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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
wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/CloseClaw.h
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@@ -4,7 +4,7 @@
#pragma once
#include <frc2/command/CommandBase.h>
#include <frc2/command/Command.h>
#include <frc2/command/CommandHelper.h>
#include "subsystems/Claw.h"
@@ -12,7 +12,7 @@
/**
* Closes the claw until the limit switch is tripped.
*/
class CloseClaw : public frc2::CommandHelper<frc2::CommandBase, CloseClaw> {
class CloseClaw : public frc2::CommandHelper<frc2::Command, CloseClaw> {
public:
explicit CloseClaw(Claw& claw);
void Initialize() override;

4
wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetElevatorSetpoint.h
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@@ -4,7 +4,7 @@
#pragma once
#include <frc2/command/CommandBase.h>
#include <frc2/command/Command.h>
#include <frc2/command/CommandHelper.h>
#include "subsystems/Elevator.h"
@@ -17,7 +17,7 @@
* commands using the elevator should make sure they disable PID!
*/
class SetElevatorSetpoint
: public frc2::CommandHelper<frc2::CommandBase, SetElevatorSetpoint> {
: public frc2::CommandHelper<frc2::Command, SetElevatorSetpoint> {
public:
explicit SetElevatorSetpoint(double setpoint, Elevator& elevator);
void Initialize() override;

4
wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetWristSetpoint.h
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@@ -4,7 +4,7 @@
#pragma once
#include <frc2/command/CommandBase.h>
#include <frc2/command/Command.h>
#include <frc2/command/CommandHelper.h>
#include "subsystems/Wrist.h"
@@ -15,7 +15,7 @@
* Other commands using the wrist should make sure they disable PID!
*/
class SetWristSetpoint
: public frc2::CommandHelper<frc2::CommandBase, SetWristSetpoint> {
: public frc2::CommandHelper<frc2::Command, SetWristSetpoint> {
public:
explicit SetWristSetpoint(double setpoint, Wrist& wrist);
void Initialize() override;

4
wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/TankDrive.h
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@@ -4,7 +4,7 @@
#pragma once
#include <frc2/command/CommandBase.h>
#include <frc2/command/Command.h>
#include <frc2/command/CommandHelper.h>
#include "subsystems/Drivetrain.h"
@@ -12,7 +12,7 @@
/**
* Have the robot drive tank style using the PS3 Joystick until interrupted.
*/
class TankDrive : public frc2::CommandHelper<frc2::CommandBase, TankDrive> {
class TankDrive : public frc2::CommandHelper<frc2::Command, TankDrive> {
public:
TankDrive(std::function<double()> left, std::function<double()> right,
Drivetrain& drivetrain);

4
wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h
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@@ -6,14 +6,14 @@
#include <frc/DigitalInput.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc2/command/SubsystemBase.h>
#include <frc2/command/Subsystem.h>
/**
* The claw subsystem is a simple system with a motor for opening and closing.
* If using stronger motors, you should probably use a sensor so that the
* motors don't stall.
*/
class Claw : public frc2::SubsystemBase {
class Claw : public frc2::Subsystem {
public:
Claw();

4
wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Drivetrain.h
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@@ -10,7 +10,7 @@
#include <frc/drive/DifferentialDrive.h>
#include <frc/motorcontrol/MotorControllerGroup.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc2/command/SubsystemBase.h>
#include <frc2/command/Subsystem.h>
namespace frc {
class Joystick;
@@ -21,7 +21,7 @@ class Joystick;
* the robots chassis. These include four drive motors, a left and right encoder
* and a gyro.
*/
class Drivetrain : public frc2::SubsystemBase {
class Drivetrain : public frc2::Subsystem {
public:
Drivetrain();