Rewrite command controller articles to show composition #2684
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| .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/ArmSubsystem.java | ||
| .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java |
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Use a full 40 character commit hash instead of main, as that will keep the RLI from breaking if there's future changes. Inspector will be able to update the commit hash
| @@ -94,7 +28,7 @@ What does a ``TrapezoidProfileSubsystem`` look like when used in practice? The | |||
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| .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/ArmSubsystem.h | |||
| .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/subsystems/DriveSubsystem.h | |||
| @@ -103,139 +37,12 @@ What does a ``TrapezoidProfileSubsystem`` look like when used in practice? The | |||
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| .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/ArmSubsystem.cpp | |||
| .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/subsystems/DriveSubsystem.cpp | |||
| ### Control Algorithm Commands | ||
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| There are commands for various control setups: | ||
| There are many different ways to implement these controllers in the command framework for various control setups: | ||
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| - ``PIDCommand`` uses a PID controller. For more info, see :ref:`docs/software/commandbased/pid-subsystems-commands:PIDCommand`. | ||
| - ``PIDController`` can be integrated into a ``Subsystem``. For more info, see :ref:`docs/software/commandbased/pid-subsystems-commands:PID Control in Command-based`. | ||
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| - ``TrapezoidProfileCommand`` tracks a trapezoid motion profile. For more info, see :ref:`docs/software/commandbased/profile-subsystems-commands:TrapezoidProfileCommand`. | ||
| - ``TrapezoidProfile`` tracks a trapezoid motion profile. For more info, see :doc:`/docs/software/commandbased/profile-subsystems-commands`. |
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This section lists controller command classes, and should be removed once all the controller command classes are phased out. In the meantime, an admonition pointing to the other pages might be helpful (but I'm not entirely convinced it's needed); it shouldn't be an item in a list of command classes.
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There's conflicts to resolve |
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Control subsystems are full of footguns and are poor abstractions since they don't save any typing, yet they actively bypass the command mutex system. Control commands are also poor abstractions as they are easy to mess up, yet hide internal details away from the user, making debugging harder. They also don't save any typing.