionalCommand unless(BooleanSupplier condition) {
     return new ConditionalCommand(new InstantCommand(), this, condition);
   }
 
@@ -303,7 +370,7 @@ public interface Command {
    * @return the decorated command
    * @see #unless(BooleanSupplier)
    */
-  default ConditionalCommand onlyIf(BooleanSupplier condition) {
+  public ConditionalCommand onlyIf(BooleanSupplier condition) {
     return unless(() -> !condition.getAsBoolean());
   }
 
@@ -313,7 +380,7 @@ public interface Command {
    * @param doesRunWhenDisabled true to run when disabled.
    * @return the decorated command
    */
-  default WrapperCommand ignoringDisable(boolean doesRunWhenDisabled) {
+  public WrapperCommand ignoringDisable(boolean doesRunWhenDisabled) {
     return new WrapperCommand(this) {
       @Override
       public boolean runsWhenDisabled() {
@@ -328,7 +395,7 @@ public interface Command {
    * @param interruptBehavior the desired interrupt behavior
    * @return the decorated command
    */
-  default WrapperCommand withInterruptBehavior(InterruptionBehavior interruptBehavior) {
+  public WrapperCommand withInterruptBehavior(InterruptionBehavior interruptBehavior) {
     return new WrapperCommand(this) {
       @Override
       public InterruptionBehavior getInterruptionBehavior() {
@@ -345,7 +412,7 @@ public interface Command {
    *     interrupted.
    * @return the decorated command
    */
-  default WrapperCommand finallyDo(BooleanConsumer end) {
+  public WrapperCommand finallyDo(BooleanConsumer end) {
     requireNonNullParam(end, "end", "Command.finallyDo()");
     return new WrapperCommand(this) {
       @Override
@@ -363,7 +430,7 @@ public interface Command {
    * @param handler a lambda to run when the command is interrupted
    * @return the decorated command
    */
-  default WrapperCommand handleInterrupt(Runnable handler) {
+  public WrapperCommand handleInterrupt(Runnable handler) {
     requireNonNullParam(handler, "handler", "Command.handleInterrupt()");
     return finallyDo(
         interrupted -> {
@@ -374,7 +441,7 @@ public interface Command {
   }
 
   /** Schedules this command. */
-  default void schedule() {
+  public void schedule() {
     CommandScheduler.getInstance().schedule(this);
   }
 
@@ -384,7 +451,7 @@ public interface Command {
    *
    * @see CommandScheduler#cancel(Command...)
    */
-  default void cancel() {
+  public void cancel() {
     CommandScheduler.getInstance().cancel(this);
   }
 
@@ -394,7 +461,7 @@ public interface Command {
    *
    * @return Whether the command is scheduled.
    */
-  default boolean isScheduled() {
+  public boolean isScheduled() {
     return CommandScheduler.getInstance().isScheduled(this);
   }
 
@@ -404,7 +471,7 @@ public interface Command {
    * @param requirement the subsystem to inquire about
    * @return whether the subsystem is required
    */
-  default boolean hasRequirement(Subsystem requirement) {
+  public boolean hasRequirement(Subsystem requirement) {
     return getRequirements().contains(requirement);
   }
 
@@ -414,7 +481,7 @@ public interface Command {
    * @return a variant of {@link InterruptionBehavior}, defaulting to {@link
    *     InterruptionBehavior#kCancelSelf kCancelSelf}.
    */
-  default InterruptionBehavior getInterruptionBehavior() {
+  public InterruptionBehavior getInterruptionBehavior() {
     return InterruptionBehavior.kCancelSelf;
   }
 
@@ -424,43 +491,52 @@ public interface Command {
    *
    * @return whether the command should run when the robot is disabled
    */
-  default boolean runsWhenDisabled() {
+  public boolean runsWhenDisabled() {
     return false;
   }
 
-  /**
-   * Gets the name of this Command. Defaults to the simple class name if not overridden.
-   *
-   * @return The display name of the Command
-   */
-  default String getName() {
-    return this.getClass().getSimpleName();
-  }
-
-  /**
-   * Sets the name of this Command. Nullop if not overridden.
-   *
-   * @param name The display name of the Command.
-   */
-  default void setName(String name) {}
-
   /**
    * Decorates this Command with a name.
    *
    * @param name name
    * @return the decorated Command
    */
-  default WrapperCommand withName(String name) {
+  public WrapperCommand withName(String name) {
     WrapperCommand wrapper = new WrapperCommand(Command.this) {};
     wrapper.setName(name);
     return wrapper;
   }
 
