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Timer: add hasElapsed, advanceIfElapsed (#2322)

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The current hasPeriodPassed() function is confusing.  In preparation for deprecating it,
add new advanceIfElapsed() function with same functionality and hasElapsed() function
which only checks that the time period has elapsed and does not advance the timer.

Also fix a couple of incorrect usages of hasPeriodPassed().
This commit is contained in:
Oblarg
2020-02-08 13:23:29 -05:00
committed by GitHub
parent 29c82527a5
commit f0a18f31e7
13 changed files with 72 additions and 24 deletions
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2
wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc
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@@ -103,7 +103,7 @@ void SwerveControllerCommand<NumModules>::End(bool interrupted) {
template <size_t NumModules>
bool SwerveControllerCommand<NumModules>::IsFinished() {
return m_timer.HasPeriodPassed(m_trajectory.TotalTime());
return m_timer.HasElapsed(m_trajectory.TotalTime());
}
} // namespace frc2

2
wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
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@@ -72,7 +72,7 @@ class TrapezoidProfileCommand
void End(bool interrupted) override { m_timer.Stop(); }
bool IsFinished() override {
return m_timer.HasPeriodPassed(m_profile.TotalTime());
return m_timer.HasElapsed(m_profile.TotalTime());
}
private: