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[commands] Add StartRun command factory (#6572)

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This commit is contained in:
Tim Winters
2024-05-03 15:40:13 -04:00
committed by GitHub
parent e172aa66f7
commit bad56bcbe8
6 changed files with 60 additions and 0 deletions
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8
wpilibNewCommands/src/main/native/cpp/frc2/command/Commands.cpp
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@@ -58,6 +58,14 @@ CommandPtr cmd::RunEnd(std::function<void()> run, std::function<void()> end,
.ToPtr();
}
CommandPtr cmd::StartRun(std::function<void()> start, std::function<void()> run,
Requirements requirements) {
return FunctionalCommand(
std::move(start), std::move(run), [](bool interrupted) {},
[] { return false; }, requirements)
.ToPtr();
}
CommandPtr cmd::Print(std::string_view msg) {
return PrintCommand(msg).ToPtr();
}

5
wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp
View File

@@ -61,6 +61,11 @@ CommandPtr Subsystem::RunEnd(std::function<void()> run,
return cmd::RunEnd(std::move(run), std::move(end), {this});
}
CommandPtr Subsystem::StartRun(std::function<void()> start,
std::function<void()> run) {
return cmd::StartRun(std::move(start), std::move(run), {this});
}
CommandPtr Subsystem::Defer(wpi::unique_function<CommandPtr()> supplier) {
return cmd::Defer(std::move(supplier), {this});
}