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https://github.com/wpilibsuite/allwpilib
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aaea85ff16
Moves all CommandBase functionality into Command and deprecates CommandBase for removal. Moves all SubsystemBase functionality into Subsystem and deprecates SubsystemBase for removal. Adds a function to CommandScheduler to remove all registered Subsystems.
36 lines
941 B
C++
36 lines
941 B
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 <frc2/command/Command.h>
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#include <frc2/command/CommandHelper.h>
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#include "subsystems/DriveSubsystem.h"
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class DriveDistance : public frc2::CommandHelper<frc2::Command, DriveDistance> {
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public:
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/**
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* Creates a new DriveDistance.
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*
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* @param inches The number of inches the robot will drive
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* @param speed The speed at which the robot will drive
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* @param drive The drive subsystem on which this command will run
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*/
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DriveDistance(double inches, double speed, DriveSubsystem* subsystem);
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void Initialize() override;
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void Execute() override;
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void End(bool interrupted) override;
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bool IsFinished() override;
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private:
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DriveSubsystem* m_drive;
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double m_distance;
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double m_speed;
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};
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