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[commands] Fix compose-while-scheduled issue and test all compositions (#5581)

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This commit is contained in:
Ryan Blue
2023-12-23 15:12:13 -05:00
committed by GitHub
parent aeb1a4aa33
commit ef1cb3f41e
20 changed files with 146 additions and 83 deletions
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2
wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp
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@@ -63,7 +63,7 @@ Command::InterruptionBehavior ParallelCommandGroup::GetInterruptionBehavior()
void ParallelCommandGroup::AddCommands(
std::vector<std::unique_ptr<Command>>&& commands) {
CommandScheduler::GetInstance().RequireUngrouped(commands);
CommandScheduler::GetInstance().RequireUngroupedAndUnscheduled(commands);
if (isRunning) {
throw FRC_MakeError(frc::err::CommandIllegalUse,