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    builder.setSmartDashboardType("Command");
+    builder.addStringProperty(".name", this::getName, null);
+    builder.addBooleanProperty(
+        "running",
+        this::isScheduled,
+        value -> {
+          if (value) {
+            if (!isScheduled()) {
+              schedule();
+            }
+          } else {
+            if (isScheduled()) {
+              cancel();
+            }
+          }
+        });
+    builder.addBooleanProperty(
+        ".isParented", () -> CommandScheduler.getInstance().isComposed(this), null);
+    builder.addStringProperty(
+        "interruptBehavior", () -> getInterruptionBehavior().toString(), null);
+    builder.addBooleanProperty("runsWhenDisabled", this::runsWhenDisabled, null);
+  }
+
   /**
    * An enum describing the command's behavior when another command with a shared requirement is
    * scheduled.
    */
-  enum InterruptionBehavior {
+  public enum InterruptionBehavior {
     /**
      * This command ends, {@link #end(boolean) end(true)} is called, and the incoming command is
      * scheduled normally.

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandBase.java

@@ -4,107 +4,16 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
-
 import edu.wpi.first.util.sendable.Sendable;
-import edu.wpi.first.util.sendable.SendableBuilder;
-import edu.wpi.first.util.sendable.SendableRegistry;
-import java.util.HashSet;
-import java.util.Set;
 
 /**
  * A {@link Sendable} base class for {@link Command}s.
  *
  * <p>This class is provided by the NewCommands VendorDep
+ *
+ * @deprecated All functionality provided by {@link CommandBase} has been merged into {@link
+ *     Command}. Use {@link Command} instead.
  */
-public abstract class CommandBase implements Sendable, Command {
-  protected Set<Subsystem> m_requirements = new HashSet<>();
-
-  protected CommandBase() {
-    String name = getClass().getName();
-    SendableRegistry.add(this, name.substring(name.lastIndexOf('.') + 1));
-  }
-
-  /**
-   * Adds the specified subsystems to the requirements of the command. The scheduler will prevent
-   * two commands that require the same subsystem from being scheduled simultaneously.
-   *
-   * <p>Note that the scheduler determines the requirements of a command when it is scheduled, so
-   * this method should normally be called from the command's constructor.
-   *
-   * @param requirements the requirements to add
-   */
-  public final void addRequirements(Subsystem... requirements) {
-    for (Subsystem requirement : requirements) {
-      m_requirements.add(requireNonNullParam(requirement, "requirement", "addRequirements"));
-    }
-  }
-
-  @Override
-  public Set<Subsystem> getRequirements() {
-    return m_requirements;
-  }
-
-  @Override
-  public String getName() {
-    return SendableRegistry.getName(this);
-  }
-
-  /**
-   * Sets the name of this Command.
-   *
-   * @param name name
-   */
-  @Override
-  public void setName(String name) {
-    SendableRegistry.setName(this, name);
-  }
-
-  /**
-   * Gets the subsystem name of this Command.
-   *
-   * @return Subsystem name
-   */
-  public String getSubsystem() {
-    return SendableRegistry.getSubsystem(this);
-  }
-
-  /**
-   * Sets the subsystem name of this Command.
-   *
-   * @param subsystem subsystem name
-   */
-  public void setSubsystem(String subsystem) {
-    SendableRegistry.setSubsystem(this, subsystem);
-  }
-
-  /**
-   * Initializes this sendable. Useful for allowing implementations to easily extend SendableBase.
-   *
-   * @param builder the builder used to construct this sendable
-   */
-  @Override
-  public void initSendable(SendableBuilder builder) {
-    builder.setSmartDashboardType("Command");
-    builder.addStringProperty(".name", this::getName, null);
-    builder.addBooleanProperty(
-        "running",
-        this::isScheduled,
-        value -> {
-          if (value) {
-            if (!isScheduled()) {
-              schedule();
-            }
-          } else {
-            if (isScheduled()) {
-              cancel();
-            }
-          }
-        });
-    builder.addBooleanProperty(
-        ".isParented", () -> CommandScheduler.getInstance().isComposed(this), null);
-    builder.addStringProperty(
-        "interruptBehavior", () -> getInterruptionBehavior().toString(), null);
-    builder.addBooleanProperty("runsWhenDisabled", this::runsWhenDisabled, null);
-  }
-}
+@Deprecated(since = "2024", forRemoval = true)
+@SuppressWarnings("PMD.AbstractClassWithoutAnyMethod")
+public abstract class CommandBase extends Command {}

