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[wpilibc] Fix Mecanum & Swerve ControllerCommand lambda capture (#3795)

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Fixes #3765
Also fixes SwerveControllerCommand example calling command twice.
This commit is contained in:
sciencewhiz
2021-12-18 11:30:57 -08:00
committed by GitHub
parent c5ae0effac
commit d41d051f1b
3 changed files with 7 additions and 19 deletions
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15
wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp
View File

@@ -81,9 +81,6 @@ MecanumControllerCommand::MecanumControllerCommand(
m_outputVolts(std::move(output)),
m_usePID(true) {
AddRequirements(requirements);
m_desiredRotation = [&] {
return m_trajectory.States().back().pose.Rotation();
};
}
MecanumControllerCommand::MecanumControllerCommand(
@@ -158,9 +155,6 @@ MecanumControllerCommand::MecanumControllerCommand(
m_outputVolts(std::move(output)),
m_usePID(true) {
AddRequirements(requirements);
m_desiredRotation = [&] {
return m_trajectory.States().back().pose.Rotation();
};
}
MecanumControllerCommand::MecanumControllerCommand(
@@ -203,9 +197,6 @@ MecanumControllerCommand::MecanumControllerCommand(
m_outputVel(std::move(output)),
m_usePID(false) {
AddRequirements(requirements);
m_desiredRotation = [&] {
return m_trajectory.States().back().pose.Rotation();
};
}
MecanumControllerCommand::MecanumControllerCommand(
@@ -248,12 +239,12 @@ MecanumControllerCommand::MecanumControllerCommand(
m_outputVel(std::move(output)),
m_usePID(false) {
AddRequirements(requirements);
m_desiredRotation = [&] {
return m_trajectory.States().back().pose.Rotation();
};
}
void MecanumControllerCommand::Initialize() {
m_desiredRotation = [&] {
return m_trajectory.States().back().pose.Rotation();
};
m_prevTime = 0_s;
auto initialState = m_trajectory.Sample(0_s);

9
wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc
View File

@@ -43,9 +43,6 @@ SwerveControllerCommand<NumModules>::SwerveControllerCommand(
m_controller(xController, yController, thetaController),
m_outputStates(output) {
this->AddRequirements(requirements);
m_desiredRotation = [&] {
return m_trajectory.States().back().pose.Rotation();
};
}
template <size_t NumModules>
@@ -80,13 +77,13 @@ SwerveControllerCommand<NumModules>::SwerveControllerCommand(
m_controller(xController, yController, thetaController),
m_outputStates(output) {
this->AddRequirements(requirements);
m_desiredRotation = [&] {
return m_trajectory.States().back().pose.Rotation();
};
}
template <size_t NumModules>
void SwerveControllerCommand<NumModules>::Initialize() {
m_desiredRotation = [&] {
return m_trajectory.States().back().pose.Rotation();
};
m_timer.Reset();
m_timer.Start();
}