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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
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/command2/ReplaceMeCommand.java
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@@ -4,9 +4,9 @@
package edu.wpi.first.wpilibj.commands.command2;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.Command;
public class ReplaceMeCommand extends CommandBase {
public class ReplaceMeCommand extends Command {
/** Creates a new ReplaceMeCommand. */
public ReplaceMeCommand() {
// Use addRequirements() here to declare subsystem dependencies.

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/subsystem2/ReplaceMeSubsystem.java
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@@ -4,9 +4,9 @@
package edu.wpi.first.wpilibj.commands.subsystem2;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.Subsystem;
public class ReplaceMeSubsystem extends SubsystemBase {
public class ReplaceMeSubsystem extends Subsystem {
/** Creates a new ReplaceMeSubsystem. */
public ReplaceMeSubsystem() {}

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/DriveSubsystem.java
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@@ -9,9 +9,9 @@ import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.armbot.Constants.DriveConstants;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.Subsystem;
public class DriveSubsystem extends SubsystemBase {
public class DriveSubsystem extends Subsystem {
// The motors on the left side of the drive.
private final MotorControllerGroup m_leftMotors =
new MotorControllerGroup(

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/DriveSubsystem.java
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@@ -11,10 +11,10 @@ import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.Subsystem;
import java.util.function.DoubleSupplier;
public class DriveSubsystem extends SubsystemBase {
public class DriveSubsystem extends Subsystem {
// The motors on the left side of the drive.
private final MotorControllerGroup m_leftMotors =
new MotorControllerGroup(

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java
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@@ -9,9 +9,9 @@ import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.ExampleSmartMotorController;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.Subsystem;
public class DriveSubsystem extends SubsystemBase {
public class DriveSubsystem extends Subsystem {
// The motors on the left side of the drive.
private final ExampleSmartMotorController m_leftLeader =
new ExampleSmartMotorController(DriveConstants.kLeftMotor1Port);

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/DriveSubsystem.java
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@@ -9,9 +9,9 @@ import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.DriveConstants;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.Subsystem;
public class DriveSubsystem extends SubsystemBase {
public class DriveSubsystem extends Subsystem {
// The motors on the left side of the drive.
private final MotorControllerGroup m_leftMotors =
new MotorControllerGroup(

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/RobotContainer.java
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@@ -20,7 +20,6 @@ import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Elevator;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Wrist;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
/**
@@ -38,7 +37,7 @@ public class RobotContainer {
private final XboxController m_joystick = new XboxController(0);
private final CommandBase m_autonomousCommand =
private final Command m_autonomousCommand =
new Autonomous(m_drivetrain, m_claw, m_wrist, m_elevator);
/** The container for the robot. Contains subsystems, OI devices, and commands. */

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/CloseClaw.java
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@@ -6,10 +6,10 @@ package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.Command;
/** Closes the claw until the limit switch is tripped. */
public class CloseClaw extends CommandBase {
public class CloseClaw extends Command {
private final Claw m_claw;
public CloseClaw(Claw claw) {

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetElevatorSetpoint.java
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@@ -5,14 +5,14 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Elevator;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.Command;
/**
* Move the elevator to a given location. This command finishes when it is within the tolerance, but
* leaves the PID loop running to maintain the position. Other commands using the elevator should
* make sure they disable PID!
*/
public class SetElevatorSetpoint extends CommandBase {
public class SetElevatorSetpoint extends Command {
private final Elevator m_elevator;
private final double m_setpoint;

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetWristSetpoint.java
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@@ -5,14 +5,14 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Wrist;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.Command;
/**
* Move the wrist to a given angle. This command finishes when it is within the tolerance, but
* leaves the PID loop running to maintain the position. Other commands using the wrist should make
* sure they disable PID!
*/
public class SetWristSetpoint extends CommandBase {
public class SetWristSetpoint extends Command {
private final Wrist m_wrist;
private final double m_setpoint;

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/TankDrive.java
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@@ -5,11 +5,11 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Drivetrain;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.Command;
import java.util.function.DoubleSupplier;
/** Have the robot drive tank style. */
public class TankDrive extends CommandBase {
public class TankDrive extends Command {
private final Drivetrain m_drivetrain;
private final DoubleSupplier m_left;
private final DoubleSupplier m_right;

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Claw.java
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@@ -8,13 +8,13 @@ import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.examples.gearsbot.Constants.ClawConstants;
import edu.wpi.first.wpilibj.motorcontrol.Victor;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.Subsystem;
/**
* 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.
*/
public class Claw extends SubsystemBase {
public class Claw extends Subsystem {
private final Victor m_motor = new Victor(ClawConstants.kMotorPort);
private final DigitalInput m_contact = new DigitalInput(ClawConstants.kContactPort);

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Drivetrain.java
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@@ -14,9 +14,9 @@ import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.Subsystem;
public class Drivetrain extends SubsystemBase {
public class Drivetrain extends Subsystem {
/**
* The Drivetrain subsystem incorporates the sensors and actuators attached to the robots chassis.
* These include four drive motors, a left and right encoder and a gyro.

