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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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3
wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp
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@@ -18,6 +18,7 @@
#include <frc/simulation/SimHooks.h>
#include <frc/trajectory/TrajectoryGenerator.h>
#include "CommandTestBase.h"
#include "gtest/gtest.h"
#define EXPECT_NEAR_UNITS(val1, val2, eps) \
@@ -72,7 +73,7 @@ class SwerveControllerCommandTest : public ::testing::Test {
};
TEST_F(SwerveControllerCommandTest, ReachesReference) {
frc2::Subsystem subsystem;
frc2::TestSubsystem subsystem;
auto waypoints =
std::vector{frc::Pose2d{0_m, 0_m, 0_rad}, frc::Pose2d{1_m, 5_m, 3_rad}};