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[commands] Use Timer.restart() (#5023)

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This commit is contained in:
Sriman Achanta
2023-01-29 10:21:07 -05:00
committed by GitHub
parent 8bf67b1b33
commit f75acd11ce
18 changed files with 18 additions and 40 deletions
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3
wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp
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@@ -257,8 +257,7 @@ void MecanumControllerCommand::Initialize() {
m_prevSpeeds = m_kinematics.ToWheelSpeeds(
frc::ChassisSpeeds{initialXVelocity, initialYVelocity, 0_rad_per_s});
m_timer.Reset();
m_timer.Start();
m_timer.Restart();
if (m_usePID) {
m_frontLeftController->Reset();
m_rearLeftController->Reset();

3
wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp
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@@ -92,8 +92,7 @@ void RamseteCommand::Initialize() {
m_prevSpeeds = m_kinematics.ToWheelSpeeds(
frc::ChassisSpeeds{initialState.velocity, 0_mps,
initialState.velocity * initialState.curvature});
m_timer.Reset();
m_timer.Start();
m_timer.Restart();
if (m_usePID) {
m_leftController->Reset();
m_rightController->Reset();

3
wpilibNewCommands/src/main/native/cpp/frc2/command/WaitCommand.cpp
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@@ -15,8 +15,7 @@ WaitCommand::WaitCommand(units::second_t duration) : m_duration{duration} {
}
void WaitCommand::Initialize() {
m_timer.Reset();
m_timer.Start();
m_timer.Restart();
}
void WaitCommand::End(bool interrupted) {

3
wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc
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@@ -150,8 +150,7 @@ void SwerveControllerCommand<NumModules>::Initialize() {
return m_trajectory.States().back().pose.Rotation();
};
}
m_timer.Reset();
m_timer.Start();
m_timer.Restart();
}
template <size_t NumModules>

5
wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
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@@ -63,10 +63,7 @@ class TrapezoidProfileCommand
this->AddRequirements(requirements);
}
void Initialize() override {
m_timer.Reset();
m_timer.Start();
}
void Initialize() override { m_timer.Restart(); }
void Execute() override { m_output(m_profile.Calculate(m_timer.Get())); }