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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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34
wpilibc/src/main/native/include/frc/commands/Command.h
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@@ -72,6 +72,13 @@ class Command : public ErrorBase, public SendableBase {
*/
explicit Command(double timeout);
/**
* Creates a new command with the given timeout and a default name.
*
* @param requirement the subsystem that the command requires
*/
explicit Command(Subsystem& requirement);
/**
* Creates a new command with the given name and timeout.
*
@@ -81,6 +88,33 @@ class Command : public ErrorBase, public SendableBase {
*/
Command(const wpi::Twine& name, double timeout);
/**
* Creates a new command with the given name and timeout.
*
* @param name the name of the command
* @param requirement the subsystem that the command requires
*/
Command(const wpi::Twine& name, Subsystem& requirement);
/**
* Creates a new command with the given name and timeout.
*
* @param timeout the time (in seconds) before this command "times out"
* @param requirement the subsystem that the command requires
* @see IsTimedOut()
*/
Command(double timeout, Subsystem& requirement);
/**
* Creates a new command with the given name and timeout.
*
* @param name the name of the command
* @param timeout the time (in seconds) before this command "times out"
* @param requirement the subsystem that the command requires
* @see IsTimedOut()
*/
Command(const wpi::Twine& name, double timeout, Subsystem& requirement);
~Command() override = default;
/**

8
wpilibc/src/main/native/include/frc/commands/InstantCommand.h
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@@ -27,6 +27,14 @@ class InstantCommand : public Command {
*/
explicit InstantCommand(const wpi::Twine& name);
/**
* Creates a new InstantCommand with the given name.
*
* @param name The name for this command
* @param requirement The subsystem that the command requires
*/
InstantCommand(const wpi::Twine& name, Subsystem& requirement);
InstantCommand() = default;
virtual ~InstantCommand() = default;

11
wpilibc/src/main/native/include/frc/commands/PIDCommand.h
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@@ -28,6 +28,17 @@ class PIDCommand : public Command, public PIDOutput, public PIDSource {
PIDCommand(double p, double i, double d);
PIDCommand(double p, double i, double d, double period);
PIDCommand(double p, double i, double d, double f, double period);
PIDCommand(const wpi::Twine& name, double p, double i, double d,
Subsystem& requirement);
PIDCommand(const wpi::Twine& name, double p, double i, double d,
double period, Subsystem& requirement);
PIDCommand(const wpi::Twine& name, double p, double i, double d, double f,
double period, Subsystem& requirement);
PIDCommand(double p, double i, double d, Subsystem& requirement);
PIDCommand(double p, double i, double d, double period,
Subsystem& requirement);
PIDCommand(double p, double i, double d, double f, double period,
Subsystem& requirement);
virtual ~PIDCommand() = default;
void SetSetpointRelative(double deltaSetpoint);

17
wpilibc/src/main/native/include/frc/commands/TimedCommand.h
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@@ -35,6 +35,23 @@ class TimedCommand : public Command {
*/
explicit TimedCommand(double timeout);
/**
* Creates a new TimedCommand with the given name and timeout.
*
* @param name the name of the command
* @param timeout the time (in seconds) before this command "times out"
* @param requirement the subsystem that the command requires
*/
TimedCommand(const wpi::Twine& name, double timeout, Subsystem& requirement);
/**
* Creates a new WaitCommand with the given timeout.
*
* @param timeout the time (in seconds) before this command "times out"
* @param requirement the subsystem that the command requires
*/
TimedCommand(double timeout, Subsystem& requirement);
virtual ~TimedCommand() = default;
protected: