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

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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.
This commit is contained in:
Ryan Blue
2023-07-14 01:12:01 -04:00
committed by GitHub
parent 7ac932996a
commit aaea85ff16
176 changed files with 887 additions and 910 deletions
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wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
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@@ -291,6 +291,10 @@ void CommandScheduler::UnregisterSubsystem(
}
}
void CommandScheduler::UnregisterAllSubsystems() {
m_impl->subsystems.clear();
}
void CommandScheduler::SetDefaultCommand(Subsystem* subsystem,
CommandPtr&& defaultCommand) {
if (!defaultCommand.get()->HasRequirement(subsystem)) {