Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[examples] Update C++ examples to use CommandPtr (#5988)

Browse Source 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
ncorrea210
2023-12-04 00:39:29 -05:00
committed by GitHub
parent 9bc5fcf886
commit d32c10487c
26 changed files with 139 additions and 111 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Robot.h
View File

@@ -4,6 +4,8 @@
#pragma once
#include <optional>
#include <frc/TimedRobot.h>
#include <frc2/command/Command.h>
@@ -24,7 +26,7 @@ class Robot : public frc::TimedRobot {
private:
// Have it null by default so that if testing teleop it
// doesn't have undefined behavior and potentially crash.
frc2::Command* m_autonomousCommand = nullptr;
std::optional<frc2::CommandPtr> m_autonomousCommand;
RobotContainer m_container;
};

6
wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/RobotContainer.h
View File

@@ -9,6 +9,7 @@
#include <frc/controller/ProfiledPIDController.h>
#include <frc/smartdashboard/SendableChooser.h>
#include <frc2/command/Command.h>
#include <frc2/command/CommandPtr.h>
#include <frc2/command/InstantCommand.h>
#include <frc2/command/PIDCommand.h>
#include <frc2/command/ParallelRaceGroup.h>
@@ -28,7 +29,7 @@ class RobotContainer {
public:
RobotContainer();
frc2::Command* GetAutonomousCommand();
frc2::CommandPtr GetAutonomousCommand();
private:
// The driver's controller
@@ -44,8 +45,5 @@ class RobotContainer {
frc2::InstantCommand m_driveFullSpeed{[this] { m_drive.SetMaxOutput(1); },
{}};
// The chooser for the autonomous routines
frc::SendableChooser<frc2::Command*> m_chooser;
void ConfigureButtonBindings();
};