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https://github.com/wpilibsuite/allwpilib
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509819d83f
This will allow us at the user code side to determine to include old commands, new commands or both.
42 lines
1.4 KiB
C++
42 lines
1.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 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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#pragma once
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#include "CommandBase.h"
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#include "CommandHelper.h"
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namespace frc2 {
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/**
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* A command that runs a Runnable continuously. Has no end condition as-is;
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* either subclass it or use Command.WithTimeout() or
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* Command.WithInterrupt() to give it one. If you only wish
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* to execute a Runnable once, use InstantCommand.
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*/
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class RunCommand : public CommandHelper<CommandBase, RunCommand> {
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public:
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/**
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* Creates a new RunCommand. The Runnable will be run continuously until the
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* command ends. Does not run when disabled.
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*
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* @param toRun the Runnable to run
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* @param requirements the subsystems to require
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*/
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RunCommand(std::function<void()> toRun,
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std::initializer_list<Subsystem*> requirements);
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RunCommand(RunCommand&& other) = default;
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RunCommand(const RunCommand& other) = default;
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void Execute();
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protected:
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std::function<void()> m_toRun;
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};
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} // namespace frc2
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