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https://github.com/wpilibsuite/allwpilib
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6a6366b0d6
This is a clearer description for the functionality. Will deprecate withInterrupt next year.
56 lines
1.6 KiB
C++
56 lines
1.6 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 <functional>
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#include <initializer_list>
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#include <wpi/span.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 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.Until() 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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* This class is provided by the NewCommands VendorDep
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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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/**
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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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explicit RunCommand(std::function<void()> toRun,
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wpi::span<Subsystem* const> requirements = {});
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RunCommand(RunCommand&& other) = default;
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RunCommand(const RunCommand& other) = default;
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void Execute() override;
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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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