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/subsystems/DriveSubsystem.java
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@@ -11,9 +11,9 @@ import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants
import edu.wpi.first.wpilibj.interfaces.Gyro;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.Subsystem;
public class DriveSubsystem extends SubsystemBase {
public class DriveSubsystem extends Subsystem {
// The motors on the left side of the drive.
private final MotorControllerGroup m_leftMotors =
new MotorControllerGroup(

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/DriveSubsystem.java
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@@ -10,9 +10,9 @@ import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.DriveConstants;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.Subsystem;
public class DriveSubsystem extends SubsystemBase {
public class DriveSubsystem extends Subsystem {
// The motors on the left side of the drive.
private final MotorControllerGroup m_leftMotors =
new MotorControllerGroup(

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/HatchSubsystem.java
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@@ -11,11 +11,11 @@ import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.HatchConstants;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Subsystem;
/** A hatch mechanism actuated by a single {@link edu.wpi.first.wpilibj.DoubleSolenoid}. */
public class HatchSubsystem extends SubsystemBase {
public class HatchSubsystem extends Subsystem {
private final DoubleSolenoid m_hatchSolenoid =
new DoubleSolenoid(
PneumaticsModuleType.CTREPCM,
@@ -23,13 +23,13 @@ public class HatchSubsystem extends SubsystemBase {
HatchConstants.kHatchSolenoidPorts[1]);
/** Grabs the hatch. */
public CommandBase grabHatchCommand() {
public Command grabHatchCommand() {
// implicitly require `this`
return this.runOnce(() -> m_hatchSolenoid.set(kForward));
}
/** Releases the hatch. */
public CommandBase releaseHatchCommand() {
public Command releaseHatchCommand() {
// implicitly require `this`
return this.runOnce(() -> m_hatchSolenoid.set(kReverse));
}

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/DefaultDrive.java
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@@ -5,7 +5,7 @@
package edu.wpi.first.wpilibj.examples.hatchbottraditional.commands;
import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.Command;
import java.util.function.DoubleSupplier;
/**
@@ -13,7 +13,7 @@ import java.util.function.DoubleSupplier;
* explicitly for pedagogical purposes - actual code should inline a command this simple with {@link
* edu.wpi.first.wpilibj2.command.RunCommand}.
*/
public class DefaultDrive extends CommandBase {
public class DefaultDrive extends Command {
private final DriveSubsystem m_drive;
private final DoubleSupplier m_forward;
private final DoubleSupplier m_rotation;

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/DriveDistance.java
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@@ -5,9 +5,9 @@
package edu.wpi.first.wpilibj.examples.hatchbottraditional.commands;
import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.Command;
public class DriveDistance extends CommandBase {
public class DriveDistance extends Command {
private final DriveSubsystem m_drive;
private final double m_distance;
private final double m_speed;

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/GrabHatch.java
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@@ -5,14 +5,14 @@
package edu.wpi.first.wpilibj.examples.hatchbottraditional.commands;
import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.HatchSubsystem;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.Command;
/**
* A simple command that grabs a hatch with the {@link HatchSubsystem}. Written explicitly for
* pedagogical purposes. Actual code should inline a command this simple with {@link
* edu.wpi.first.wpilibj2.command.InstantCommand}.
*/
public class GrabHatch extends CommandBase {
public class GrabHatch extends Command {
// The subsystem the command runs on
private final HatchSubsystem m_hatchSubsystem;

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/HalveDriveSpeed.java
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@@ -5,9 +5,9 @@
package edu.wpi.first.wpilibj.examples.hatchbottraditional.commands;
import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.Command;
public class HalveDriveSpeed extends CommandBase {
public class HalveDriveSpeed extends Command {
private final DriveSubsystem m_drive;
public HalveDriveSpeed(DriveSubsystem drive) {

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/DriveSubsystem.java
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@@ -10,9 +10,9 @@ import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.DriveConstants;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.Subsystem;
public class DriveSubsystem extends SubsystemBase {
public class DriveSubsystem extends Subsystem {
// The motors on the left side of the drive.
private final MotorControllerGroup m_leftMotors =
new MotorControllerGroup(

