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[commands] Enhance Command Sendable implementations (#4822)

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This commit is contained in:
Starlight220
2022-12-16 04:28:52 +02:00
committed by GitHub
parent 7713f68772
commit fbabd0ef15
33 changed files with 239 additions and 17 deletions
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10
wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp
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@@ -6,6 +6,8 @@
#include <utility>
#include <wpi/sendable/SendableBuilder.h>
using namespace frc2;
RamseteCommand::RamseteCommand(
@@ -158,3 +160,11 @@ void RamseteCommand::End(bool interrupted) {
bool RamseteCommand::IsFinished() {
return m_timer.HasElapsed(m_trajectory.TotalTime());
}
void RamseteCommand::InitSendable(wpi::SendableBuilder& builder) {
CommandBase::InitSendable(builder);
builder.AddDoubleProperty(
"leftVelocity", [this] { return m_prevSpeeds.left.value(); }, nullptr);
builder.AddDoubleProperty(
"rightVelocity", [this] { return m_prevSpeeds.right.value(); }, nullptr);
}