Merge commit 'e7cb6f5dd945198471b24d5c457ef57ec560d313' into upstream

Author: virtuald

commands2/src/cpp/frc2/command/button/CommandGenericHID.cpp

@@ -54,3 +54,17 @@ Trigger CommandGenericHID::POVUpLeft(frc::EventLoop* loop) const {
 Trigger CommandGenericHID::POVCenter(frc::EventLoop* loop) const {
   return POV(360, loop);
 }
+
+Trigger CommandGenericHID::AxisLessThan(int axis, double threshold,
+                                        frc::EventLoop* loop) const {
+  return Trigger(loop, [this, axis, threshold]() {
+    return this->GetRawAxis(axis) < threshold;
+  });
+}
+
+Trigger CommandGenericHID::AxisGreaterThan(int axis, double threshold,
+                                           frc::EventLoop* loop) const {
+  return Trigger(loop, [this, axis, threshold]() {
+    return this->GetRawAxis(axis) > threshold;
+  });
+}

commands2/src/cpp/frc2/command/button/CommandXboxController.cpp

@@ -49,3 +49,13 @@ Trigger CommandXboxController::Back(frc::EventLoop* loop) const {
 Trigger CommandXboxController::Start(frc::EventLoop* loop) const {
   return XboxController::Start(loop).CastTo<Trigger>();
 }
+
+Trigger CommandXboxController::LeftTrigger(double threshold,
+                                           frc::EventLoop* loop) const {
+  return XboxController::LeftTrigger(threshold, loop).CastTo<Trigger>();
+}
+
+Trigger CommandXboxController::RightTrigger(double threshold,
+                                            frc::EventLoop* loop) const {
+  return XboxController::RightTrigger(threshold, loop).CastTo<Trigger>();
+}

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

@@ -238,7 +238,7 @@ safe) semantics.
    * Decorates this command to only run if this condition is not met. If the
    * command is already running and the condition changes to true, the command
    * will not stop running. The requirements of this command will be kept for
-   * the new conditonal command.
+   * the new conditional command.
    *
    * @param condition the condition that will prevent the command from running
    * @return the decorated command

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

@@ -163,7 +163,7 @@ class CommandPtr final {
    * Decorates this command to only run if this condition is not met. If the
    * command is already running and the condition changes to true, the command
    * will not stop running. The requirements of this command will be kept for
-   * the new conditonal command.
+   * the new conditional command.
    *
    * @param condition the condition that will prevent the command from running
    * @return the decorated command

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

@@ -131,7 +131,7 @@ namespace cmd {
 [[nodiscard]] CommandPtr Wait(units::second_t duration);
 
 /**
- * Constructs a command that does nothing, finishing once a command becomes
+ * Constructs a command that does nothing, finishing once a condition becomes
  * true.
  *
  * @param condition the condition

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

@@ -268,7 +268,7 @@ class MecanumControllerCommand
    *
    * <p>Note: The controllers will *not* set the outputVolts to zero upon
    * completion of the path - this is left to the user, since it is not
-   * appropriate for paths with non-stationary end-states.
+   * appropriate for paths with nonstationary end-states.
    *
    * @param trajectory       The trajectory to follow.
    * @param pose             A function that supplies the robot pose - use one
@@ -306,7 +306,7 @@ class MecanumControllerCommand
    *
    * <p>Note: The controllers will *not* set the outputVolts to zero upon
    * completion of the path - this is left to the user, since it is not
-   * appropriate for paths with non-stationary end-states.
+   * appropriate for paths with nonstationary end-states.
    *
    * <p>Note 2: The final rotation of the robot will be set to the rotation of
    * the final pose in the trajectory. The robot will not follow the rotations
@@ -346,7 +346,7 @@ class MecanumControllerCommand
    *
    * <p>Note: The controllers will *not* set the outputVolts to zero upon
    * completion of the path - this is left to the user, since it is not
-   * appropriate for paths with non-stationary end-states.
+   * appropriate for paths with nonstationary end-states.
    *
    * @param trajectory       The trajectory to follow.
    * @param pose             A function that supplies the robot pose - use one
@@ -384,7 +384,7 @@ class MecanumControllerCommand
    *
    * <p>Note: The controllers will *not* set the outputVolts to zero upon
    * completion of the path - this is left to the user, since it is not
-   * appropriate for paths with non-stationary end-states.
+   * appropriate for paths with nonstationary end-states.
    *
    * <p>Note2: The final rotation of the robot will be set to the rotation of
    * the final pose in the trajectory. The robot will not follow the rotations

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

@@ -59,7 +59,7 @@ class ParallelCommandGroup
 
   ParallelCommandGroup(ParallelCommandGroup&& other) = default;
 
-  // No copy constructors for commandgroups
+  // No copy constructors for command groups
   ParallelCommandGroup(const ParallelCommandGroup&) = delete;
 
   // Prevent template expansion from emulating copy ctor

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

@@ -38,7 +38,7 @@ template <typename Key>
 class SelectCommand : public CommandHelper<CommandBase, SelectCommand<Key>> {
  public:
   /**
-   * Creates a new selectcommand.
+   * Creates a new SelectCommand.
    *
    * @param commands the map of commands to choose from
    * @param selector the selector to determine which command to run

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

@@ -38,7 +38,7 @@ class CommandPtr;
  */
 class Subsystem {
  public:
-  ~Subsystem();
+  virtual ~Subsystem();
   /**
    * This method is called periodically by the CommandScheduler.  Useful for
    * updating subsystem-specific state that you don't want to offload to a

