Changes between Version 9 and Version 10 of ControlSystems/SoftwareTeam/Training/WPILib/CommandBasedProgramming

Timestamp:

Dec 17, 2019, 10:11:19 AM (6 years ago)

Author:

David Albert

Comment:

--

ControlSystems/SoftwareTeam/Training/WPILib/CommandBasedProgramming

@@ -67 +67 @@
 }}}
 
-Add !OpenCommand.java and !CloseCommand.java under commands:
+Add new commands in commands folder:
+
 !OpenCommand.java:
 {{{
@@ -77 +78 @@
 public class OpenCommand extends Command {
   public OpenCommand() {
-    requires(Robot.m_servo);
+    requires(Robot.m_servo); // servo must be available
   }
 
@@ -84 +85 @@
     System.out.println("Open Pressed.");
     Robot.m_servo.setAngle(30); // set servo to open position
-    return true;
+    return true;                // and then finish
   }
 }
@@ -98 +99 @@
 public class CloseCommand extends Command {
   public CloseCommand() {
-    requires(Robot.m_servo);
+    requires(Robot.m_servo); // servo must be available
   }
 
@@ -105 +106 @@
     System.out.println("Close Pressed.");
     Robot.m_servo.setAngle(120); // set servo to closed position
-    return true;
+    return true;                 // and then finish
   }
 }
@@ -142 +143 @@
 public class Robot extends TimedRobot {
   public static ServoSubsystem m_servo = ServoSubsystem.getInstance();
-  public static OI m_oi;
+  public static OI m_oi; // operator interface
 
   @Override
@@ -151 +152 @@
   @Override
   public void disabledPeriodic() {
-    Scheduler.getInstance().run();
+    Scheduler.getInstance().run(); // run enabled commands
   }
 
-  /**
-   * This function is called periodically during autonomous.
-   */
   @Override
   public void autonomousPeriodic() {
-    Scheduler.getInstance().run();
+    Scheduler.getInstance().run(); // run enabled commands
   }
 
   @Override
   public void teleopPeriodic() {
-    Scheduler.getInstance().run();
+    Scheduler.getInstance().run(); // run enabled commands
   }
 }