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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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4
wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
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@@ -11,7 +11,7 @@
#include <frc/Timer.h>
#include <frc/trajectory/TrapezoidProfile.h>
#include "frc2/command/CommandBase.h"
#include "frc2/command/Command.h"
#include "frc2/command/CommandHelper.h"
namespace frc2 {
@@ -25,7 +25,7 @@ namespace frc2 {
*/
template <class Distance>
class TrapezoidProfileCommand
: public CommandHelper<CommandBase, TrapezoidProfileCommand<Distance>> {
: public CommandHelper<Command, TrapezoidProfileCommand<Distance>> {
using Distance_t = units::unit_t<Distance>;
using Velocity =
units::compound_unit<Distance, units::inverse<units::seconds>>;