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[examples] Move triggers to subsystem fields #6318

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merged 8 commits into from
Jan 28, 2024
Merged

[examples] Move triggers to subsystem fields #6318

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4625987
add subsystem triggers
DeltaDizzy Jan 26, 2024
abf4ae2
stop using hungarian notation for public fields
DeltaDizzy Jan 26, 2024
ae691bd
Formatting fixes
github-actions[bot] Jan 26, 2024
4b20542
tell checkstyle hungarian is bad
DeltaDizzy Jan 26, 2024
4511d5e
add storage newline
DeltaDizzy Jan 27, 2024
2998b96
remove space
DeltaDizzy Jan 27, 2024
dc7832b
expose sensor directly via trigger
DeltaDizzy Jan 27, 2024
70af0e4
remove unneeded newline
DeltaDizzy Jan 27, 2024
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11 changes: 4 additions & 7 deletions wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -12,16 +12,13 @@

void RapidReactCommandBot::ConfigureBindings() {
// Automatically run the storage motor whenever the ball storage is not full,
// and turn it off whenever it fills.
frc2::Trigger([this] {
return m_storage.IsFull();
}).WhileFalse(m_storage.RunCommand());
// and turn it off whenever it fills. Uses subsystem-hosted trigger to
// improve readability and make inter-subsystem communication easier.
m_storage.HasCargo.WhileFalse(m_storage.RunCommand());
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// Automatically disable and retract the intake whenever the ball storage is
// full.
frc2::Trigger([this] {
return m_storage.IsFull();
}).OnTrue(m_intake.RetractCommand());
m_storage.HasCargo.OnTrue(m_intake.RetractCommand());

// Control the drive with split-stick arcade controls
m_drive.SetDefaultCommand(m_drive.ArcadeDriveCommand(
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6 changes: 6 additions & 0 deletions wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Storage.h
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Expand Up @@ -8,6 +8,7 @@
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc2/command/CommandPtr.h>
#include <frc2/command/SubsystemBase.h>
#include <frc2/command/button/Trigger.h>

#include "Constants.h"

Expand All @@ -21,6 +22,11 @@ class Storage : frc2::SubsystemBase {
/** Whether the ball storage is full. */
bool IsFull() const;

/** Exposes the IsFull trigger. */
frc2::Trigger HasCargo{[this] {
return IsFull();
}};

private:
frc::PWMSparkMax m_motor{StorageConstants::kMotorPort};
frc::DigitalInput m_ballSensor{StorageConstants::kBallSensorPort};
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7 changes: 4 additions & 3 deletions ...c/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/RapidReactCommandBot.java
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Expand Up @@ -46,11 +46,12 @@ public class RapidReactCommandBot {
*/
public void configureBindings() {
// Automatically run the storage motor whenever the ball storage is not full,
// and turn it off whenever it fills.
new Trigger(m_storage::isFull).whileFalse(m_storage.runCommand());
// and turn it off whenever it fills. Uses subsystem-hosted trigger to
// improve readability and make inter-subsystem communication easier.
m_storage.hasCargo.whileFalse(m_storage.runCommand());

// Automatically disable and retract the intake whenever the ball storage is full.
new Trigger(m_storage::isFull).onTrue(m_intake.retractCommand());
m_storage.hasCargo.onTrue(m_intake.retractCommand());

// Control the drive with split-stick arcade controls
m_drive.setDefaultCommand(
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7 changes: 5 additions & 2 deletions ...src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Storage.java
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Expand Up @@ -4,16 +4,19 @@

package edu.wpi.first.wpilibj.examples.rapidreactcommandbot.subsystems;

import static edu.wpi.first.wpilibj.examples.rapidreactcommandbot.Constants.StorageConstants;

import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.examples.rapidreactcommandbot.Constants.StorageConstants;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.button.Trigger;

public class Storage extends SubsystemBase {
private final PWMSparkMax m_motor = new PWMSparkMax(StorageConstants.kMotorPort);
private final DigitalInput m_ballSensor = new DigitalInput(StorageConstants.kBallSensorPort);
// Expose trigger from subsystem to improve readability and ease
// inter-subsystem communications
public final Trigger hasCargo = new Trigger(this::isFull);

/** Create a new Storage subsystem. */
public Storage() {
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