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java

@@ -362,6 +362,15 @@ public final class CommandScheduler implements NTSendable, AutoCloseable {
     m_subsystems.keySet().removeAll(Set.of(subsystems));
   }
 
+  /**
+   * Un-registers all registered Subsystems with the scheduler. All currently registered subsystems
+   * will no longer have their periodic block called, and will not have their default command
+   * scheduled.
+   */
+  public void unregisterAllSubsystems() {
+    m_subsystems.clear();
+  }
+
   /**
    * Sets the default command for a subsystem. Registers that subsystem if it is not already
    * registered. Default commands will run whenever there is no other command currently scheduled

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java

@@ -21,7 +21,7 @@ public final class Commands {
    *
    * @return the command
    */
-  public static CommandBase none() {
+  public static Command none() {
     return new InstantCommand();
   }
 
@@ -35,7 +35,7 @@ public final class Commands {
    * @return the command
    * @see InstantCommand
    */
-  public static CommandBase runOnce(Runnable action, Subsystem... requirements) {
+  public static Command runOnce(Runnable action, Subsystem... requirements) {
     return new InstantCommand(action, requirements);
   }
 
@@ -47,7 +47,7 @@ public final class Commands {
    * @return the command
    * @see RunCommand
    */
-  public static CommandBase run(Runnable action, Subsystem... requirements) {
+  public static Command run(Runnable action, Subsystem... requirements) {
     return new RunCommand(action, requirements);
   }
 
@@ -61,7 +61,7 @@ public final class Commands {
    * @return the command
    * @see StartEndCommand
    */
-  public static CommandBase startEnd(Runnable start, Runnable end, Subsystem... requirements) {
+  public static Command startEnd(Runnable start, Runnable end, Subsystem... requirements) {
     return new StartEndCommand(start, end, requirements);
   }
 
@@ -74,7 +74,7 @@ public final class Commands {
    * @param requirements subsystems the action requires
    * @return the command
    */
-  public static CommandBase runEnd(Runnable run, Runnable end, Subsystem... requirements) {
+  public static Command runEnd(Runnable run, Runnable end, Subsystem... requirements) {
     requireNonNullParam(end, "end", "Command.runEnd");
     return new FunctionalCommand(
         () -> {}, run, interrupted -> end.run(), () -> false, requirements);
@@ -87,7 +87,7 @@ public final class Commands {
    * @return the command
    * @see PrintCommand
    */
-  public static CommandBase print(String message) {
+  public static Command print(String message) {
     return new PrintCommand(message);
   }
 
@@ -100,7 +100,7 @@ public final class Commands {
    * @return the command
    * @see WaitCommand
    */
-  public static CommandBase waitSeconds(double seconds) {
+  public static Command waitSeconds(double seconds) {
     return new WaitCommand(seconds);
   }
 
@@ -111,7 +111,7 @@ public final class Commands {
    * @return the command
    * @see WaitUntilCommand
    */
-  public static CommandBase waitUntil(BooleanSupplier condition) {
+  public static Command waitUntil(BooleanSupplier condition) {
     return new WaitUntilCommand(condition);
   }
 
@@ -126,7 +126,7 @@ public final class Commands {
    * @return the command
    * @see ConditionalCommand
    */
-  public static CommandBase either(Command onTrue, Command onFalse, BooleanSupplier selector) {
+  public static Command either(Command onTrue, Command onFalse, BooleanSupplier selector) {
     return new ConditionalCommand(onTrue, onFalse, selector);
   }
 
@@ -138,7 +138,7 @@ public final class Commands {
    * @return the command
    * @see SelectCommand
    */
-  public static CommandBase select(Map<Object, Command> commands, Supplier<Object> selector) {
+  public static Command select(Map<Object, Command> commands, Supplier<Object> selector) {
     return new SelectCommand(commands, selector);
   }
 
@@ -149,7 +149,7 @@ public final class Commands {
    * @return the command group
    * @see SequentialCommandGroup
    */
-  public static CommandBase sequence(Command... commands) {
+  public static Command sequence(Command... commands) {
     return new SequentialCommandGroup(commands);
   }
 
