Replace most usages of schedule()

Gold856 · Gold856 · commit 8c8d94d9f7ba · 2024-09-17T19:53:20.000-04:00
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyCommand.java
@@ -59,7 +59,7 @@ public ProxyCommand(Command command) {
   @Override
   public void initialize() {
     m_command = m_supplier.get();
-    m_command.schedule();
+    CommandScheduler.getInstance().schedule(m_command);
   }
 
   @Override
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java
@@ -28,7 +28,7 @@ public ScheduleCommand(Command... toSchedule) {
   @Override
   public void initialize() {
     for (Command command : m_toSchedule) {
-      command.schedule();
+      CommandScheduler.getInstance().schedule(command);
     }
   }
 
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java
@@ -66,7 +66,7 @@ public void run() {
             boolean pressed = m_condition.getAsBoolean();
 
             if (m_pressedLast != pressed) {
-              command.schedule();
+              CommandScheduler.getInstance().schedule(command);
             }
 
             m_pressedLast = pressed;
@@ -92,7 +92,7 @@ public void run() {
             boolean pressed = m_condition.getAsBoolean();
 
             if (!m_pressedLast && pressed) {
-              command.schedule();
+              CommandScheduler.getInstance().schedule(command);
             }
 
             m_pressedLast = pressed;
@@ -118,7 +118,7 @@ public void run() {
             boolean pressed = m_condition.getAsBoolean();
 
             if (m_pressedLast && !pressed) {
-              command.schedule();
+              CommandScheduler.getInstance().schedule(command);
             }
 
             m_pressedLast = pressed;
@@ -148,7 +148,7 @@ public void run() {
             boolean pressed = m_condition.getAsBoolean();
 
             if (!m_pressedLast && pressed) {
-              command.schedule();
+              CommandScheduler.getInstance().schedule(command);
             } else if (m_pressedLast && !pressed) {
               command.cancel();
             }
@@ -180,7 +180,7 @@ public void run() {
             boolean pressed = m_condition.getAsBoolean();
 
             if (m_pressedLast && !pressed) {
-              command.schedule();
+              CommandScheduler.getInstance().schedule(command);
             } else if (!m_pressedLast && pressed) {
               command.cancel();
             }
@@ -211,7 +211,7 @@ public void run() {
               if (command.isScheduled()) {
                 command.cancel();
               } else {
-                command.schedule();
+                CommandScheduler.getInstance().schedule(command);
               }
             }
 
@@ -241,7 +241,7 @@ public void run() {
               if (command.isScheduled()) {
                 command.cancel();
               } else {
-                command.schedule();
+                CommandScheduler.getInstance().schedule(command);
               }
             }
 
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
@@ -200,7 +200,7 @@ void Command::InitSendable(wpi::SendableBuilder& builder) {
       [this](bool value) {
         bool isScheduled = IsScheduled();
         if (value && !isScheduled) {
-          Schedule();
+          CommandScheduler::GetInstance().Schedule(this);
         } else if (!value && isScheduled) {
           Cancel();
         }
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp
@@ -34,7 +34,7 @@ ProxyCommand::ProxyCommand(std::unique_ptr<Command> command) {
 
 void ProxyCommand::Initialize() {
   m_command = m_supplier();
-  m_command->Schedule();
+  frc2::CommandScheduler::GetInstance().Schedule(m_command);
 }
 
 void ProxyCommand::End(bool interrupted) {
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/ScheduleCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/ScheduleCommand.cpp
@@ -18,7 +18,7 @@ ScheduleCommand::ScheduleCommand(Command* toSchedule) {
 
 void ScheduleCommand::Initialize() {
   for (auto command : m_toSchedule) {
-    command->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(command);
   }
 }
 
