Update robot to use cmdptr operator bool

wpilibsuite · Dec 2, 2023 · f385d91 · f385d91
1 parent 08ed91e
commit f385d91
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Showing 24 changed files with 49 additions and 61 deletions.
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/Robot.cpp
@@ -40,7 +40,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    m_autonomousCommand.Schedule();
   }
 }
 
@@ -52,7 +52,7 @@ void Robot::TeleopInit() {
   // continue until interrupted by another command, remove
   // this line or comment it out.
   if (m_autonomousCommand) {
-    m_autonomousCommand->Cancel();
+    m_autonomousCommand.Cancel();
   }
 }
 

diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/Robot.h
@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <optional>
-
 #include <frc/TimedRobot.h>
 #include <frc2/command/Command.h>
+#include <frc2/command/Commands.h>
+
 
 #include "RobotContainer.h"
 
@@ -26,7 +26,7 @@ class Robot : public frc::TimedRobot {
  private:
   // Have it null by default so that if testing teleop it
   // doesn't have undefined behavior and potentially crash.
-  std::optional<frc2::CommandPtr> m_autonomousCommand;
+  frc2::CommandPtr m_autonomousCommand = frc2::cmd::None();
 
   RobotContainer m_container;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/Robot.cpp
@@ -38,7 +38,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    m_autonomousCommand.Schedule();
   }
 }
 
@@ -50,7 +50,7 @@ void Robot::TeleopInit() {
   // continue until interrupted by another command, remove
   // this line or comment it out.
   if (m_autonomousCommand) {
-    m_autonomousCommand->Cancel();
+    m_autonomousCommand.Cancel();
   }
 }
 

diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Robot.h
@@ -4,10 +4,9 @@
 
 #pragma once
 
-#include <optional>
-
 #include <frc/TimedRobot.h>
 #include <frc2/command/Command.h>
+#include <frc2/command/Commands.h>
 
 #include "RobotContainer.h"
 
@@ -26,7 +25,7 @@ class Robot : public frc::TimedRobot {
  private:
   // Have it null by default so that if testing teleop it
   // doesn't have undefined behavior and potentially crash.
-  std::optional<frc2::CommandPtr> m_autonomousCommand;
+  frc2::CommandPtr m_autonomousCommand = frc2::cmd::None();
 
   RobotContainer m_container;
 };
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();
+    m_autonomousCommand.Schedule();
   }
 }
 
@@ -50,7 +50,7 @@ void Robot::TeleopInit() {
   // continue until interrupted by another command, remove
   // this line or comment it out.
   if (m_autonomousCommand) {
-    m_autonomousCommand->Cancel();
+    m_autonomousCommand.Cancel();
   }
 }
 

diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Robot.h
@@ -4,10 +4,9 @@
 
 #pragma once
 
-#include <optional>
-
 #include <frc/TimedRobot.h>
 #include <frc2/command/Command.h>
+#include <frc2/command/Commands.h>
 
 #include "RobotContainer.h"
 
@@ -26,7 +25,7 @@ class Robot : public frc::TimedRobot {
  private:
   // Have it null by default so that if testing teleop it
   // doesn't have undefined behavior and potentially crash.
-  std::optional<frc2::CommandPtr> m_autonomousCommand;
+  frc2::CommandPtr m_autonomousCommand = frc2::cmd::None();
 
   RobotContainer m_container;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/Robot.cpp
@@ -38,7 +38,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    m_autonomousCommand.Schedule();
   }
 }
 
@@ -50,7 +50,7 @@ void Robot::TeleopInit() {
   // continue until interrupted by another command, remove
   // this line or comment it out.
   if (m_autonomousCommand) {
-    m_autonomousCommand->Cancel();
+    m_autonomousCommand.Cancel();
   }
 }
 

diff --git a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Robot.h
@@ -4,10 +4,9 @@
 
 #pragma once
 
-#include <optional>
-
 #include <frc/TimedRobot.h>
 #include <frc2/command/Command.h>
+#include <frc2/command/Commands.h>
 
 #include "RobotContainer.h"
 
@@ -26,7 +25,7 @@ class Robot : public frc::TimedRobot {
  private:
   // Have it null by default so that if testing teleop it
   // doesn't have undefined behavior and potentially crash.
-  std::optional<frc2::CommandPtr> m_autonomousCommand;
+  frc2::CommandPtr m_autonomousCommand = frc2::cmd::None();
 
   RobotContainer m_container;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/Robot.cpp
@@ -38,7 +38,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    m_autonomousCommand.Schedule();
   }
 }
 
@@ -50,7 +50,7 @@ void Robot::TeleopInit() {
   // continue until interrupted by another command, remove
   // this line or comment it out.
   if (m_autonomousCommand) {
-    m_autonomousCommand->Cancel();
+    m_autonomousCommand.Cancel();
   }
 }
 

diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/Robot.h
@@ -4,10 +4,9 @@
 
 #pragma once
 
-#include <optional>
-
 #include <frc/TimedRobot.h>
 #include <frc2/command/Command.h>
+#include <frc2/command/Commands.h>
 
 #include "RobotContainer.h"
 
@@ -26,7 +25,7 @@ class Robot : public frc::TimedRobot {
  private:
   // Have it null by default so that if testing teleop it
   // doesn't have undefined behavior and potentially crash.
-  std::optional<frc2::CommandPtr> m_autonomousCommand;
+  frc2::CommandPtr m_autonomousCommand = frc2::cmd::None();
 
