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[commands] Add StartRun command factory (#6572)

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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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10
wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h
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@@ -159,6 +159,16 @@ class Subsystem {
[[nodiscard]]
CommandPtr RunEnd(std::function<void()> run, std::function<void()> end);
/**
* Constructs a command that runs an action once, and then runs an action
* every iteration until interrupted. Requires this subsystem.
*
* @param start the action to run on start
* @param run the action to run every iteration
*/
[[nodiscard]]
CommandPtr StartRun(std::function<void()> start, std::function<void()> run);
/**
* Constructs a DeferredCommand with the provided supplier. This subsystem is
* added as a requirement.