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[commands] Remove deprecated TrapzoidProfileCommand api (#6547)

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This commit is contained in:
Isaac Turner
2024-04-28 12:07:23 +08:00
committed by GitHub
parent a42ffb8fa4
commit d9eb3691d8
2 changed files with 1 additions and 52 deletions
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30
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java
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@@ -22,7 +22,6 @@ public class TrapezoidProfileCommand extends Command {
private final Consumer<State> m_output;
private final Supplier<State> m_goal;
private final Supplier<State> m_currentState;
private final boolean m_newAPI; // TODO: Remove
private final Timer m_timer = new Timer();
/**
@@ -46,29 +45,6 @@ public class TrapezoidProfileCommand extends Command {
m_output = requireNonNullParam(output, "output", "TrapezoidProfileCommand");
m_goal = goal;
m_currentState = currentState;
m_newAPI = true;
addRequirements(requirements);
}
/**
* Creates a new TrapezoidProfileCommand that will execute the given {@link TrapezoidProfile}.
* Output will be piped to the provided consumer function.
*
* @param profile The motion profile to execute.
* @param output The consumer for the profile output.
* @param requirements The subsystems required by this command.
* @deprecated The new constructor allows you to pass in a supplier for desired and current state.
* This allows you to change goals at runtime.
*/
@Deprecated(since = "2024", forRemoval = true)
@SuppressWarnings("this-escape")
public TrapezoidProfileCommand(
TrapezoidProfile profile, Consumer<State> output, Subsystem... requirements) {
m_profile = requireNonNullParam(profile, "profile", "TrapezoidProfileCommand");
m_output = requireNonNullParam(output, "output", "TrapezoidProfileCommand");
m_newAPI = false;
m_goal = null;
m_currentState = null;
addRequirements(requirements);
}
@@ -80,11 +56,7 @@ public class TrapezoidProfileCommand extends Command {
@Override
@SuppressWarnings("removal")
public void execute() {
if (m_newAPI) {
m_output.accept(m_profile.calculate(m_timer.get(), m_currentState.get(), m_goal.get()));
} else {
m_output.accept(m_profile.calculate(m_timer.get()));
}
m_output.accept(m_profile.calculate(m_timer.get(), m_currentState.get(), m_goal.get()));
}
@Override