@@ -164,7 +164,7 @@ public final class Commands {
    * @see SequentialCommandGroup
    * @see Command#repeatedly()
    */
-  public static CommandBase repeatingSequence(Command... commands) {
+  public static Command repeatingSequence(Command... commands) {
     return sequence(commands).repeatedly();
   }
 
@@ -175,7 +175,7 @@ public final class Commands {
    * @return the command
    * @see ParallelCommandGroup
    */
-  public static CommandBase parallel(Command... commands) {
+  public static Command parallel(Command... commands) {
     return new ParallelCommandGroup(commands);
   }
 
@@ -187,7 +187,7 @@ public final class Commands {
    * @return the command group
    * @see ParallelRaceGroup
    */
-  public static CommandBase race(Command... commands) {
+  public static Command race(Command... commands) {
     return new ParallelRaceGroup(commands);
   }
 
@@ -200,7 +200,7 @@ public final class Commands {
    * @return the command group
    * @see ParallelDeadlineGroup
    */
-  public static CommandBase deadline(Command deadline, Command... commands) {
+  public static Command deadline(Command deadline, Command... commands) {
     return new ParallelDeadlineGroup(deadline, commands);
   }
 

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.java

@@ -19,7 +19,7 @@ import java.util.function.BooleanSupplier;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-public class ConditionalCommand extends CommandBase {
+public class ConditionalCommand extends Command {
   private final Command m_onTrue;
   private final Command m_onFalse;
   private final BooleanSupplier m_condition;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/FunctionalCommand.java

@@ -17,7 +17,7 @@ import java.util.function.Consumer;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-public class FunctionalCommand extends CommandBase {
+public class FunctionalCommand extends Command {
   protected final Runnable m_onInit;
   protected final Runnable m_onExecute;
   protected final Consumer<Boolean> m_onEnd;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java

@@ -38,7 +38,7 @@ import java.util.function.Supplier;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-public class MecanumControllerCommand extends CommandBase {
+public class MecanumControllerCommand extends Command {
   private final Timer m_timer = new Timer();
   private final boolean m_usePID;
   private final Trajectory m_trajectory;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/NotifierCommand.java

@@ -17,7 +17,7 @@ import edu.wpi.first.wpilibj.Notifier;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-public class NotifierCommand extends CommandBase {
+public class NotifierCommand extends Command {
   protected final Notifier m_notifier;
   protected final double m_period;
 

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java

@@ -18,7 +18,7 @@ import java.util.function.DoubleSupplier;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-public class PIDCommand extends CommandBase {
+public class PIDCommand extends Command {
   protected final PIDController m_controller;
   protected DoubleSupplier m_measurement;
   protected DoubleSupplier m_setpoint;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java

@@ -14,7 +14,7 @@ import edu.wpi.first.math.controller.PIDController;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-public abstract class PIDSubsystem extends SubsystemBase {
+public abstract class PIDSubsystem extends Subsystem {
   protected final PIDController m_controller;
   protected boolean m_enabled;
 

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.java

@@ -17,7 +17,7 @@ import java.util.Map;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-public class ParallelCommandGroup extends CommandBase {
+public class ParallelCommandGroup extends Command {
   // maps commands in this composition to whether they are still running
   private final Map<Command, Boolean> m_commands = new HashMap<>();
   private boolean m_runWhenDisabled = true;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java

@@ -20,7 +20,7 @@ import java.util.Map;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-public class ParallelDeadlineGroup extends CommandBase {
+public class ParallelDeadlineGroup extends Command {
   // maps commands in this composition to whether they are still running
   private final Map<Command, Boolean> m_commands = new HashMap<>();
   private boolean m_runWhenDisabled = true;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java

@@ -18,7 +18,7 @@ import java.util.Set;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-public class ParallelRaceGroup extends CommandBase {
+public class ParallelRaceGroup extends Command {
   private final Set<Command> m_commands = new HashSet<>();
   private boolean m_runWhenDisabled = true;
   private boolean m_finished = true;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java

@@ -20,7 +20,7 @@ import java.util.function.Supplier;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-public class ProfiledPIDCommand extends CommandBase {
+public class ProfiledPIDCommand extends Command {
   protected final ProfiledPIDController m_controller;
   protected DoubleSupplier m_measurement;
   protected Supplier<State> m_goal;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java

@@ -16,7 +16,7 @@ import edu.wpi.first.math.trajectory.TrapezoidProfile;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-public abstract class ProfiledPIDSubsystem extends SubsystemBase {
+public abstract class ProfiledPIDSubsystem extends Subsystem {
   protected final ProfiledPIDController m_controller;
   protected boolean m_enabled;
 

