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[commands] Allow unsetting a subsystem's default command (#4621)

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This commit is contained in:
Colin Wong
2022-11-28 16:03:14 -06:00
committed by GitHub
parent 2b2aa8eef7
commit ec124bb662
3 changed files with 38 additions and 0 deletions
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20
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
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@@ -367,6 +367,10 @@ public final class CommandScheduler implements NTSendable, AutoCloseable {
DriverStation.reportWarning("Tried to register a null subsystem", true);
continue;
}
if (m_subsystems.containsKey(subsystem)) {
DriverStation.reportWarning("Tried to register an already-registered subsystem", true);
continue;
}
m_subsystems.put(subsystem, null);
}
}
@@ -416,6 +420,22 @@ public final class CommandScheduler implements NTSendable, AutoCloseable {
m_subsystems.put(subsystem, defaultCommand);
}
/**
* Removes the default command for a subsystem. The current default command will run until another
* command is scheduled that requires the subsystem, at which point the current default command
* will not be re-scheduled.
*
* @param subsystem the subsystem whose default command will be removed
*/
public void removeDefaultCommand(Subsystem subsystem) {
if (subsystem == null) {
DriverStation.reportWarning("Tried to remove a default command for a null subsystem", true);
return;
}
m_subsystems.put(subsystem, null);
}
/**
* Gets the default command associated with this subsystem. Null if this subsystem has no default
* command associated with it.