   RobotContainer m_container;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/Robot.cpp
@@ -38,7 +38,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    m_autonomousCommand.Schedule();
   }
 }
 
@@ -50,7 +50,7 @@ void Robot::TeleopInit() {
   // continue until interrupted by another command, remove
   // this line or comment it out.
   if (m_autonomousCommand) {
-    m_autonomousCommand->Cancel();
+    m_autonomousCommand.Cancel();
   }
 }
 

diff --git a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Robot.h
@@ -4,10 +4,9 @@
 
 #pragma once
 
-#include <optional>
-
 #include <frc/TimedRobot.h>
 #include <frc2/command/Command.h>
+#include <frc2/command/Commands.h>
 
 #include "RobotContainer.h"
 
@@ -26,7 +25,7 @@ class Robot : public frc::TimedRobot {
  private:
   // Have it null by default so that if testing teleop it
   // doesn't have undefined behavior and potentially crash.
-  std::optional<frc2::CommandPtr> m_autonomousCommand;
+  frc2::CommandPtr m_autonomousCommand = frc2::cmd::None();
 
   RobotContainer m_container;
 };
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) {
-    m_autonomousCommand->Schedule();
+    m_autonomousCommand.Schedule();
   }
 }
 
@@ -59,7 +59,7 @@ void Robot::TeleopInit() {
   // continue until interrupted by another command, remove
   // this line or comment it out.
   if (m_autonomousCommand) {
-    m_autonomousCommand->Cancel();
+    m_autonomousCommand.Cancel();
   }
 }
 

diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Robot.h
@@ -4,10 +4,9 @@
 
 #pragma once
 
-#include <optional>
-
 #include <frc/TimedRobot.h>
 #include <frc2/command/Command.h>
+#include <frc2/command/Commands.h>
 
 #include "RobotContainer.h"
 
@@ -26,7 +25,7 @@ class Robot : public frc::TimedRobot {
  private:
   // Have it null by default so that if testing teleop it
   // doesn't have undefined behavior and potentially crash.
-  std::optional<frc2::CommandPtr> m_autonomousCommand;
+  frc2::CommandPtr m_autonomousCommand = frc2::cmd::None();
 
   RobotContainer m_container;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
@@ -47,7 +47,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    m_autonomousCommand.Schedule();
   }
 }
 
@@ -59,7 +59,7 @@ void Robot::TeleopInit() {
   // continue until interrupted by another command, remove
   // this line or comment it out.
   if (m_autonomousCommand) {
-    m_autonomousCommand->Cancel();
+    m_autonomousCommand.Cancel();
   }
 }
 

diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Robot.h
@@ -4,10 +4,9 @@
 
 #pragma once
 
-#include <optional>
-
 #include <frc/TimedRobot.h>
 #include <frc2/command/Command.h>
+#include <frc2/command/Commands.h>
 
 #include "RobotContainer.h"
 
@@ -26,7 +25,7 @@ class Robot : public frc::TimedRobot {
  private:
   // Have it null by default so that if testing teleop it
   // doesn't have undefined behavior and potentially crash.
-  std::optional<frc2::CommandPtr> m_autonomousCommand;
+  frc2::CommandPtr m_autonomousCommand = frc2::cmd::None();
 
   RobotContainer m_container;
 };
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();
+    m_autonomousCommand.Schedule();
   }
 }
 
@@ -50,7 +50,7 @@ void Robot::TeleopInit() {
   // continue until interrupted by another command, remove
   // this line or comment it out.
   if (m_autonomousCommand) {
-    m_autonomousCommand->Cancel();
+    m_autonomousCommand.Cancel();
   }
 }
 

diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Robot.h
@@ -4,10 +4,9 @@
 
 #pragma once
 
-#include <optional>
-
 #include <frc/TimedRobot.h>
 #include <frc2/command/Command.h>
+#include <frc2/command/Commands.h>
 
 #include "RobotContainer.h"
 
@@ -26,7 +25,7 @@ class Robot : public frc::TimedRobot {
  private:
   // Have it null by default so that if testing teleop it
   // doesn't have undefined behavior and potentially crash.
-  std::optional<frc2::CommandPtr> m_autonomousCommand;
+  frc2::CommandPtr m_autonomousCommand = frc2::cmd::None();
 
   RobotContainer m_container;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/Robot.cpp
@@ -38,7 +38,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    m_autonomousCommand.Schedule();
   }
 }
 
@@ -50,8 +50,7 @@ void Robot::TeleopInit() {
   // continue until interrupted by another command, remove
   // this line or comment it out.
   if (m_autonomousCommand) {
-    m_autonomousCommand->Cancel();
-    m_autonomousCommand.reset();
+    m_autonomousCommand.Cancel();
   }
 }
 

diff --git a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Robot.h
@@ -4,10 +4,9 @@
 
 #pragma once
 
-#include <optional>
-
 #include <frc/TimedRobot.h>
 #include <frc2/command/CommandPtr.h>
+#include <frc2/command/Commands.h>
 
 #include "RobotContainer.h"
 
@@ -25,7 +24,7 @@ class Robot : public frc::TimedRobot {
 
  private:
   // Have it empty by default
-  std::optional<frc2::CommandPtr> m_autonomousCommand;
+  frc2::CommandPtr m_autonomousCommand = frc2::cmd::None();
 
   RobotContainer m_container;
 };