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
@@ -19,7 +19,7 @@ Trigger Trigger::OnChange(Command* command) {
         bool current = condition();
 
         if (previous != current) {
-          command->Schedule();
+          frc2::CommandScheduler::GetInstance().Schedule(command);
         }
 
         previous = current;
@@ -47,7 +47,7 @@ Trigger Trigger::OnTrue(Command* command) {
         bool current = condition();
 
         if (!previous && current) {
-          command->Schedule();
+          frc2::CommandScheduler::GetInstance().Schedule(command);
         }
 
         previous = current;
@@ -75,7 +75,7 @@ Trigger Trigger::OnFalse(Command* command) {
         bool current = condition();
 
         if (previous && !current) {
-          command->Schedule();
+          frc2::CommandScheduler::GetInstance().Schedule(command);
         }
 
         previous = current;
@@ -103,7 +103,7 @@ Trigger Trigger::WhileTrue(Command* command) {
         bool current = condition();
 
         if (!previous && current) {
-          command->Schedule();
+          frc2::CommandScheduler::GetInstance().Schedule(command);
         } else if (previous && !current) {
           command->Cancel();
         }
@@ -135,7 +135,7 @@ Trigger Trigger::WhileFalse(Command* command) {
         bool current = condition();
 
         if (previous && !current) {
-          command->Schedule();
+          frc2::CommandScheduler::GetInstance().Schedule(command);
         } else if (!previous && current) {
           command->Cancel();
         }
@@ -170,7 +170,7 @@ Trigger Trigger::ToggleOnTrue(Command* command) {
       if (command->IsScheduled()) {
         command->Cancel();
       } else {
-        command->Schedule();
+        frc2::CommandScheduler::GetInstance().Schedule(command);
       }
     }
 
@@ -206,7 +206,7 @@ Trigger Trigger::ToggleOnFalse(Command* command) {
       if (command->IsScheduled()) {
         command->Cancel();
       } else {
-        command->Schedule();
+        frc2::CommandScheduler::GetInstance().Schedule(command);
       }
     }
 
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandSendableButtonTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandSendableButtonTest.java
@@ -55,7 +55,7 @@ void trueAndNotScheduledSchedules() {
   @Test
   void trueAndScheduledNoOp() {
     // Scheduled and true -> no-op
-    m_command.schedule();
+    CommandScheduler.getInstance().schedule(m_command);
     CommandScheduler.getInstance().run();
     SmartDashboard.updateValues();
     assertTrue(m_command.isScheduled());
@@ -90,7 +90,7 @@ void falseAndNotScheduledNoOp() {
   @Test
   void falseAndScheduledCancel() {
     // Scheduled and false -> cancel
-    m_command.schedule();
+    CommandScheduler.getInstance().schedule(m_command);
     CommandScheduler.getInstance().run();
     SmartDashboard.updateValues();
     assertTrue(m_command.isScheduled());
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ProxyCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ProxyCommandTest.java
@@ -22,7 +22,7 @@ void proxyCommandScheduleTest() {
 
       scheduler.schedule(scheduleCommand);
 
-      verify(command1).schedule();
+      verify(command1).initialize();
     }
   }
 
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ScheduleCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ScheduleCommandTest.java
@@ -22,8 +22,8 @@ void scheduleCommandScheduleTest() {
 
       scheduler.schedule(scheduleCommand);
 
-      verify(command1).schedule();
-      verify(command2).schedule();
+      verify(command1).initialize();
+      verify(command2).initialize();
     }
   }
 
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/NetworkButtonTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/NetworkButtonTest.java
@@ -39,10 +39,10 @@ void setNetworkButtonTest() {
     pub.set(false);
     button.onTrue(command);
     scheduler.run();
-    verify(command, never()).schedule();
+    verify(command, never()).initialize();
     pub.set(true);
     scheduler.run();
     scheduler.run();
-    verify(command).schedule();
+    verify(command).initialize();
   }
 }
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/TriggerTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/button/TriggerTest.java
@@ -207,7 +207,7 @@ void cancelWhenActiveTest() {
             .until(button);
 
     button.setPressed(false);
-    command1.schedule();
+    scheduler.schedule(command1);
     scheduler.run();
     assertEquals(1, startCounter.get());
     assertEquals(0, endCounter.get());
@@ -258,13 +258,13 @@ void debounceTest() {
 
     button.setPressed(true);
     scheduler.run();
-    verify(command, never()).schedule();
+    verify(command, never()).initialize();
 
     SimHooks.stepTiming(0.3);
 
     button.setPressed(true);
     scheduler.run();
-    verify(command).schedule();
+    verify(command).initialize();
   }
 
