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[cmd3] Change Command.noRequirements to accept a command implementation (#8783)

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This is more ergonomic than `Command.noRequirements().executing(...)`
This commit is contained in:
Sam Carlberg
2026-04-19 18:40:50 -04:00
committed by GitHub
parent 3eaeac6150
commit b7df267687
19 changed files with 121 additions and 172 deletions
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14
commandsv3/src/main/java/org/wpilib/command3/Command.java
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@@ -85,7 +85,7 @@ import org.wpilib.units.measure.Time;
* // to run when not in use. Interrupting one of the inner commands while it's
* // running will cancel the entire sequence.
* private Command advancedScoringSequence() {
* return Command.noRequirements().executing(coroutine -> {
* return Command.noRequirements(coroutine -> {
* coroutine.await(drivetrain.driveToScoringLocation());
* coroutine.await(elevator.moveToScoringHeight());
* coroutine.await(gripper.release());
@@ -226,15 +226,17 @@ public interface Command {
* Creates a command that does not require any hardware; that is, it does not affect the state of
* any physical objects. This is useful for commands that do some cleanup or state management,
* such as resetting odometry or sensors, that you don't want to interrupt a command that's
* controlling the mechanisms it affects.
* controlling the mechanisms it affects, or for a command composition that you don't want to
* inherit the requirements of its child commands.
*
* <p>More configuration options are needed after calling this function before the command can be
* created. See {@link StagedCommandBuilder} for details.
*
* @param body The command's body. Cannot be null.
* @return a builder that can be used to configure the resulting command
*/
static NeedsExecutionBuilderStage noRequirements() {
return new StagedCommandBuilder().noRequirements();
static NeedsNameBuilderStage noRequirements(Consumer<Coroutine> body) {
return new StagedCommandBuilder().noRequirements().executing(body);
}
/**
@@ -326,7 +328,7 @@ public interface Command {
static NeedsNameBuilderStage waitUntil(BooleanSupplier condition) {
requireNonNullParam(condition, "condition", "Command.waitUntil");
return noRequirements().executing(coroutine -> coroutine.waitUntil(condition));
return noRequirements(coroutine -> coroutine.waitUntil(condition));
}
/**
@@ -339,7 +341,7 @@ public interface Command {
static NeedsNameBuilderStage waitFor(Time duration) {
requireNonNullParam(duration, "duration", "Command.waitFor");
return noRequirements().executing(coroutine -> coroutine.wait(duration));
return noRequirements(coroutine -> coroutine.wait(duration));
}
/**

4
commandsv3/src/main/java/org/wpilib/command3/Coroutine.java
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@@ -79,7 +79,7 @@ public final class Coroutine {
*
* <pre>{@code
* Command example() {
* return Command.noRequirements().executing(coroutine -> {
* return Command.noRequirements(coroutine -> {
* Command child = ...;
* coroutine.fork(child);
* // ... do more things
@@ -121,7 +121,7 @@ public final class Coroutine {
*
* <pre>{@code
* Command example() {
* return Command.noRequirements().executing(coroutine -> {
* return Command.noRequirements(coroutine -> {
* Collection<Command> innerCommands = ...;
* coroutine.fork(innerCommands);
* // ... do more things

2
commandsv3/src/main/java/org/wpilib/command3/Trigger.java
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@@ -34,7 +34,7 @@ import org.wpilib.units.measure.Time;
* canceled when the enclosing command exits.
*
* <pre>{@code
* Command shootWhileAiming = Command.noRequirements().executing(co -> {
* Command shootWhileAiming = Command.noRequirements(co -> {
* turret.atTarget.onTrue(shooter.shootOnce());
* co.await(turret.lockOnGoal());
* }).named("Shoot While Aiming");