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

@@ -209,6 +209,131 @@ class SwerveControllerCommand
           output,
       std::span<Subsystem* const> requirements = {});
 
+  /**
+   * Constructs a new SwerveControllerCommand that when executed will follow the
+   * provided trajectory. This command will not return output voltages but
+   * rather raw module states from the position controllers which need to be put
+   * into a velocity PID.
+   *
+   * <p>Note: The controllers will *not* set the outputVolts to zero upon
+   * completion of the path- this is left to the user, since it is not
+   * appropriate for paths with nonstationary endstates.
+   *
+   * @param trajectory      The trajectory to follow.
+   * @param pose            A function that supplies the robot pose,
+   *                        provided by the odometry class.
+   * @param kinematics      The kinematics for the robot drivetrain.
+   * @param controller      The HolonomicDriveController for the drivetrain.
+   * @param desiredRotation The angle that the drivetrain should be
+   *                        facing. This is sampled at each time step.
+   * @param output          The raw output module states from the
+   *                        position controllers.
+   * @param requirements    The subsystems to require.
+   */
+  SwerveControllerCommand(
+      frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
+      frc::SwerveDriveKinematics<NumModules> kinematics,
+      frc::HolonomicDriveController controller,
+      std::function<frc::Rotation2d()> desiredRotation,
+      std::function<void(std::array<frc::SwerveModuleState, NumModules>)>
+          output,
+      std::initializer_list<Subsystem*> requirements);
+
+  /**
+   * Constructs a new SwerveControllerCommand that when executed will follow the
+   * provided trajectory. This command will not return output voltages but
+   * rather raw module states from the position controllers which need to be put
+   * into a velocity PID.
+   *
+   * <p>Note: The controllers will *not* set the outputVolts to zero upon
+   * completion of the path- this is left to the user, since it is not
+   * appropriate for paths with nonstationary endstates.
+   *
+   * <p>Note 2: The final rotation of the robot will be set to the rotation of
+   * the final pose in the trajectory. The robot will not follow the rotations
+   * from the poses at each timestep. If alternate rotation behavior is desired,
+   * the other constructor with a supplier for rotation should be used.
+   *
+   * @param trajectory      The trajectory to follow.
+   * @param pose            A function that supplies the robot pose,
+   *                        provided by the odometry class.
+   * @param kinematics      The kinematics for the robot drivetrain.
+   * @param controller      The HolonomicDriveController for the drivetrain.
+   * @param output          The raw output module states from the
+   *                        position controllers.
+   * @param requirements    The subsystems to require.
+   */
+  SwerveControllerCommand(
+      frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
+      frc::SwerveDriveKinematics<NumModules> kinematics,
+      frc::HolonomicDriveController controller,
+      std::function<void(std::array<frc::SwerveModuleState, NumModules>)>
+          output,
+      std::initializer_list<Subsystem*> requirements);
+
+  /**
+   * Constructs a new SwerveControllerCommand that when executed will follow the
+   * provided trajectory. This command will not return output voltages but
+   * rather raw module states from the position controllers which need to be put
+   * into a velocity PID.
+   *
+   * <p>Note: The controllers will *not* set the outputVolts to zero upon
+   * completion of the path- this is left to the user, since it is not
+   * appropriate for paths with nonstationary endstates.
+   *
+   *
+   * @param trajectory      The trajectory to follow.
+   * @param pose            A function that supplies the robot pose,
+   *                        provided by the odometry class.
+   * @param kinematics      The kinematics for the robot drivetrain.
+   * @param controller     The HolonomicDriveController for the robot.
+   * @param desiredRotation The angle that the drivetrain should be
+   *                        facing. This is sampled at each time step.
+   * @param output          The raw output module states from the
+   *                        position controllers.
+   * @param requirements    The subsystems to require.
+   */
+  SwerveControllerCommand(
+      frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
+      frc::SwerveDriveKinematics<NumModules> kinematics,
+      frc::HolonomicDriveController controller,
+      std::function<frc::Rotation2d()> desiredRotation,
+      std::function<void(std::array<frc::SwerveModuleState, NumModules>)>
+          output,
+      std::span<Subsystem* const> requirements = {});
+
+  /**
+   * Constructs a new SwerveControllerCommand that when executed will follow the
+   * provided trajectory. This command will not return output voltages but
+   * rather raw module states from the position controllers which need to be put
+   * into a velocity PID.
+   *
+   * <p>Note: The controllers will *not* set the outputVolts to zero upon
+   * completion of the path- this is left to the user, since it is not
+   * appropriate for paths with nonstationary endstates.
+   *
+   * <p>Note 2: The final rotation of the robot will be set to the rotation of
+   * the final pose in the trajectory. The robot will not follow the rotations
+   * from the poses at each timestep. If alternate rotation behavior is desired,
+   * the other constructor with a supplier for rotation should be used.
+   *
+   * @param trajectory      The trajectory to follow.
+   * @param pose            A function that supplies the robot pose,
+   *                        provided by the odometry class.
+   * @param kinematics      The kinematics for the robot drivetrain.
+   * @param controller      The HolonomicDriveController for the drivetrain.
+   * @param output          The raw output module states from the
+   *                        position controllers.
+   * @param requirements    The subsystems to require.
+   */
+  SwerveControllerCommand(
+      frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
+      frc::SwerveDriveKinematics<NumModules> kinematics,
+      frc::HolonomicDriveController controller,
+      std::function<void(std::array<frc::SwerveModuleState, NumModules>)>
+          output,
+      std::span<Subsystem* const> requirements = {});
+
   void Initialize() override;
 
   void Execute() override;