   @Test
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandSendableButtonTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandSendableButtonTest.cpp
@@ -49,7 +49,7 @@ TEST_F(CommandSendableButtonTest, trueAndNotScheduledSchedules) {
 
 TEST_F(CommandSendableButtonTest, trueAndScheduledNoOp) {
   // Scheduled and true -> no-op
-  m_command->Schedule();
+  frc2::CommandScheduler::GetInstance().Schedule(m_command);
   GetScheduler().Run();
   frc::SmartDashboard::UpdateValues();
   EXPECT_TRUE(m_command->IsScheduled());
@@ -82,7 +82,7 @@ TEST_F(CommandSendableButtonTest, falseAndNotScheduledNoOp) {
 
 TEST_F(CommandSendableButtonTest, falseAndScheduledCancel) {
   // Scheduled and false -> cancel
-  m_command->Schedule();
+  frc2::CommandScheduler::GetInstance().Schedule(m_command);
   GetScheduler().Run();
   frc::SmartDashboard::UpdateValues();
   EXPECT_TRUE(m_command->IsScheduled());
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp
@@ -38,7 +38,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp
@@ -47,7 +47,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand != nullptr) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Robot.cpp
@@ -38,7 +38,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/Robot.cpp
@@ -26,7 +26,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_robot.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/Robot.cpp
@@ -37,7 +37,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand != nullptr) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp
@@ -38,7 +38,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand != nullptr) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/Robot.cpp
@@ -38,7 +38,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/SysId/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SysId/cpp/Robot.cpp
@@ -22,7 +22,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/Robot.cpp
@@ -37,7 +37,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand != nullptr) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
@@ -37,7 +37,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp
@@ -22,7 +22,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
   }
 }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Robot.java
@@ -65,7 +65,7 @@ public void autonomousInit() {
 
     // schedule the autonomous command (example)
     if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
     }
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Robot.java
@@ -67,7 +67,7 @@ public void autonomousInit() {
 
     // schedule the autonomous command (example)
     if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
     }
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java
@@ -74,7 +74,7 @@ public void autonomousInit() {
 
     // schedule the autonomous command (example)
     if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
     }
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Robot.java
@@ -65,7 +65,7 @@ public void autonomousInit() {
 
     // schedule the autonomous command (example)
     if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
     }
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Robot.java
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Robot.java
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Robot.java
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Robot.java
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/Robot.java
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/Robot.java
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbasedskeleton/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbasedskeleton/Robot.java
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Robot.java
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrpcommandbased/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrpcommandbased/Robot.java