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyCommand.java

@@ -15,7 +15,7 @@ import java.util.function.Supplier;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-public class ProxyCommand extends CommandBase {
+public class ProxyCommand extends Command {
   private final Supplier<Command> m_supplier;
   private Command m_command;
 

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java

@@ -33,7 +33,7 @@ import java.util.function.Supplier;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-public class RamseteCommand extends CommandBase {
+public class RamseteCommand extends Command {
   private final Timer m_timer = new Timer();
   private final boolean m_usePID;
   private final Trajectory m_trajectory;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RepeatCommand.java

@@ -19,7 +19,7 @@ import edu.wpi.first.util.sendable.SendableBuilder;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-public class RepeatCommand extends CommandBase {
+public class RepeatCommand extends Command {
   protected final Command m_command;
   private boolean m_ended;
 

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java

@@ -13,7 +13,7 @@ import java.util.Set;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-public class ScheduleCommand extends CommandBase {
+public class ScheduleCommand extends Command {
   private final Set<Command> m_toSchedule;
 
   /**

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java

@@ -20,7 +20,7 @@ import java.util.function.Supplier;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-public class SelectCommand extends CommandBase {
+public class SelectCommand extends Command {
   private final Map<Object, Command> m_commands;
   private final Supplier<Object> m_selector;
   private Command m_selectedCommand;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java

@@ -17,7 +17,7 @@ import java.util.List;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-public class SequentialCommandGroup extends CommandBase {
+public class SequentialCommandGroup extends Command {
   private final List<Command> m_commands = new ArrayList<>();
   private int m_currentCommandIndex = -1;
   private boolean m_runWhenDisabled = true;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java

@@ -4,6 +4,10 @@
 
 package edu.wpi.first.wpilibj2.command;
 
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
+
 /**
  * A robot subsystem. Subsystems are the basic unit of robot organization in the Command-based
  * framework; they encapsulate low-level hardware objects (motor controllers, sensors, etc.) and
@@ -13,29 +17,34 @@ package edu.wpi.first.wpilibj2.command;
  * their {@link Command#getRequirements()} method, and resources used within a subsystem should
  * generally remain encapsulated and not be shared by other parts of the robot.
  *
- * <p>Subsystems must be registered with the scheduler with the {@link
- * CommandScheduler#registerSubsystem(Subsystem...)} method in order for the {@link
- * Subsystem#periodic()} method to be called. It is recommended that this method be called from the
- * constructor of users' Subsystem implementations. The {@link SubsystemBase} class offers a simple
- * base for user implementations that handles this.
+ * <p>Subsystems are automatically registered with the default scheduler in order for the {@link
+ * Subsystem#periodic()} method to be called.
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-public interface Subsystem {
+public abstract class Subsystem implements Sendable {
+  /** Constructor. */
+  public Subsystem() {
+    String name = this.getClass().getSimpleName();
+    name = name.substring(name.lastIndexOf('.') + 1);
+    SendableRegistry.addLW(this, name, name);
+    CommandScheduler.getInstance().registerSubsystem(this);
+  }
+
   /**
    * This method is called periodically by the {@link CommandScheduler}. Useful for updating
    * subsystem-specific state that you don't want to offload to a {@link Command}. Teams should try
    * to be consistent within their own codebases about which responsibilities will be handled by
    * Commands, and which will be handled here.
    */
-  default void periodic() {}
+  public void periodic() {}
 
   /**
    * This method is called periodically by the {@link CommandScheduler}. Useful for updating
    * subsystem-specific state that needs to be maintained for simulations, such as for updating
    * {@link edu.wpi.first.wpilibj.simulation} classes and setting simulated sensor readings.
    */
-  default void simulationPeriodic() {}
+  public void simulationPeriodic() {}
 
   /**
    * Sets the default {@link Command} of the subsystem. The default command will be automatically
@@ -46,7 +55,7 @@ public interface Subsystem {
    *
    * @param defaultCommand the default command to associate with this subsystem
    */
-  default void setDefaultCommand(Command defaultCommand) {
+  public void setDefaultCommand(Command defaultCommand) {
     CommandScheduler.getInstance().setDefaultCommand(this, defaultCommand);
   }
 
