Merge branch 'upstream'

Author: virtuald

commands2/src/cpp/frc2/command/Subsystem.cpp

@@ -21,6 +21,10 @@ void Subsystem::SetDefaultCommand(std::shared_ptr<Command> defaultCommand) {
                                                     defaultCommand);
 }
 
+void Subsystem::RemoveDefaultCommand() {
+  CommandScheduler::GetInstance().RemoveDefaultCommand(this);
+}
+
 std::shared_ptr<Command> Subsystem::GetDefaultCommand() {
   return CommandScheduler::GetInstance().GetDefaultCommand(this);
 }

commands2/src/include/frc2/command/Subsystem.h

@@ -79,6 +79,12 @@ class Subsystem {
    */
   void SetDefaultCommand(std::shared_ptr<Command> defaultCommand);
 
+  /**
+   * Removes the default command for the subsystem.  This will not cancel the
+   * default command if it is currently running.
+   */
+  void RemoveDefaultCommand();
+
   /**
    * Gets the default command for this subsystem.  Returns null if no default
    * command is currently associated with the subsystem.