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[commands] Revamp Interruptible (#4192)

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This commit is contained in:
Starlight220
2022-08-30 07:53:47 +03:00
committed by GitHub
parent f2a8d38d2a
commit c3a93fb995
26 changed files with 369 additions and 592 deletions
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25
wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
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@@ -13,9 +13,8 @@ using namespace frc2;
Trigger::Trigger(const Trigger& other) = default;
Trigger Trigger::WhenActive(Command* command, bool interruptible) {
this->Rising().IfHigh(
[command, interruptible] { command->Schedule(interruptible); });
Trigger Trigger::WhenActive(Command* command) {
this->Rising().IfHigh([command] { command->Schedule(); });
return *this;
}
@@ -30,8 +29,8 @@ Trigger Trigger::WhenActive(std::function<void()> toRun,
return WhenActive(InstantCommand(std::move(toRun), requirements));
}
Trigger Trigger::WhileActiveContinous(Command* command, bool interruptible) {
this->IfHigh([command, interruptible] { command->Schedule(interruptible); });
Trigger Trigger::WhileActiveContinous(Command* command) {
this->IfHigh([command] { command->Schedule(); });
this->Falling().IfHigh([command] { command->Cancel(); });
return *this;
}
@@ -48,16 +47,14 @@ Trigger Trigger::WhileActiveContinous(
return WhileActiveContinous(InstantCommand(std::move(toRun), requirements));
}
Trigger Trigger::WhileActiveOnce(Command* command, bool interruptible) {
this->Rising().IfHigh(
[command, interruptible] { command->Schedule(interruptible); });
Trigger Trigger::WhileActiveOnce(Command* command) {
this->Rising().IfHigh([command] { command->Schedule(); });
this->Falling().IfHigh([command] { command->Cancel(); });
return *this;
}
Trigger Trigger::WhenInactive(Command* command, bool interruptible) {
this->Falling().IfHigh(
[command, interruptible] { command->Schedule(interruptible); });
Trigger Trigger::WhenInactive(Command* command) {
this->Falling().IfHigh([command] { command->Schedule(); });
return *this;
}
@@ -72,12 +69,12 @@ Trigger Trigger::WhenInactive(std::function<void()> toRun,
return WhenInactive(InstantCommand(std::move(toRun), requirements));
}
Trigger Trigger::ToggleWhenActive(Command* command, bool interruptible) {
this->Rising().IfHigh([command, interruptible] {
Trigger Trigger::ToggleWhenActive(Command* command) {
this->Rising().IfHigh([command] {
if (command->IsScheduled()) {
command->Cancel();
} else {
command->Schedule(interruptible);
command->Schedule();
}
});
return *this;