Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-23 01:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[cmd3] Add example and template projects for commands v3 and make hatchbot example idiomatic (#8887)

Browse Source 
The `command3` example project contains a program that could plausibly
play in the 2026 rebuilt game. It includes nested mechanisms (`Intake`
has an inner `IntakeWrist` and `IntakeRoller` and is similar to the v2
superstructure concept), swerve drive with localization and path
following (albeit stubbed for sake of example), opmodes and
opmode-scoped commands, and command-scoped triggers.

The template projects are basic skeletons. The larger template includes
a basic command that just increments and prints a counter variable every
time it runs.

The hatchbot v3 example has been refactored to be more idiomatic:
- `RobotContainer` removed
- "Subsystem" names in packages, comments, and classes has been replaced
with "Mechanism"
- Some v2-specific comments and structures have been reworded or deleted
- The Drive mechanism now provides commands for arcade drive and driving
a distance, instead of exposing public methods that write directly to
hardware (which broke encapsulation and made it possible to issue
conflicting hardware requests)
This commit is contained in:
Sam Carlberg
2026-06-21 23:10:53 -04:00
committed by GitHub
parent 8444a58640
commit ffd371cbf8
35 changed files with 1589 additions and 188 deletions
Download Patch File Download Diff File Expand all files Collapse all files

22
wpilibjExamples/build_java_examples.bzl
View File

@@ -81,6 +81,9 @@ def build_snippets():
java_library(
name = folder + "-snippet",
srcs = native.glob(["src/main/java/org/wpilib/snippets/" + folder + "/**/*.java"]),
plugins = [
"//epilogue-processor:plugin",
],
deps = [
"//apriltag:apriltag-java",
"//cameraserver:cameraserver-java",
@@ -90,6 +93,7 @@ def build_snippets():
"//wpimath:wpimath-java",
"//wpilibj:wpilibj-java",
"//commandsv2:commandsv2-java",
"//commandsv3:commandsv3-java",
"//wpiutil:wpiutil-java",
"//romiVendordep:romiVendordep-java",
"//xrpVendordep:xrpVendordep-java",
@@ -107,13 +111,19 @@ def build_templates():
java_library(
name = folder + "-template",
srcs = native.glob(["src/main/java/org/wpilib/templates/" + folder + "/**/*.java"]),
plugins = [
"//epilogue-processor:plugin",
],
deps = [
"//hal:hal-java",
"//wpilibj:wpilibj-java",
"//commandsv2:commandsv2-java",
"//commandsv3:commandsv3-java",
"//wpimath:wpimath-java",
"//wpiutil:wpiutil-java",
"//epilogue-runtime:epilogue-java",
"//xrpVendordep:xrpVendordep-java",
"//wpiunits:wpiunits-java",
],
tags = ["wpi-example"],
)
@@ -123,14 +133,20 @@ def build_tests():
wpilib_java_junit5_test(
name = folder + "-test",
srcs = native.glob(["src/test/java/org/wpilib/examples/" + folder + "/**/*.java"]),
plugins = [
"//epilogue-processor:plugin",
],
deps = [
":" + folder + "-example",
"//hal:hal-java",
"//ntcore:ntcore-java",
"//wpilibj:wpilibj-java",
"//commandsv2:commandsv2-java",
"//commandsv3:commandsv3-java",
"//wpimath:wpimath-java",
"//wpiutil:wpiutil-java",
"//epilogue-runtime:epilogue-java",
"//wpiunits:wpiunits-java",
],
tags = ["wpi-example"],
)
@@ -139,14 +155,20 @@ def build_tests():
wpilib_java_junit5_test(
name = folder + "-test",
srcs = native.glob(["src/test/java/org/wpilib/snippets/" + folder + "/**/*.java"]),
plugins = [
"//epilogue-processor:plugin",
],
deps = [
":" + folder + "-snippet",
"//hal:hal-java",
"//ntcore:ntcore-java",
"//wpilibj:wpilibj-java",
"//commandsv2:commandsv2-java",
"//commandsv3:commandsv3-java",
"//wpimath:wpimath-java",
"//wpiutil:wpiutil-java",
"//epilogue-runtime:epilogue-java",
"//wpiunits:wpiunits-java",
],
tags = ["wpi-example"],
)