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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/test/native/cpp/frc2/command/SchedulingRecursionTest.cpp
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@@ -14,7 +14,7 @@ class SchedulingRecursionTest
: public CommandTestBaseWithParam<Command::InterruptionBehavior> {};
class SelfCancellingCommand
: public CommandHelper<CommandBase, SelfCancellingCommand> {
: public CommandHelper<Command, SelfCancellingCommand> {
public:
SelfCancellingCommand(CommandScheduler* scheduler, Subsystem* requirement,
Command::InterruptionBehavior interruptionBehavior =
@@ -76,7 +76,7 @@ TEST_P(SchedulingRecursionTest,
EXPECT_TRUE(hasOtherRun);
}
class CancelEndCommand : public CommandHelper<CommandBase, CancelEndCommand> {
class CancelEndCommand : public CommandHelper<Command, CancelEndCommand> {
public:
CancelEndCommand(CommandScheduler* scheduler, int& counter)
: m_scheduler(scheduler), m_counter(counter) {}