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This commit is contained in:
PJ Reiniger
2025-11-07 19:57:21 -05:00
committed by Peter Johnson
parent c89910b7c6
commit c48b722dac
650 changed files with 1529 additions and 1545 deletions
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2
commandsv3/src/main/java/org/wpilib/command3/Command.java
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@@ -6,13 +6,13 @@ package org.wpilib.command3;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import org.wpilib.units.measure.Time;
import java.util.Collection;
import java.util.Collections;
import java.util.Set;
import java.util.function.BooleanSupplier;
import java.util.function.Consumer;
import org.wpilib.annotation.NoDiscard;
import org.wpilib.units.measure.Time;
/**
* Performs some task using one or more {@link Mechanism mechanisms}. Commands are fundamentally

4
commandsv3/src/main/java/org/wpilib/command3/Coroutine.java
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@@ -7,13 +7,13 @@ package org.wpilib.command3;
import static org.wpilib.units.Units.Seconds;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import org.wpilib.units.measure.Time;
import org.wpilib.system.Timer;
import java.util.Arrays;
import java.util.Collection;
import java.util.List;
import java.util.function.BooleanSupplier;
import java.util.function.Consumer;
import org.wpilib.system.Timer;
import org.wpilib.units.measure.Time;
/**
* A coroutine object is injected into command's {@link Command#run(Coroutine)} method to allow

2
commandsv3/src/main/java/org/wpilib/command3/Mechanism.java
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@@ -4,10 +4,10 @@
package org.wpilib.command3;
import org.wpilib.units.measure.Time;
import java.util.List;
import java.util.function.Consumer;
import org.wpilib.annotation.NoDiscard;
import org.wpilib.units.measure.Time;
/**
* Generic base class to represent mechanisms on a robot. Commands can require sole ownership of a

10
commandsv3/src/main/java/org/wpilib/command3/Scheduler.java
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@@ -7,11 +7,6 @@ package org.wpilib.command3;
import static org.wpilib.units.Units.Microseconds;
import static org.wpilib.units.Units.Milliseconds;
import org.wpilib.util.ErrorMessages;
import org.wpilib.util.protobuf.ProtobufSerializable;
import org.wpilib.system.RobotController;
import org.wpilib.opmode.TimedRobot;
import org.wpilib.event.EventLoop;
import java.util.ArrayList;
import java.util.Collection;
import java.util.Collections;
@@ -29,6 +24,11 @@ import java.util.stream.Collectors;
import org.wpilib.annotation.NoDiscard;
import org.wpilib.command3.button.CommandGenericHID;
import org.wpilib.command3.proto.SchedulerProto;
import org.wpilib.event.EventLoop;
import org.wpilib.opmode.TimedRobot;
import org.wpilib.system.RobotController;
import org.wpilib.util.ErrorMessages;
import org.wpilib.util.protobuf.ProtobufSerializable;
/**
* Manages the lifecycles of {@link Coroutine}-based {@link Command Commands}. Commands may be

2
commandsv3/src/main/java/org/wpilib/command3/SchedulerEvent.java
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@@ -4,8 +4,8 @@
package org.wpilib.command3;
import org.wpilib.system.RobotController;
import java.util.function.Consumer;
import org.wpilib.system.RobotController;
/**
* An event that occurs during scheduler processing. This can range from {@link Scheduled a command

6
commandsv3/src/main/java/org/wpilib/command3/Trigger.java
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@@ -7,14 +7,14 @@ package org.wpilib.command3;
import static org.wpilib.units.Units.Seconds;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import org.wpilib.math.filter.Debouncer;
import org.wpilib.units.measure.Time;
import org.wpilib.event.EventLoop;
import java.util.ArrayList;
import java.util.EnumMap;
import java.util.List;
import java.util.Map;
import java.util.function.BooleanSupplier;
import org.wpilib.event.EventLoop;
import org.wpilib.math.filter.Debouncer;
import org.wpilib.units.measure.Time;
/**
* Triggers allow users to specify conditions for when commands should run. Triggers can be set up

4
commandsv3/src/main/java/org/wpilib/command3/button/CommandGamepad.java
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@@ -4,10 +4,10 @@
package org.wpilib.command3.button;
import org.wpilib.driverstation.Gamepad;
import org.wpilib.event.EventLoop;
import org.wpilib.command3.Scheduler;
import org.wpilib.command3.Trigger;
import org.wpilib.driverstation.Gamepad;
import org.wpilib.event.EventLoop;
/**
* A version of {@link Gamepad} with {@link Trigger} factories for command-based.

8
commandsv3/src/main/java/org/wpilib/command3/button/CommandGenericHID.java
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@@ -4,14 +4,14 @@
package org.wpilib.command3.button;
import org.wpilib.math.util.Pair;
import org.wpilib.driverstation.DriverStation.POVDirection;
import org.wpilib.driverstation.GenericHID;
import org.wpilib.event.EventLoop;
import java.util.HashMap;
import java.util.Map;
import org.wpilib.command3.Scheduler;
import org.wpilib.command3.Trigger;
import org.wpilib.driverstation.DriverStation.POVDirection;
import org.wpilib.driverstation.GenericHID;
import org.wpilib.event.EventLoop;
import org.wpilib.math.util.Pair;
/**
* A version of {@link GenericHID} with {@link Trigger} factories for command-based.