Original file line number	Diff line number	Diff line change
`@@ -59,7 +59,7 @@ public ProxyCommand(Command command) {`
`59`	`59`	`@Override`
`60`	`60`	`public void initialize() {`
`61`	`61`	`m_command = m_supplier.get();`
`62`		`- m_command.schedule();`
	`62`	`+ CommandScheduler.getInstance().schedule(m_command);`
`63`	`63`	`}`
`64`	`64`
`65`	`65`	`@Override`
Original file line number	Diff line number	Diff line change
`@@ -28,7 +28,7 @@ public ScheduleCommand(Command... toSchedule) {`
`28`	`28`	`@Override`
`29`	`29`	`public void initialize() {`
`30`	`30`	`for (Command command : m_toSchedule) {`
`31`		`- command.schedule();`
	`31`	`+ CommandScheduler.getInstance().schedule(command);`
`32`	`32`	`}`
`33`	`33`	`}`
`34`	`34`
Original file line number	Diff line number	Diff line change
`@@ -66,7 +66,7 @@ public void run() {`
`66`	`66`	`boolean pressed = m_condition.getAsBoolean();`
`67`	`67`
`68`	`68`	`if (m_pressedLast != pressed) {`
`69`		`- command.schedule();`
	`69`	`+ CommandScheduler.getInstance().schedule(command);`
`70`	`70`	`}`
`71`	`71`
`72`	`72`	`m_pressedLast = pressed;`
`@@ -92,7 +92,7 @@ public void run() {`
`92`	`92`	`boolean pressed = m_condition.getAsBoolean();`
`93`	`93`
`94`	`94`	`if (!m_pressedLast && pressed) {`
`95`		`- command.schedule();`
	`95`	`+ CommandScheduler.getInstance().schedule(command);`
`96`	`96`	`}`
`97`	`97`
`98`	`98`	`m_pressedLast = pressed;`
`@@ -118,7 +118,7 @@ public void run() {`
`118`	`118`	`boolean pressed = m_condition.getAsBoolean();`
`119`	`119`
`120`	`120`	`if (m_pressedLast && !pressed) {`
`121`		`- command.schedule();`
	`121`	`+ CommandScheduler.getInstance().schedule(command);`
`122`	`122`	`}`
`123`	`123`
`124`	`124`	`m_pressedLast = pressed;`
`@@ -148,7 +148,7 @@ public void run() {`
`148`	`148`	`boolean pressed = m_condition.getAsBoolean();`
`149`	`149`
`150`	`150`	`if (!m_pressedLast && pressed) {`
`151`		`- command.schedule();`
	`151`	`+ CommandScheduler.getInstance().schedule(command);`
`152`	`152`	`} else if (m_pressedLast && !pressed) {`
`153`	`153`	`command.cancel();`
`154`	`154`	`}`
`@@ -180,7 +180,7 @@ public void run() {`
`180`	`180`	`boolean pressed = m_condition.getAsBoolean();`
`181`	`181`
`182`	`182`	`if (m_pressedLast && !pressed) {`
`183`		`- command.schedule();`
	`183`	`+ CommandScheduler.getInstance().schedule(command);`
`184`	`184`	`} else if (!m_pressedLast && pressed) {`
`185`	`185`	`command.cancel();`
`186`	`186`	`}`
`@@ -211,7 +211,7 @@ public void run() {`
`211`	`211`	`if (command.isScheduled()) {`
`212`	`212`	`command.cancel();`
`213`	`213`	`} else {`
`214`		`- command.schedule();`
	`214`	`+ CommandScheduler.getInstance().schedule(command);`
`215`	`215`	`}`
`216`	`216`	`}`
`217`	`217`
`@@ -241,7 +241,7 @@ public void run() {`
`241`	`241`	`if (command.isScheduled()) {`
`242`	`242`	`command.cancel();`
`243`	`243`	`} else {`
`244`		`- command.schedule();`
	`244`	`+ CommandScheduler.getInstance().schedule(command);`
`245`	`245`	`}`
`246`	`246`	`}`
`247`	`247`
Original file line number	Diff line number	Diff line change
`@@ -200,7 +200,7 @@ void Command::InitSendable(wpi::SendableBuilder& builder) {`
`200`	`200`	`[this](bool value) {`
`201`	`201`	`bool isScheduled = IsScheduled();`
`202`	`202`	`if (value && !isScheduled) {`
`203`		`- Schedule();`
	`203`	`+ CommandScheduler::GetInstance().Schedule(this);`
`204`	`204`	`} else if (!value && isScheduled) {`
`205`	`205`	`Cancel();`
`206`	`206`	`}`
Original file line number	Diff line number	Diff line change
`@@ -34,7 +34,7 @@ ProxyCommand::ProxyCommand(std::unique_ptr<Command> command) {`
`34`	`34`
`35`	`35`	`void ProxyCommand::Initialize() {`
