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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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7
wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
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@@ -158,6 +158,13 @@ class CommandScheduler final : public nt::NTSendable,
void UnregisterSubsystem(std::initializer_list<Subsystem*> subsystems);
void UnregisterSubsystem(std::span<Subsystem* const> 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.
*/
void UnregisterAllSubsystems();
/**
* Sets the default command for a subsystem. Registers that subsystem if it
* is not already registered. Default commands will run whenever there is no