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/HatchSubsystem.java
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@@ -11,10 +11,10 @@ import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.HatchConstants;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.Subsystem;
/** A hatch mechanism actuated by a single {@link DoubleSolenoid}. */
public class HatchSubsystem extends SubsystemBase {
public class HatchSubsystem extends Subsystem {
private final DoubleSolenoid m_hatchSolenoid =
new DoubleSolenoid(
PneumaticsModuleType.CTREPCM,

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java
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@@ -15,9 +15,9 @@ import edu.wpi.first.wpilibj.drive.MecanumDrive;
import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.DriveConstants;
import edu.wpi.first.wpilibj.interfaces.Gyro;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.Subsystem;
public class DriveSubsystem extends SubsystemBase {
public class DriveSubsystem extends Subsystem {
private final PWMSparkMax m_frontLeft = new PWMSparkMax(DriveConstants.kFrontLeftMotorPort);
private final PWMSparkMax m_rearLeft = new PWMSparkMax(DriveConstants.kRearLeftMotorPort);
private final PWMSparkMax m_frontRight = new PWMSparkMax(DriveConstants.kFrontRightMotorPort);

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
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@@ -14,9 +14,9 @@ import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants;
import edu.wpi.first.wpilibj.interfaces.Gyro;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.Subsystem;
public class DriveSubsystem extends SubsystemBase {
public class DriveSubsystem extends Subsystem {
// The motors on the left side of the drive.
private final MotorControllerGroup m_leftMotors =
new MotorControllerGroup(

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/RapidReactCommandBot.java
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@@ -14,7 +14,7 @@ import edu.wpi.first.wpilibj.examples.rapidreactcommandbot.subsystems.Intake;
import edu.wpi.first.wpilibj.examples.rapidreactcommandbot.subsystems.Pneumatics;
import edu.wpi.first.wpilibj.examples.rapidreactcommandbot.subsystems.Shooter;
import edu.wpi.first.wpilibj.examples.rapidreactcommandbot.subsystems.Storage;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.Trigger;
@@ -81,7 +81,7 @@ public class RapidReactCommandBot {
*
* <p>Scheduled during {@link Robot#autonomousInit()}.
*/
public CommandBase getAutonomousCommand() {
public Command getAutonomousCommand() {
// Drive forward for 2 meters at half speed with a 3 second timeout
return m_drive
.driveDistanceCommand(AutoConstants.kDriveDistanceMeters, AutoConstants.kDriveSpeed)

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Drive.java
View File

@@ -9,11 +9,11 @@ import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.rapidreactcommandbot.Constants.DriveConstants;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Subsystem;
import java.util.function.DoubleSupplier;
public class Drive extends SubsystemBase {
public class Drive extends Subsystem {
// The motors on the left side of the drive.
private final MotorControllerGroup m_leftMotors =
new MotorControllerGroup(
@@ -61,7 +61,7 @@ public class Drive extends SubsystemBase {
* @param fwd the commanded forward movement
* @param rot the commanded rotation
*/
public CommandBase arcadeDriveCommand(DoubleSupplier fwd, DoubleSupplier rot) {
public Command arcadeDriveCommand(DoubleSupplier fwd, DoubleSupplier rot) {
// A split-stick arcade command, with forward/backward controlled by the left
// hand, and turning controlled by the right.
return run(() -> m_drive.arcadeDrive(fwd.getAsDouble(), rot.getAsDouble()))
@@ -74,7 +74,7 @@ public class Drive extends SubsystemBase {
* @param distanceMeters The distance to drive forward in meters
* @param speed The fraction of max speed at which to drive
*/
public CommandBase driveDistanceCommand(double distanceMeters, double speed) {
public Command driveDistanceCommand(double distanceMeters, double speed) {
return runOnce(
() -> {
// Reset encoders at the start of the command

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Intake.java
View File

@@ -9,10 +9,10 @@ import static edu.wpi.first.wpilibj.examples.rapidreactcommandbot.Constants.Inta
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Subsystem;
public class Intake extends SubsystemBase {
public class Intake extends Subsystem {
private final PWMSparkMax m_motor = new PWMSparkMax(IntakeConstants.kMotorPort);
// Double solenoid connected to two channels of a PCM with the default CAN ID
@@ -23,14 +23,14 @@ public class Intake extends SubsystemBase {
IntakeConstants.kSolenoidPorts[1]);
/** Returns a command that deploys the intake, and then runs the intake motor indefinitely. */
public CommandBase intakeCommand() {
public Command intakeCommand() {
return runOnce(() -> m_pistons.set(DoubleSolenoid.Value.kForward))
.andThen(run(() -> m_motor.set(1.0)))
.withName("Intake");
}
/** Returns a command that turns off and retracts the intake. */
public CommandBase retractCommand() {
public Command retractCommand() {
return runOnce(
() -> {
m_motor.disable();