`36`	`36`	`m_command = m_supplier();`
`37`		`- m_command->Schedule();`
	`37`	`+ frc2::CommandScheduler::GetInstance().Schedule(m_command);`
`38`	`38`	`}`
`39`	`39`
`40`	`40`	`void ProxyCommand::End(bool interrupted) {`
Original file line number	Diff line number	Diff line change
`@@ -18,7 +18,7 @@ ScheduleCommand::ScheduleCommand(Command* toSchedule) {`
`18`	`18`
`19`	`19`	`void ScheduleCommand::Initialize() {`
`20`	`20`	`for (auto command : m_toSchedule) {`
`21`		`- command->Schedule();`
	`21`	`+ frc2::CommandScheduler::GetInstance().Schedule(command);`
`22`	`22`	`}`
`23`	`23`	`}`
`24`	`24`
Original file line number	Diff line number	Diff line change
`@@ -19,7 +19,7 @@ Trigger Trigger::OnChange(Command* command) {`
`19`	`19`	`bool current = condition();`
`20`	`20`
`21`	`21`	`if (previous != current) {`
`22`		`- command->Schedule();`
	`22`	`+ frc2::CommandScheduler::GetInstance().Schedule(command);`
`23`	`23`	`}`
`24`	`24`
`25`	`25`	`previous = current;`
`@@ -47,7 +47,7 @@ Trigger Trigger::OnTrue(Command* command) {`
`47`	`47`	`bool current = condition();`
`48`	`48`
`49`	`49`	`if (!previous && current) {`
`50`		`- command->Schedule();`
	`50`	`+ frc2::CommandScheduler::GetInstance().Schedule(command);`
`51`	`51`	`}`
`52`	`52`
`53`	`53`	`previous = current;`
`@@ -75,7 +75,7 @@ Trigger Trigger::OnFalse(Command* command) {`
`75`	`75`	`bool current = condition();`
`76`	`76`
`77`	`77`	`if (previous && !current) {`
`78`		`- command->Schedule();`
	`78`	`+ frc2::CommandScheduler::GetInstance().Schedule(command);`
`79`	`79`	`}`
`80`	`80`
`81`	`81`	`previous = current;`
`@@ -103,7 +103,7 @@ Trigger Trigger::WhileTrue(Command* command) {`
`103`	`103`	`bool current = condition();`
`104`	`104`
`105`	`105`	`if (!previous && current) {`
`106`		`- command->Schedule();`
	`106`	`+ frc2::CommandScheduler::GetInstance().Schedule(command);`
`107`	`107`	`} else if (previous && !current) {`
`108`	`108`	`command->Cancel();`
`109`	`109`	`}`
`@@ -135,7 +135,7 @@ Trigger Trigger::WhileFalse(Command* command) {`
`135`	`135`	`bool current = condition();`
`136`	`136`
`137`	`137`	`if (previous && !current) {`
`138`		`- command->Schedule();`
	`138`	`+ frc2::CommandScheduler::GetInstance().Schedule(command);`
`139`	`139`	`} else if (!previous && current) {`
`140`	`140`	`command->Cancel();`
`141`	`141`	`}`
`@@ -170,7 +170,7 @@ Trigger Trigger::ToggleOnTrue(Command* command) {`
`170`	`170`	`if (command->IsScheduled()) {`
`171`	`171`	`command->Cancel();`
`172`	`172`	`} else {`
`173`		`- command->Schedule();`
	`173`	`+ frc2::CommandScheduler::GetInstance().Schedule(command);`
`174`	`174`	`}`
`175`	`175`	`}`
`176`	`176`
`@@ -206,7 +206,7 @@ Trigger Trigger::ToggleOnFalse(Command* command) {`
`206`	`206`	`if (command->IsScheduled()) {`
`207`	`207`	`command->Cancel();`
`208`	`208`	`} else {`
`209`		`- command->Schedule();`
	`209`	`+ frc2::CommandScheduler::GetInstance().Schedule(command);`
`210`	`210`	`}`
`211`	`211`	`}`
`212`	`212`
Original file line number	Diff line number	Diff line change
`@@ -22,7 +22,7 @@ void proxyCommandScheduleTest() {`
`22`	`22`
`23`	`23`	`scheduler.schedule(scheduleCommand);`
`24`	`24`
`25`		`- verify(command1).schedule();`
	`25`	`+ verify(command1).initialize();`
`26`	`26`	`}`
`27`	`27`	`}`
`28`	`28`
Original file line number	Diff line number	Diff line change
`@@ -22,8 +22,8 @@ void scheduleCommandScheduleTest() {`
`22`	`22`
`23`	`23`	`scheduler.schedule(scheduleCommand);`
`24`	`24`
`25`		`- verify(command1).schedule();`
`26`		`- verify(command2).schedule();`
	`25`	`+ verify(command1).initialize();`
	`26`	`+ verify(command2).initialize();`
`27`	`27`	`}`
`28`	`28`	`}`
`29`	`29`