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[cmd3] Make Mechanism an interface (#8303)

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Since there is no longer a requirement for Subsystems/Mechanisms to be
registered to the command scheduler via a register() call, Mechanism can
be changed to an interface instead to allow for more flexible
inheritance structures.

Specifically, this would allow compatibility with CTRE swerve (which
previously required implementing Subsystem so that it could extend
CTRE's base class).
This commit is contained in:
Daniel Chen
2026-05-18 20:30:12 -04:00
committed by GitHub
parent fa24446ce3
commit e35ca772fd
16 changed files with 123 additions and 116 deletions
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8
commandsv3/src/test/java/org/wpilib/command3/SchedulerConflictTests.java
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@@ -17,7 +17,7 @@ import org.junit.jupiter.api.Test;
class SchedulerConflictTests extends CommandTestBase {
@Test
void compositionsCannotAwaitConflictingCommands() {
var mech = new Mechanism("The Mechanism", m_scheduler);
var mech = new DummyMechanism("The Mechanism", m_scheduler);
var group =
Command.noRequirements(
@@ -40,7 +40,7 @@ class SchedulerConflictTests extends CommandTestBase {
@Test
void innerCommandMayInterruptOtherInnerCommand() {
var mechanism = new Mechanism("The mechanism", m_scheduler);
var mechanism = new DummyMechanism("The mechanism", m_scheduler);
var firstRan = new AtomicBoolean(false);
var secondRan = new AtomicBoolean(false);
@@ -118,7 +118,7 @@ class SchedulerConflictTests extends CommandTestBase {
@Test
void childConflictsWithHigherPriorityTopLevel() {
var mechanism = new Mechanism("mechanism", m_scheduler);
var mechanism = new DummyMechanism("mechanism", m_scheduler);
var top = mechanism.run(Coroutine::park).withPriority(10).named("Top");
// Child conflicts with and is lower priority than the Top command
@@ -137,7 +137,7 @@ class SchedulerConflictTests extends CommandTestBase {
@Test
void childConflictsWithLowerPriorityTopLevel() {
var mechanism = new Mechanism("mechanism", m_scheduler);
var mechanism = new DummyMechanism("mechanism", m_scheduler);
var top = mechanism.run(Coroutine::park).withPriority(-10).named("Top");
// Child conflicts with and is higher priority than the Top command