8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Pneumatics.java
View File

@@ -8,11 +8,11 @@ import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Subsystem;
/** Subsystem for managing the compressor, pressure sensor, etc. */
public class Pneumatics extends SubsystemBase {
public class Pneumatics extends Subsystem {
// External analog pressure sensor
// product-specific voltage->pressure conversion, see product manual
// in this case, 250(V/5)-25
@@ -48,7 +48,7 @@ public class Pneumatics extends SubsystemBase {
*
* @return command
*/
public CommandBase disableCompressorCommand() {
public Command disableCompressorCommand() {
return startEnd(
() -> {
// Disable closed-loop mode on the compressor.

8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Shooter.java
View File

@@ -12,10 +12,10 @@ import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.ShooterConstants;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Subsystem;
public class Shooter extends SubsystemBase {
public class Shooter extends Subsystem {
private final PWMSparkMax m_shooterMotor = new PWMSparkMax(ShooterConstants.kShooterMotorPort);
private final PWMSparkMax m_feederMotor = new PWMSparkMax(ShooterConstants.kFeederMotorPort);
private final Encoder m_shooterEncoder =
@@ -50,7 +50,7 @@ public class Shooter extends SubsystemBase {
*
* @param setpointRotationsPerSecond The desired shooter velocity
*/
public CommandBase shootCommand(double setpointRotationsPerSecond) {
public Command shootCommand(double setpointRotationsPerSecond) {
return parallel(
// Run the shooter flywheel at the desired setpoint using feedforward and feedback
run(

8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Storage.java
View File

@@ -8,10 +8,10 @@ import static edu.wpi.first.wpilibj.examples.rapidreactcommandbot.Constants.Stor
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Subsystem;
public class Storage extends SubsystemBase {
public class Storage extends Subsystem {
private final PWMSparkMax m_motor = new PWMSparkMax(StorageConstants.kMotorPort);
private final DigitalInput m_ballSensor = new DigitalInput(StorageConstants.kBallSensorPort);
@@ -27,7 +27,7 @@ public class Storage extends SubsystemBase {
}
/** Returns a command that runs the storage motor indefinitely. */
public CommandBase runCommand() {
public Command runCommand() {
return run(() -> m_motor.set(1)).withName("run");
}
}

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/commands/ArcadeDrive.java
View File

@@ -5,10 +5,10 @@
package edu.wpi.first.wpilibj.examples.romireference.commands;
import edu.wpi.first.wpilibj.examples.romireference.subsystems.Drivetrain;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.Command;
import java.util.function.Supplier;
public class ArcadeDrive extends CommandBase {
public class ArcadeDrive extends Command {
private final Drivetrain m_drivetrain;
private final Supplier<Double> m_xaxisSpeedSupplier;
private final Supplier<Double> m_zaxisRotateSupplier;

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/commands/DriveDistance.java
View File

@@ -5,9 +5,9 @@
package edu.wpi.first.wpilibj.examples.romireference.commands;
import edu.wpi.first.wpilibj.examples.romireference.subsystems.Drivetrain;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.Command;
public class DriveDistance extends CommandBase {
public class DriveDistance extends Command {
private final Drivetrain m_drive;
private final double m_distance;
private final double m_speed;

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/commands/DriveTime.java
View File

@@ -5,9 +5,9 @@
package edu.wpi.first.wpilibj.examples.romireference.commands;
import edu.wpi.first.wpilibj.examples.romireference.subsystems.Drivetrain;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.Command;
public class DriveTime extends CommandBase {
public class DriveTime extends Command {
private final double m_duration;
private final double m_speed;
private final Drivetrain m_drive;

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/commands/TurnDegrees.java
View File

@@ -5,9 +5,9 @@
package edu.wpi.first.wpilibj.examples.romireference.commands;
import edu.wpi.first.wpilibj.examples.romireference.subsystems.Drivetrain;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.Command;
public class TurnDegrees extends CommandBase {
public class TurnDegrees extends Command {
private final Drivetrain m_drive;
private final double m_degrees;
private final double m_speed;

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/commands/TurnTime.java
View File

@@ -5,13 +5,13 @@
package edu.wpi.first.wpilibj.examples.romireference.commands;
import edu.wpi.first.wpilibj.examples.romireference.subsystems.Drivetrain;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.Command;
/*
* Creates a new TurnTime command. This command will turn your robot for a
* desired rotational speed and time.
*/
public class TurnTime extends CommandBase {
public class TurnTime extends Command {
private final double m_duration;
private final double m_rotationalSpeed;
private final Drivetrain m_drive;

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/subsystems/Drivetrain.java
View File

@@ -9,9 +9,9 @@ import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.romireference.sensors.RomiGyro;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.Subsystem;
public class Drivetrain extends SubsystemBase {
public class Drivetrain extends Subsystem {
private static final double kCountsPerRevolution = 1440.0;
private static final double kWheelDiameterInch = 2.75591; // 70 mm

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/subsystems/OnBoardIO.java
View File

@@ -8,7 +8,7 @@ import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DigitalOutput;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.Subsystem;
/**
* This class represents the onboard IO of the Romi reference robot. This includes the pushbuttons
@@ -17,7 +17,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
* <p>DIO 0 - Button A (input only) DIO 1 - Button B (input) or Green LED (output) DIO 2 - Button C
* (input) or Red LED (output) DIO 3 - Yellow LED (output only)
*/
public class OnBoardIO extends SubsystemBase {
public class OnBoardIO extends Subsystem {
private final DigitalInput m_buttonA = new DigitalInput(0);
private final DigitalOutput m_yellowLed = new DigitalOutput(3);

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
View File

@@ -22,9 +22,9 @@ import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim;
import edu.wpi.first.wpilibj.simulation.EncoderSim;
import edu.wpi.first.wpilibj.smartdashboard.Field2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.Subsystem;
public class DriveSubsystem extends SubsystemBase {
public class DriveSubsystem extends Subsystem {
// The motors on the left side of the drive.
private final MotorControllerGroup m_leftMotors =
new MotorControllerGroup(

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.java
View File

@@ -13,9 +13,9 @@ import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.wpilibj.ADXRS450_Gyro;
import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.DriveConstants;
import edu.wpi.first.wpilibj.interfaces.Gyro;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.Subsystem;
public class DriveSubsystem extends SubsystemBase {
public class DriveSubsystem extends Subsystem {
// Robot swerve modules
private final SwerveModule m_frontLeft =
new SwerveModule(

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/Autos.java
View File

@@ -5,12 +5,12 @@
package edu.wpi.first.wpilibj.templates.commandbased.commands;
import edu.wpi.first.wpilibj.templates.commandbased.subsystems.ExampleSubsystem;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
public final class Autos {
/** Example static factory for an autonomous command. */
public static CommandBase exampleAuto(ExampleSubsystem subsystem) {
public static Command exampleAuto(ExampleSubsystem subsystem) {
return Commands.sequence(subsystem.exampleMethodCommand(), new ExampleCommand(subsystem));
}

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/ExampleCommand.java
View File

@@ -5,10 +5,10 @@
package edu.wpi.first.wpilibj.templates.commandbased.commands;
import edu.wpi.first.wpilibj.templates.commandbased.subsystems.ExampleSubsystem;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.Command;
/** An example command that uses an example subsystem. */
public class ExampleCommand extends CommandBase {
public class ExampleCommand extends Command {
@SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
private final ExampleSubsystem m_subsystem;

8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java
View File

@@ -4,10 +4,10 @@
package edu.wpi.first.wpilibj.templates.commandbased.subsystems;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Subsystem;
public class ExampleSubsystem extends SubsystemBase {
public class ExampleSubsystem extends Subsystem {
/** Creates a new ExampleSubsystem. */
public ExampleSubsystem() {}
@@ -16,7 +16,7 @@ public class ExampleSubsystem extends SubsystemBase {
*
* @return a command
*/
public CommandBase exampleMethodCommand() {
public Command exampleMethodCommand() {
// Inline construction of command goes here.
// Subsystem::RunOnce implicitly requires `this` subsystem.
return runOnce(

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/commands/ExampleCommand.java
View File

@@ -5,10 +5,10 @@
package edu.wpi.first.wpilibj.templates.romicommandbased.commands;
import edu.wpi.first.wpilibj.templates.romicommandbased.subsystems.RomiDrivetrain;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.Command;
/** An example command that uses an example subsystem. */
public class ExampleCommand extends CommandBase {
public class ExampleCommand extends Command {
@SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
private final RomiDrivetrain m_subsystem;

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/subsystems/RomiDrivetrain.java
View File

@@ -7,9 +7,9 @@ package edu.wpi.first.wpilibj.templates.romicommandbased.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.Subsystem;
public class RomiDrivetrain extends SubsystemBase {
public class RomiDrivetrain extends Subsystem {
private static final double kCountsPerRevolution = 1440.0;
private static final double kWheelDiameterInch = 2.75591; // 70 mm