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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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10
commandsv3/src/test/java/org/wpilib/command3/StateMachineTest.java
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@@ -26,7 +26,7 @@ class StateMachineTest extends CommandTestBase {
@Test
@SuppressWarnings(PostConstructionInitializer.SUPPRESSION_KEY)
void errorsWithoutInitialState() {
Mechanism mech = new Mechanism("Mechanism", m_scheduler);
Mechanism mech = new DummyMechanism("Mechanism", m_scheduler);
Command command1 = mech.run(Coroutine::park).named("Command 1");
Command command2 = mech.run(Coroutine::park).named("Command 2");
@@ -49,7 +49,7 @@ class StateMachineTest extends CommandTestBase {
@Test
void initialStateCanBeOverridden() {
Mechanism mech = new Mechanism("Mechanism", m_scheduler);
Mechanism mech = new DummyMechanism("Mechanism", m_scheduler);
Command command1 = mech.run(Coroutine::park).named("Command 1");
Command command2 = mech.run(Coroutine::park).named("Command 2");
@@ -72,7 +72,7 @@ class StateMachineTest extends CommandTestBase {
AtomicBoolean signalA = new AtomicBoolean(false);
AtomicBoolean signalB = new AtomicBoolean(false);
Mechanism mech = new Mechanism("Mechanism", m_scheduler);
Mechanism mech = new DummyMechanism("Mechanism", m_scheduler);
var command1 = mech.run(Coroutine::park).named("Command 1");
var command2 = mech.run(Coroutine::park).named("Command 2");
var command3 = mech.run(Coroutine::park).named("Command 3");
@@ -565,7 +565,7 @@ class StateMachineTest extends CommandTestBase {
@Test
void onExitCanSchedule() {
var mech = new Mechanism("Mechanism", m_scheduler);
var mech = new DummyMechanism("Mechanism", m_scheduler);
var mainMechCommand = mech.run(Coroutine::park).named("Main Mech Command");
var backgroundMechCommand = mech.run(Coroutine::park).named("Background Mech Command");
var nextStateCommand = Command.noRequirements(Coroutine::park).named("Next");
@@ -697,7 +697,7 @@ class StateMachineTest extends CommandTestBase {
@Test
void ledStateMachine() {
var leds =
new Mechanism("LEDs", m_scheduler) {
new DummyMechanism("LEDs", m_scheduler) {
Command idleAnimation() {
return run(Coroutine::park).withPriority(-1).named("Default Animation");
}