mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
a732854866
This also changes the behavior of whileActive to call start once on the starting edge instead of every loop iteration.
32 lines
1.0 KiB
C++
32 lines
1.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2011-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "frc/buttons/ToggleButtonScheduler.h"
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#include "frc/buttons/Button.h"
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#include "frc/commands/Command.h"
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using namespace frc;
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ToggleButtonScheduler::ToggleButtonScheduler(bool last, Trigger* button,
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Command* orders)
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: ButtonScheduler(last, button, orders) {}
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void ToggleButtonScheduler::Execute() {
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bool pressed = m_button->Grab();
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if (!m_pressedLast && pressed) {
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if (m_command->IsRunning()) {
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m_command->Cancel();
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} else {
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m_command->Start();
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}
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}
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m_pressedLast = pressed;
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}
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