Decorator help

nollchr · February 25, 2020, 2:25am

Trying to use the WithTimeout decorator using an inline declared command in my RobotContainer.

In RobotContainer.h
frc2::StartEndCommand m_ReleaseClimber{[this] {m_climber.WinchRetract();}, [this] {m_climber.WinchStop();}, {&m_climber}};

In RobotContainer.cpp in ConfigureButtonBindings
frc2::JoystickButton(&m_driver,5).WhenPressed(m_ReleaseClimber.WithTimeout(1.0_s));

Compile error saying Command::WithTimeout can’t be called on an lvaue, so I’m assuming decorator can’t be use the way I’m trying. (I suspected it was a problem because WhenPressed didn’t show up and an available method in the popup.

github.com

Team2170/FRC-2020-Comp/blob/master/src/main/include/RobotContainer.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#pragma once

#include <frc2/command/Command.h>
#include <frc2/command/button/JoystickButton.h>
#include <frc2/command/RamseteCommand.h>
#include <frc2/command/StartEndCommand.h>
#include <frc2/command/FunctionalCommand.h>
#include <frc2/command/ParallelRaceGroup.h>
#include <frc2/command/WaitCommand.h>
#include <frc/smartdashboard/SendableChooser.h>
#include "frc/XboxController.h"
#include "units/units.h"
#include "Subsystems/Climber.h"

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github.com

Team2170/FRC-2020-Comp/blob/master/src/main/cpp/RobotContainer.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#include "RobotContainer.h"
#include "frc2/command/button/JoystickButton.h"
#include "frc2/command/InstantCommand.h"
#include "frc2/command/SequentialCommandGroup.h"
#include "frc/smartdashboard/SmartDashboard.h"

#include "Commands/AutonomousCommandGroup.h"

RobotContainer::RobotContainer() {
  m_driveTrain.SetDefaultCommand(TeleopDrive(&m_driveTrain));
  m_intake.SetDefaultCommand(TeleopIntake(&m_intake));

  // Initialize all of your commands and subsystems here

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nollchr · February 27, 2020, 1:35am

Found my issue. Found an example in HatchbotInline example project.

// The autonomous routines
frc2::ParallelRaceGroup m_simpleAuto =
frc2::StartEndCommand(
[this] { m_drive.ArcadeDrive(ac::kAutoDriveSpeed, 0); },
[this] { m_drive.ArcadeDrive(0, 0); }, {&m_drive})
.BeforeStarting([this] { m_drive.ResetEncoders(); })
.WithInterrupt([this] {
return m_drive.GetAverageEncoderDistance() >=
ac::kAutoDriveDistanceInches;
});

system · February 26, 2021, 1:36am

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