@@ -54,7 +63,7 @@ public interface Subsystem {
    * Removes the default command for the subsystem. This will not cancel the default command if it
    * is currently running.
    */
-  default void removeDefaultCommand() {
+  public void removeDefaultCommand() {
     CommandScheduler.getInstance().removeDefaultCommand(this);
   }
 
@@ -64,7 +73,7 @@ public interface Subsystem {
    *
    * @return the default command associated with this subsystem
    */
-  default Command getDefaultCommand() {
+  public Command getDefaultCommand() {
     return CommandScheduler.getInstance().getDefaultCommand(this);
   }
 
@@ -74,15 +83,51 @@ public interface Subsystem {
    *
    * @return the scheduled command currently requiring this subsystem
    */
-  default Command getCurrentCommand() {
+  public Command getCurrentCommand() {
     return CommandScheduler.getInstance().requiring(this);
   }
 
+  /**
+   * Gets the name of this Subsystem.
+   *
+   * @return Name
+   */
+  public String getName() {
+    return SendableRegistry.getName(this);
+  }
+
+  /**
+   * Sets the name of this Subsystem.
+   *
+   * @param name name
+   */
+  public void setName(String name) {
+    SendableRegistry.setName(this, name);
+  }
+
+  /**
+   * Gets the subsystem name of this Subsystem.
+   *
+   * @return Subsystem name
+   */
+  public String getSubsystem() {
+    return SendableRegistry.getSubsystem(this);
+  }
+
+  /**
+   * Sets the subsystem name of this Subsystem.
+   *
+   * @param subsystem subsystem name
+   */
+  public void setSubsystem(String subsystem) {
+    SendableRegistry.setSubsystem(this, subsystem);
+  }
+
   /**
    * Registers this subsystem with the {@link CommandScheduler}, allowing its {@link
    * Subsystem#periodic()} method to be called when the scheduler runs.
    */
-  default void register() {
+  public void register() {
     CommandScheduler.getInstance().registerSubsystem(this);
   }
 
@@ -93,7 +138,7 @@ public interface Subsystem {
    * @return the command
    * @see InstantCommand
    */
-  default CommandBase runOnce(Runnable action) {
+  public Command runOnce(Runnable action) {
     return Commands.runOnce(action, this);
   }
 
@@ -105,7 +150,7 @@ public interface Subsystem {
    * @return the command
    * @see RunCommand
    */
-  default CommandBase run(Runnable action) {
+  public Command run(Runnable action) {
     return Commands.run(action, this);
   }
 
@@ -118,7 +163,7 @@ public interface Subsystem {
    * @return the command
    * @see StartEndCommand
    */
-  default CommandBase startEnd(Runnable start, Runnable end) {
+  public Command startEnd(Runnable start, Runnable end) {
     return Commands.startEnd(start, end, this);
   }
 
@@ -130,7 +175,33 @@ public interface Subsystem {
    * @param end the action to run on interrupt
    * @return the command
    */
-  default CommandBase runEnd(Runnable run, Runnable end) {
+  public Command runEnd(Runnable run, Runnable end) {
     return Commands.runEnd(run, end, this);
   }
+
+  /**
+   * Associates a {@link Sendable} with this Subsystem. Also update the child's name.
+   *
+   * @param name name to give child
+   * @param child sendable
+   */
+  public void addChild(String name, Sendable child) {
+    SendableRegistry.addLW(child, getSubsystem(), name);
+  }
+
+  @Override
+  public void initSendable(SendableBuilder builder) {
+    builder.setSmartDashboardType("Subsystem");
+
+    builder.addBooleanProperty(".hasDefault", () -> getDefaultCommand() != null, null);
+    builder.addStringProperty(
+        ".default",
+        () -> getDefaultCommand() != null ? getDefaultCommand().getName() : "none",
+        null);
+    builder.addBooleanProperty(".hasCommand", () -> getCurrentCommand() != null, null);
+    builder.addStringProperty(
+        ".command",
+        () -> getCurrentCommand() != null ? getCurrentCommand().getName() : "none",
+        null);
+  }
 }

