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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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5
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DefaultDrive.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/DriveSubsystem.h"
@@ -16,8 +16,7 @@
*
* @see RunCommand
*/
class DefaultDrive
: public frc2::CommandHelper<frc2::CommandBase, DefaultDrive> {
class DefaultDrive : public frc2::CommandHelper<frc2::Command, DefaultDrive> {
public:
/**
* Creates a new DefaultDrive.

5
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DriveDistance.h
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@@ -4,13 +4,12 @@
#pragma once
#include <frc2/command/CommandBase.h>
#include <frc2/command/Command.h>
#include <frc2/command/CommandHelper.h>
#include "subsystems/DriveSubsystem.h"
class DriveDistance
: public frc2::CommandHelper<frc2::CommandBase, DriveDistance> {
class DriveDistance : public frc2::CommandHelper<frc2::Command, DriveDistance> {
public:
/**
* Creates a new DriveDistance.

4
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/GrabHatch.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/HatchSubsystem.h"
@@ -16,7 +16,7 @@
*
* @see InstantCommand
*/
class GrabHatch : public frc2::CommandHelper<frc2::CommandBase, GrabHatch> {
class GrabHatch : public frc2::CommandHelper<frc2::Command, GrabHatch> {
public:
explicit GrabHatch(HatchSubsystem* subsystem);

4
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/HalveDriveSpeed.h
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@@ -4,13 +4,13 @@
#pragma once
#include <frc2/command/CommandBase.h>
#include <frc2/command/Command.h>
#include <frc2/command/CommandHelper.h>
#include "subsystems/DriveSubsystem.h"
class HalveDriveSpeed
: public frc2::CommandHelper<frc2::CommandBase, HalveDriveSpeed> {
: public frc2::CommandHelper<frc2::Command, HalveDriveSpeed> {
public:
explicit HalveDriveSpeed(DriveSubsystem* subsystem);

5
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ReleaseHatch.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/HatchSubsystem.h"
@@ -16,8 +16,7 @@
*
* @see InstantCommand
*/
class ReleaseHatch
: public frc2::CommandHelper<frc2::CommandBase, ReleaseHatch> {
class ReleaseHatch : public frc2::CommandHelper<frc2::Command, ReleaseHatch> {
public:
explicit ReleaseHatch(HatchSubsystem* subsystem);

4
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/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/HatchbotTraditional/include/subsystems/HatchSubsystem.h
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@@ -6,11 +6,11 @@
#include <frc/DoubleSolenoid.h>
#include <frc/PneumaticsControlModule.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();