4
commandsv3/src/main/java/org/wpilib/command3/button/CommandJoystick.java
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@@ -4,10 +4,10 @@
package org.wpilib.command3.button;
import org.wpilib.driverstation.Joystick;
import org.wpilib.event.EventLoop;
import org.wpilib.command3.Scheduler;
import org.wpilib.command3.Trigger;
import org.wpilib.driverstation.Joystick;
import org.wpilib.event.EventLoop;
/**
* A version of {@link Joystick} with {@link Trigger} factories for command-based.

2
commandsv3/src/main/java/org/wpilib/command3/button/JoystickButton.java
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@@ -6,8 +6,8 @@ package org.wpilib.command3.button;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import org.wpilib.driverstation.GenericHID;
import org.wpilib.command3.Trigger;
import org.wpilib.driverstation.GenericHID;
/** A {@link Trigger} that gets its state from a {@link GenericHID}. */
public class JoystickButton extends Trigger {

2
commandsv3/src/main/java/org/wpilib/command3/button/NetworkButton.java
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@@ -6,11 +6,11 @@ package org.wpilib.command3.button;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import org.wpilib.command3.Trigger;
import org.wpilib.networktables.BooleanSubscriber;
import org.wpilib.networktables.BooleanTopic;
import org.wpilib.networktables.NetworkTable;
import org.wpilib.networktables.NetworkTableInstance;
import org.wpilib.command3.Trigger;
/** A {@link Trigger} that uses a {@link NetworkTable} boolean field. */
public class NetworkButton extends Trigger {

2
commandsv3/src/main/java/org/wpilib/command3/button/POVButton.java
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@@ -6,9 +6,9 @@ package org.wpilib.command3.button;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import org.wpilib.command3.Trigger;
import org.wpilib.driverstation.DriverStation.POVDirection;
import org.wpilib.driverstation.GenericHID;
import org.wpilib.command3.Trigger;
/** A {@link Trigger} that gets its state from a POV on a {@link GenericHID}. */
public class POVButton extends Trigger {

2
commandsv3/src/main/java/org/wpilib/command3/button/RobotModeTriggers.java
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@@ -4,8 +4,8 @@
package org.wpilib.command3.button;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.command3.Trigger;
import org.wpilib.driverstation.DriverStation;
/**
* A class containing static {@link Trigger} factories for running callbacks when the robot mode

2
commandsv3/src/main/java/org/wpilib/command3/proto/CommandProto.java
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@@ -4,11 +4,11 @@
package org.wpilib.command3.proto;
import org.wpilib.util.protobuf.Protobuf;
import org.wpilib.command3.Command;
import org.wpilib.command3.Mechanism;
import org.wpilib.command3.Scheduler;
import org.wpilib.command3.proto.ProtobufCommands.ProtobufCommand;
import org.wpilib.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors;
/** Protobuf serde for running commands. */

2
commandsv3/src/main/java/org/wpilib/command3/proto/MechanismProto.java
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@@ -4,9 +4,9 @@
package org.wpilib.command3.proto;
import org.wpilib.util.protobuf.Protobuf;
import org.wpilib.command3.Mechanism;
import org.wpilib.command3.proto.ProtobufCommands.ProtobufMechanism;
import org.wpilib.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors;
public class MechanismProto implements Protobuf<Mechanism, ProtobufMechanism> {

2
commandsv3/src/main/java/org/wpilib/command3/proto/SchedulerProto.java
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@@ -4,10 +4,10 @@
package org.wpilib.command3.proto;
import org.wpilib.util.protobuf.Protobuf;
import org.wpilib.command3.Command;
import org.wpilib.command3.Scheduler;
import org.wpilib.command3.proto.ProtobufCommands.ProtobufScheduler;
import org.wpilib.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors;
/**

2
commandsv3/src/test/java/org/wpilib/command3/CommandTestBase.java
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@@ -4,10 +4,10 @@
package org.wpilib.command3;
import org.wpilib.system.RobotController;
import java.util.ArrayList;
import java.util.List;
import org.junit.jupiter.api.BeforeEach;
import org.wpilib.system.RobotController;
class CommandTestBase {
protected Scheduler m_scheduler;

8
commandsv3/src/test/java/org/wpilib/command3/SchedulerTimingTests.java
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@@ -4,19 +4,19 @@
package org.wpilib.command3;
import static org.wpilib.units.Units.Microseconds;
import static org.wpilib.units.Units.Milliseconds;
import static org.wpilib.units.Units.Seconds;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import static org.wpilib.units.Units.Microseconds;
import static org.wpilib.units.Units.Milliseconds;
import static org.wpilib.units.Units.Seconds;
import org.wpilib.system.RobotController;
import java.util.concurrent.atomic.AtomicBoolean;
import java.util.concurrent.atomic.AtomicInteger;
import java.util.concurrent.atomic.AtomicLong;
import java.util.concurrent.atomic.AtomicReference;
import org.junit.jupiter.api.Test;
import org.wpilib.system.RobotController;
class SchedulerTimingTests extends CommandTestBase {
@Test