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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/RomiReference/include/commands/DriveDistance.h
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@@ -4,14 +4,13 @@
#pragma once
#include <frc2/command/CommandBase.h>
#include <frc2/command/Command.h>
#include <frc2/command/CommandHelper.h>
#include <units/length.h>
#include "subsystems/Drivetrain.h"
class DriveDistance
: public frc2::CommandHelper<frc2::CommandBase, DriveDistance> {
class DriveDistance : public frc2::CommandHelper<frc2::Command, DriveDistance> {
public:
DriveDistance(double speed, units::meter_t distance, Drivetrain* drive)
: m_speed(speed), m_distance(distance), m_drive(drive) {

4
wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/DriveTime.h
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@@ -5,13 +5,13 @@
#pragma once
#include <frc/Timer.h>
#include <frc2/command/CommandBase.h>
#include <frc2/command/Command.h>
#include <frc2/command/CommandHelper.h>
#include <units/time.h>
#include "subsystems/Drivetrain.h"
class DriveTime : public frc2::CommandHelper<frc2::CommandBase, DriveTime> {
class DriveTime : public frc2::CommandHelper<frc2::Command, DriveTime> {
public:
DriveTime(double speed, units::second_t time, Drivetrain* drive)
: m_speed(speed), m_duration(time), m_drive(drive) {

4
wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TeleopArcadeDrive.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/Drivetrain.h"
class TeleopArcadeDrive
: public frc2::CommandHelper<frc2::CommandBase, TeleopArcadeDrive> {
: public frc2::CommandHelper<frc2::Command, TeleopArcadeDrive> {
public:
TeleopArcadeDrive(Drivetrain* subsystem,
std::function<double()> xaxisSpeedSupplier,

4
wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TurnDegrees.h
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@@ -4,14 +4,14 @@
#pragma once
#include <frc2/command/CommandBase.h>
#include <frc2/command/Command.h>
#include <frc2/command/CommandHelper.h>
#include <units/angle.h>
#include <units/length.h>
#include "subsystems/Drivetrain.h"
class TurnDegrees : public frc2::CommandHelper<frc2::CommandBase, TurnDegrees> {
class TurnDegrees : public frc2::CommandHelper<frc2::Command, TurnDegrees> {
public:
TurnDegrees(double speed, units::degree_t angle, Drivetrain* drive)
: m_speed(speed), m_angle(angle), m_drive(drive) {

4
wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TurnTime.h
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@@ -5,13 +5,13 @@
#pragma once
#include <frc/Timer.h>
#include <frc2/command/CommandBase.h>
#include <frc2/command/Command.h>
#include <frc2/command/CommandHelper.h>
#include <units/time.h>
#include "subsystems/Drivetrain.h"
class TurnTime : public frc2::CommandHelper<frc2::CommandBase, TurnTime> {
class TurnTime : public frc2::CommandHelper<frc2::Command, TurnTime> {
public:
TurnTime(double speed, units::second_t time, Drivetrain* drive)
: m_speed(speed), m_duration(time), m_drive(drive) {

4
wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.h
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@@ -8,12 +8,12 @@
#include <frc/Encoder.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc/motorcontrol/Spark.h>
#include <frc2/command/SubsystemBase.h>
#include <frc2/command/Subsystem.h>
#include <units/length.h>
#include "sensors/RomiGyro.h"
class Drivetrain : public frc2::SubsystemBase {
class Drivetrain : public frc2::Subsystem {
public:
static constexpr double kCountsPerRevolution = 1440.0;
static constexpr units::meter_t kWheelDiameter = 70_mm;

4
wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/OnBoardIO.h
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@@ -8,7 +8,7 @@
#include <frc/DigitalInput.h>
#include <frc/DigitalOutput.h>
#include <frc2/command/SubsystemBase.h>
#include <frc2/command/Subsystem.h>
/**
* This class represents the onboard IO of the Romi
@@ -20,7 +20,7 @@
* DIO 2 - Button C (input) or Red LED (output)
* DIO 3 - Yellow LED (output only)
*/
class OnBoardIO : public frc2::SubsystemBase {
class OnBoardIO : public frc2::Subsystem {
public:
enum ChannelMode { INPUT, OUTPUT };
OnBoardIO(OnBoardIO::ChannelMode dio1, OnBoardIO::ChannelMode dio2);