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[wpilibcExamples] Update examples to CommandPtr #5988

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merged 15 commits into from
Dec 4, 2023
Merged

[wpilibcExamples] Update examples to CommandPtr #5988

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2d7b616
Updated all examples to CommandPtr
ncorrea210 Dec 2, 2023
08ed91e
Removed extraneous items
ncorrea210 Dec 2, 2023
d55c55b
Run wpiformat
calcmogul Dec 2, 2023
f385d91
Update robot to use cmdptr operator bool
ncorrea210 Dec 2, 2023
6a48dc4
Merge branch 'main' of https://github.com/ncorrea210/ExampleProjects
ncorrea210 Dec 2, 2023
f548cf4
Update CommandPtr(nullptr) to cmd::None()
ncorrea210 Dec 2, 2023
c7ff197
de-inlined swerve/mecanum ControllerCommand
ncorrea210 Dec 2, 2023
1587c06
Add sendable chooser to SelectCommand
ncorrea210 Dec 2, 2023
16ef932
Revert Hatchs, Gears, and Frisbee bots to 54ab65a
ncorrea210 Dec 2, 2023
75c3011
Use optional for CommandPtr
ncorrea210 Dec 2, 2023
d41330f
Implicit cast SelectCommand GetAuto for clarity
ncorrea210 Dec 2, 2023
eb61415
rm extraneous Select function from Select CMD Ex
ncorrea210 Dec 2, 2023
ba63c6b
Change SelectCommand Ex. to use Command*
ncorrea210 Dec 3, 2023
cd04205
add .reset() to optional commandptr autocommands
ncorrea210 Dec 3, 2023
eb4a001
Run wpiformat
calcmogul Dec 3, 2023
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6 changes: 3 additions & 3 deletions wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/Robot.cpp
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Expand Up @@ -39,7 +39,7 @@ void Robot::DisabledPeriodic() {}
void Robot::AutonomousInit() {
m_autonomousCommand = m_container.GetAutonomousCommand();

if (m_autonomousCommand != nullptr) {
if (m_autonomousCommand) {
m_autonomousCommand->Schedule();
}
}
Expand All @@ -51,9 +51,9 @@ void Robot::TeleopInit() {
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
if (m_autonomousCommand != nullptr) {
if (m_autonomousCommand) {
m_autonomousCommand->Cancel();
m_autonomousCommand = nullptr;
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m_autonomousCommand.reset();
}
}

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4 changes: 2 additions & 2 deletions wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp
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Expand Up @@ -60,6 +60,6 @@ void RobotContainer::DisablePIDSubsystems() {
m_arm.Disable();
}

frc2::Command* RobotContainer::GetAutonomousCommand() {
return nullptr;
frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
return frc2::cmd::None();
}
4 changes: 3 additions & 1 deletion wpilibcExamples/src/main/cpp/examples/ArmBot/include/Robot.h
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Expand Up @@ -4,6 +4,8 @@

#pragma once

#include <optional>

#include <frc/TimedRobot.h>
#include <frc2/command/Command.h>

Expand All @@ -24,7 +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.
frc2::Command* m_autonomousCommand = nullptr;
std::optional<frc2::CommandPtr> m_autonomousCommand;

RobotContainer m_container;
};
3 changes: 2 additions & 1 deletion wpilibcExamples/src/main/cpp/examples/ArmBot/include/RobotContainer.h
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Expand Up @@ -5,6 +5,7 @@
#pragma once

#include <frc2/command/Command.h>
#include <frc2/command/CommandPtr.h>
#include <frc2/command/button/CommandXboxController.h>

#include "Constants.h"
Expand All @@ -28,7 +29,7 @@ class RobotContainer {
*/
void DisablePIDSubsystems();

frc2::Command* GetAutonomousCommand();
frc2::CommandPtr GetAutonomousCommand();

private:
// The driver's controller
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6 changes: 3 additions & 3 deletions wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/Robot.cpp
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Expand Up @@ -37,7 +37,7 @@ void Robot::DisabledPeriodic() {}
void Robot::AutonomousInit() {
m_autonomousCommand = m_container.GetAutonomousCommand();

if (m_autonomousCommand != nullptr) {
if (m_autonomousCommand) {
m_autonomousCommand->Schedule();
}
}
Expand All @@ -49,9 +49,9 @@ void Robot::TeleopInit() {
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
if (m_autonomousCommand != nullptr) {
if (m_autonomousCommand) {
m_autonomousCommand->Cancel();
m_autonomousCommand = nullptr;
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m_autonomousCommand.reset();
}
}

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5 changes: 3 additions & 2 deletions wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp
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Expand Up @@ -4,6 +4,7 @@

#include "RobotContainer.h"

#include <frc2/command/Commands.h>
#include <units/angle.h>

RobotContainer::RobotContainer() {
Expand Down Expand Up @@ -34,6 +35,6 @@ void RobotContainer::ConfigureButtonBindings() {
.OnFalse(m_drive.SetMaxOutputCommand(1.0));
}

frc2::Command* RobotContainer::GetAutonomousCommand() {
return nullptr;
frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
return frc2::cmd::None();
}
4 changes: 3 additions & 1 deletion wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Robot.h
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Expand Up @@ -4,6 +4,8 @@

#pragma once

#include <optional>

#include <frc/TimedRobot.h>
#include <frc2/command/Command.h>

Expand All @@ -24,7 +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.
frc2::Command* m_autonomousCommand = nullptr;
std::optional<frc2::CommandPtr> m_autonomousCommand;

RobotContainer m_container;
};
3 changes: 2 additions & 1 deletion wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/RobotContainer.h
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Expand Up @@ -5,6 +5,7 @@
#pragma once