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java

@@ -4,84 +4,15 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-import edu.wpi.first.util.sendable.Sendable;
-import edu.wpi.first.util.sendable.SendableBuilder;
-import edu.wpi.first.util.sendable.SendableRegistry;
-
 /**
  * A base for subsystems that handles registration in the constructor, and provides a more intuitive
  * method for setting the default command.
  *
  * <p>This class is provided by the NewCommands VendorDep
+ *
+ * @deprecated All functionality provided by {@link SubsystemBase} has been merged into {@link
+ *     Subsystem}. Use {@link Subsystem} instead.
  */
-public abstract class SubsystemBase implements Subsystem, Sendable {
-  /** Constructor. */
-  public SubsystemBase() {
-    String name = this.getClass().getSimpleName();
-    name = name.substring(name.lastIndexOf('.') + 1);
-    SendableRegistry.addLW(this, name, name);
-    CommandScheduler.getInstance().registerSubsystem(this);
-  }
-
-  /**
-   * Gets the name of this Subsystem.
-   *
-   * @return Name
-   */
-  public String getName() {
-    return SendableRegistry.getName(this);
-  }
-
-  /**
-   * Sets the name of this Subsystem.
-   *
-   * @param name name
-   */
-  public void setName(String name) {
-    SendableRegistry.setName(this, name);
-  }
-
-  /**
-   * Gets the subsystem name of this Subsystem.
-   *
-   * @return Subsystem name
-   */
-  public String getSubsystem() {
-    return SendableRegistry.getSubsystem(this);
-  }
-
-  /**
-   * Sets the subsystem name of this Subsystem.
-   *
-   * @param subsystem subsystem name
-   */
-  public void setSubsystem(String subsystem) {
-    SendableRegistry.setSubsystem(this, subsystem);
-  }
-
-  /**
-   * Associates a {@link Sendable} with this Subsystem. Also update the child's name.
-   *
-   * @param name name to give child
-   * @param child sendable
-   */
-  public void addChild(String name, Sendable child) {
-    SendableRegistry.addLW(child, getSubsystem(), name);
-  }
-
-  @Override
-  public void initSendable(SendableBuilder builder) {
-    builder.setSmartDashboardType("Subsystem");
-
-    builder.addBooleanProperty(".hasDefault", () -> getDefaultCommand() != null, null);
-    builder.addStringProperty(
-        ".default",
-        () -> getDefaultCommand() != null ? getDefaultCommand().getName() : "none",
-        null);
-    builder.addBooleanProperty(".hasCommand", () -> getCurrentCommand() != null, null);
-    builder.addStringProperty(
-        ".command",
-        () -> getCurrentCommand() != null ? getCurrentCommand().getName() : "none",
-        null);
-  }
-}
+@Deprecated(since = "2024", forRemoval = true)
+@SuppressWarnings("PMD.AbstractClassWithoutAnyMethod")
+public abstract class SubsystemBase extends Subsystem {}

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java

@@ -31,7 +31,7 @@ import java.util.function.Supplier;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-public class SwerveControllerCommand extends CommandBase {
+public class SwerveControllerCommand extends Command {
   private final Timer m_timer = new Timer();
   private final Trajectory m_trajectory;
   private final Supplier<Pose2d> m_pose;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java

@@ -16,7 +16,7 @@ import java.util.function.Consumer;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-public class TrapezoidProfileCommand extends CommandBase {
+public class TrapezoidProfileCommand extends Command {
   private final TrapezoidProfile m_profile;
   private final Consumer<State> m_output;
 

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java

@@ -14,7 +14,7 @@ import edu.wpi.first.math.trajectory.TrapezoidProfile;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-public abstract class TrapezoidProfileSubsystem extends SubsystemBase {
+public abstract class TrapezoidProfileSubsystem extends Subsystem {
   private final double m_period;
   private final TrapezoidProfile.Constraints m_constraints;
 

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java

@@ -13,7 +13,7 @@ import edu.wpi.first.wpilibj.Timer;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-public class WaitCommand extends CommandBase {
+public class WaitCommand extends Command {
   protected Timer m_timer = new Timer();
   private final double m_duration;
 

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitUntilCommand.java

@@ -15,7 +15,7 @@ import java.util.function.BooleanSupplier;
  *
  * <p>This class is provided by the NewCommands VendorDep
  */
-public class WaitUntilCommand extends CommandBase {
+public class WaitUntilCommand extends Command {
   private final BooleanSupplier m_condition;
 
   /**

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WrapperCommand.java

@@ -14,7 +14,7 @@ import java.util.Set;
  * added to any other composition or scheduled individually, and the composition requires all
  * subsystems its components require.
  */
-public abstract class WrapperCommand extends CommandBase {
+public abstract class WrapperCommand extends Command {
   protected final Command m_command;
 
   /**