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Add dependency injection of Subsystem to Command (#1275)

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This commit is contained in:
Matt Soucy
2018-08-19 22:43:21 -04:00
committed by Peter Johnson
parent 6df500e726
commit e28295fc7b
12 changed files with 291 additions and 2 deletions
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33
wpilibc/src/main/native/cpp/commands/PIDCommand.cpp
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@@ -41,6 +41,39 @@ PIDCommand::PIDCommand(double p, double i, double d, double period) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
}
PIDCommand::PIDCommand(const wpi::Twine& name, double p, double i, double d,
double f, double period, Subsystem& requirement)
: Command(name, requirement) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
}
PIDCommand::PIDCommand(double p, double i, double d, double f, double period,
Subsystem& requirement) {
m_controller =
std::make_shared<PIDController>(p, i, d, f, this, this, period);
}
PIDCommand::PIDCommand(const wpi::Twine& name, double p, double i, double d,
Subsystem& requirement)
: Command(name) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this);
}
PIDCommand::PIDCommand(const wpi::Twine& name, double p, double i, double d,
double period, Subsystem& requirement)
: Command(name) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
}
PIDCommand::PIDCommand(double p, double i, double d, Subsystem& requirement) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this);
}
PIDCommand::PIDCommand(double p, double i, double d, double period,
Subsystem& requirement) {
m_controller = std::make_shared<PIDController>(p, i, d, this, this, period);
}
void PIDCommand::_Initialize() { m_controller->Enable(); }
void PIDCommand::_End() { m_controller->Disable(); }