Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[commands] Add Trigger.onChange() (#6390)

Browse Source
This commit is contained in:
Jacob Hotz
2024-04-22 00:37:15 -05:00
committed by GitHub
parent b620b6a4dd
commit dc4c63568a
3 changed files with 71 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

28
wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
View File

@@ -13,6 +13,34 @@ using namespace frc2;
Trigger::Trigger(const Trigger& other) = default;
Trigger Trigger::OnChange(Command* command) {
m_loop->Bind(
[condition = m_condition, previous = m_condition(), command]() mutable {
bool current = condition();
if (previous != current) {
command->Schedule();
}
previous = current;
});
return *this;
}
Trigger Trigger::OnChange(CommandPtr&& command) {
m_loop->Bind([condition = m_condition, previous = m_condition(),
command = std::move(command)]() mutable {
bool current = condition();
if (previous != current) {
command.Schedule();
}
previous = current;
});
return *this;
}
Trigger Trigger::OnTrue(Command* command) {
m_loop->Bind(
[condition = m_condition, previous = m_condition(), command]() mutable {