mirror of
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.
69 lines
1.8 KiB
C++
69 lines
1.8 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 <frc/smartdashboard/Sendable.h>
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#include <frc/smartdashboard/SendableHelper.h>
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#include <string>
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#include "Subsystem.h"
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namespace frc2 {
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/**
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* A base for subsystems that handles registration in the constructor, and
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* provides a more intuitive method for setting the default command.
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*/
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class SubsystemBase : public Subsystem,
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public frc::Sendable,
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public frc::SendableHelper<SubsystemBase> {
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public:
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void InitSendable(frc::SendableBuilder& builder) override;
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/**
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* Gets the name of this Subsystem.
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*
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* @return Name
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*/
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std::string GetName() const;
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/**
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* Sets the name of this Subsystem.
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*
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* @param name name
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*/
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void SetName(const wpi::Twine& name);
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/**
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* Gets the subsystem name of this Subsystem.
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*
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* @return Subsystem name
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*/
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std::string GetSubsystem() const;
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/**
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* Sets the subsystem name of this Subsystem.
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*
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* @param subsystem subsystem name
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*/
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void SetSubsystem(const wpi::Twine& name);
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/**
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* Associate a Sendable with this Subsystem.
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* Also update the child's name.
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*
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* @param name name to give child
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* @param child sendable
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*/
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void AddChild(std::string name, frc::Sendable* child);
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protected:
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SubsystemBase();
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};
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} // namespace frc2
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