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https://github.com/wpilibsuite/allwpilib
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0a2ab4f0d7
Originally, the command was restarted every time the scheduler was executed if the button was pressed. #1340 changed this behavior in a breaking manner.
30 lines
1013 B
C++
30 lines
1013 B
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/HeldButtonScheduler.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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HeldButtonScheduler::HeldButtonScheduler(bool last, Trigger* button,
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Command* orders)
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: ButtonScheduler(last, button, orders) {}
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void HeldButtonScheduler::Execute() {
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bool pressed = m_button->Grab();
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if (pressed) {
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m_command->Start();
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} else if (m_pressedLast && !pressed) {
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m_command->Cancel();
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}
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m_pressedLast = pressed;
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}
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