Add commands v3 documentation pages - #3339
SamCarlberg wants to merge 20 commits into
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Here's some initial comments. Also update new for 2027 to link to the documentation.
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| .. tab-set-code:: | ||
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| ```java |
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To improve maintainability, lets make these and all other "complete" code snippets into snippets in allwpilib and reference via RLIs.
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Yup. I plan on moving them when the code snippets are approved here. It's annoying to reference them across repos
Removed a lot of unnecessary tab-set-code and replaced others with manual tab-sets with descriptive tab labels
Co-authored-by: Dan Katzuv <31829093+katzuv@users.noreply.github.com>
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sciencewhiz
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A few more comments, haven't been able to get through everything yet
This should update the 2027 overview to link to the documentation instead of the confernce/design doc.
The examples page should be updated with the commands v3 examples
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| # State Machines with Commands | |||
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I think this article could benefit from a more complex example that demonstrates why State machines are beneficial for complex commands. The existing code example seems like something that could easily be done without a state machine
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I think this will need a followup with a new state machine example project added to allwpilib
Include a note on broken builds and a quick-and-dirty workaround Could also use `uv run make html SPHINXOPTS="-D rediraffe_redirects='path/to/empty-file.txt"` to point at an empty file outside the git repo without making any local changes, if on a Unix-like system
Comments don't affect the behavior of redirects, so they're safe to insert, remove, or modify at will
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| // Triggers can be and are encouraged to be public. They can't control the mechanism, | ||
| // and make it easier to coordinate complex actions | ||
| public final Trigger isUp = new Trigger(() -> pivotMotor.getPosition() >= 90); |
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I don't think this code will compile, since PWMSparkMax isn't a smart motor controller with a sensor. In fact, because of the discussion of sensors above, using a separate encoder in this example seems like it would be better.
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| # Using Lambda Functions | |||
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There's also this existing doc on lambdas. Perhaps update and reference that doc for the general syntax part, and keep this specific to how they're used in Commands v3
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Note that some docs reference not-yet-committed WPILib changes (wpilibsuite/allwpilib#9207)