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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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2
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/DriveSubsystem.cpp
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@@ -47,7 +47,7 @@ void DriveSubsystem::SetMaxOutput(double maxOutput) {
}
void DriveSubsystem::InitSendable(wpi::SendableBuilder& builder) {
SubsystemBase::InitSendable(builder);
Subsystem::InitSendable(builder);
// Publish encoder distances to telemetry.
builder.AddDoubleProperty(

2
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
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@@ -25,7 +25,7 @@ frc2::CommandPtr HatchSubsystem::ReleaseHatchCommand() {
}
void HatchSubsystem::InitSendable(wpi::SendableBuilder& builder) {
SubsystemBase::InitSendable(builder);
Subsystem::InitSendable(builder);
// Publish the solenoid state to telemetry.
builder.AddBooleanProperty(

4
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.h
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@@ -8,11 +8,11 @@
#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>
#include "Constants.h"
class DriveSubsystem : public frc2::SubsystemBase {
class DriveSubsystem : public frc2::Subsystem {
public:
DriveSubsystem();

4
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.h
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@@ -7,11 +7,11 @@
#include <frc/DoubleSolenoid.h>
#include <frc/PneumaticsControlModule.h>
#include <frc2/command/CommandPtr.h>
#include <frc2/command/SubsystemBase.h>
#include <frc2/command/Subsystem.h>
#include "Constants.h"
class HatchSubsystem : public frc2::SubsystemBase {
class HatchSubsystem : public frc2::Subsystem {
public:
HatchSubsystem();