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8ac45f20bb
Add reference to which VendorDep the class is included in. Add missing OldCommands C++ Documentation (copied from Java).
50 lines
1.2 KiB
C++
50 lines
1.2 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <frc/Timer.h>
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#include <units/time.h>
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#include "frc2/command/CommandBase.h"
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#include "frc2/command/CommandHelper.h"
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namespace frc2 {
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/**
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* A command that does nothing but takes a specified amount of time to finish.
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* Useful for CommandGroups. Can also be subclassed to make a command with an
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* internal timer.
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*
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* This class is provided by the NewCommands VendorDep
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*/
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class WaitCommand : public CommandHelper<CommandBase, WaitCommand> {
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public:
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/**
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* Creates a new WaitCommand. This command will do nothing, and end after the
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* specified duration.
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*
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* @param duration the time to wait
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*/
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explicit WaitCommand(units::second_t duration);
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WaitCommand(WaitCommand&& other) = default;
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WaitCommand(const WaitCommand& other) = default;
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void Initialize() override;
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void End(bool interrupted) override;
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bool IsFinished() override;
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bool RunsWhenDisabled() const override;
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protected:
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frc::Timer m_timer;
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private:
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units::second_t m_duration;
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};
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} // namespace frc2
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