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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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6
wpilibcExamples/src/main/cpp/commands/command2/ReplaceMeCommand2.h
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@@ -4,18 +4,18 @@
#pragma once
#include <frc2/command/CommandBase.h>
#include <frc2/command/Command.h>
#include <frc2/command/CommandHelper.h>
/**
* An example command.
*
* <p>Note that this extends CommandHelper, rather extending CommandBase
* <p>Note that this extends CommandHelper, rather extending Command
* directly; this is crucially important, or else the decorator functions in
* Command will *not* work!
*/
class ReplaceMeCommand2
: public frc2::CommandHelper<frc2::CommandBase, ReplaceMeCommand2> {
: public frc2::CommandHelper<frc2::Command, ReplaceMeCommand2> {
public:
ReplaceMeCommand2();

4
wpilibcExamples/src/main/cpp/commands/subsystem2/ReplaceMeSubsystem2.h
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@@ -4,9 +4,9 @@
#pragma once
#include <frc2/command/SubsystemBase.h>
#include <frc2/command/Subsystem.h>
class ReplaceMeSubsystem2 : public frc2::SubsystemBase {
class ReplaceMeSubsystem2 : public frc2::Subsystem {
public:
ReplaceMeSubsystem2();