#include <frc2/command/Command.h>
#include <frc2/command/CommandPtr.h>
#include <frc2/command/button/CommandXboxController.h>

#include "Constants.h"
Expand All @@ -24,7 +25,7 @@ class RobotContainer {
public:
RobotContainer();

frc2::Command* GetAutonomousCommand();
frc2::CommandPtr GetAutonomousCommand();

private:
// The driver's controller
Expand Down
6 changes: 3 additions & 3 deletions wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp
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Expand Up @@ -37,7 +37,7 @@ void Robot::DisabledPeriodic() {}
void Robot::AutonomousInit() {
m_autonomousCommand = m_container.GetAutonomousCommand();

if (m_autonomousCommand != nullptr) {
if (m_autonomousCommand) {
m_autonomousCommand->Schedule();
}
}
Expand All @@ -49,9 +49,9 @@ void Robot::TeleopInit() {
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
if (m_autonomousCommand != nullptr) {
if (m_autonomousCommand) {
m_autonomousCommand->Cancel();
m_autonomousCommand = nullptr;
m_autonomousCommand.reset();
}
}

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6 changes: 4 additions & 2 deletions wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
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Expand Up @@ -4,6 +4,8 @@

#include "RobotContainer.h"

#include <frc2/command/Commands.h>

#include "commands/DriveDistanceProfiled.h"

RobotContainer::RobotContainer() {
Expand Down Expand Up @@ -60,7 +62,7 @@ void RobotContainer::ConfigureButtonBindings() {
.WithTimeout(10_s));
}

frc2::Command* RobotContainer::GetAutonomousCommand() {
frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
// Runs the chosen command in autonomous
return nullptr;
return frc2::cmd::None();
}
4 changes: 3 additions & 1 deletion wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Robot.h
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Expand Up @@ -4,6 +4,8 @@

#pragma once

#include <optional>

#include <frc/TimedRobot.h>
#include <frc2/command/Command.h>

Expand All @@ -24,7 +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.
frc2::Command* m_autonomousCommand = nullptr;
std::optional<frc2::CommandPtr> m_autonomousCommand;

RobotContainer m_container;
};
2 changes: 1 addition & 1 deletion wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/RobotContainer.h
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Expand Up @@ -23,7 +23,7 @@ class RobotContainer {
public:
RobotContainer();

frc2::Command* GetAutonomousCommand();
frc2::CommandPtr GetAutonomousCommand();

private:
// The driver's controller
Expand Down
6 changes: 3 additions & 3 deletions wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/Robot.cpp
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Expand Up @@ -37,7 +37,7 @@ void Robot::DisabledPeriodic() {}
void Robot::AutonomousInit() {
m_autonomousCommand = m_container.GetAutonomousCommand();

if (m_autonomousCommand != nullptr) {
if (m_autonomousCommand) {
m_autonomousCommand->Schedule();
}
}
Expand All @@ -49,9 +49,9 @@ void Robot::TeleopInit() {
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
if (m_autonomousCommand != nullptr) {
if (m_autonomousCommand) {
m_autonomousCommand->Cancel();
m_autonomousCommand = nullptr;
m_autonomousCommand.reset();
}
}

Expand Down
4 changes: 2 additions & 2 deletions wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp
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Expand Up @@ -64,7 +64,7 @@ void RobotContainer::ConfigureButtonBindings() {
.OnFalse(frc2::cmd::RunOnce([this] { m_drive.SetMaxOutput(1); }, {}));
}

frc2::Command* RobotContainer::GetAutonomousCommand() {
frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
// no auto
return nullptr;
return frc2::cmd::None();
}
4 changes: 3 additions & 1 deletion wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Robot.h
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Expand Up @@ -4,6 +4,8 @@

#pragma once

#include <optional>

#include <frc/TimedRobot.h>
#include <frc2/command/Command.h>

Expand All @@ -24,7 +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.
frc2::Command* m_autonomousCommand = nullptr;
std::optional<frc2::CommandPtr> m_autonomousCommand;

RobotContainer m_container;
};
6 changes: 2 additions & 4 deletions wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/RobotContainer.h
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Expand Up @@ -8,6 +8,7 @@
#include <frc/controller/PIDController.h>
#include <frc/smartdashboard/SendableChooser.h>
#include <frc2/command/Command.h>
#include <frc2/command/CommandPtr.h>
#include <frc2/command/InstantCommand.h>

#include "Constants.h"
Expand All @@ -28,7 +29,7 @@ class RobotContainer {
public:
RobotContainer();

frc2::Command* GetAutonomousCommand();
frc2::CommandPtr GetAutonomousCommand();

private:
// The driver's controller
Expand All @@ -39,8 +40,5 @@ class RobotContainer {
// The robot's subsystems
DriveSubsystem m_drive;

// The chooser for the autonomous routines
frc::SendableChooser<frc2::Command*> m_chooser;

void ConfigureButtonBindings();
};
6 changes: 3 additions & 3 deletions wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Robot.cpp
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Expand Up @@ -37,7 +37,7 @@ void Robot::DisabledPeriodic() {}
void Robot::AutonomousInit() {
m_autonomousCommand = m_container.GetAutonomousCommand();

if (m_autonomousCommand != nullptr) {
if (m_autonomousCommand) {
m_autonomousCommand->Schedule();
}
}
Expand All @@ -49,9 +49,9 @@ void Robot::TeleopInit() {
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
if (m_autonomousCommand != nullptr) {
if (m_autonomousCommand) {
m_autonomousCommand->Cancel();
m_autonomousCommand = nullptr;
m_autonomousCommand.reset();
}
}

Expand Down
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