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Upgrade to Gradle 7.2 and WPILib 2022 (#316)

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This commit is contained in:
Tyler Veness
2021-11-21 17:22:56 -08:00
committed by GitHub
parent ffe34f00fe
commit 5ca39e7f84
316 changed files with 671 additions and 1019 deletions
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30
photonlib-cpp-examples/src/main/cpp/examples/aimandrange/cpp/Robot.cpp
View File

@@ -1,5 +1,5 @@
/**
* Copyright (C) 2018-2020 Photon Vision.
/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
@@ -26,24 +26,24 @@ void Robot::TeleopPeriodic() {
if (xboxController.GetAButton()) {
// Vision-alignment mode
// Query the latest result from PhotonVision
const auto &result = camera.GetLatestResult();
const auto& result = camera.GetLatestResult();
if (result.HasTargets()) {
// First calculate range
units::meter_t range =
photonlib::PhotonUtils::CalculateDistanceToTarget(
CAMERA_HEIGHT, TARGET_HEIGHT, CAMERA_PITCH,
units::degree_t{result.GetBestTarget().GetPitch()});
units::meter_t range = photonlib::PhotonUtils::CalculateDistanceToTarget(
CAMERA_HEIGHT, TARGET_HEIGHT, CAMERA_PITCH,
units::degree_t{result.GetBestTarget().GetPitch()});
// Use this range as the measurement we give to the PID controller.
// -1.0 required to ensure positive PID controller effort _increases_ range
forwardSpeed = -1.0* forwardController.Calculate(
range.to<double>(), GOAL_RANGE_METERS.to<double>());
// -1.0 required to ensure positive PID controller effort _increases_
// range
forwardSpeed = -forwardController.Calculate(range.value(),
GOAL_RANGE_METERS.value());
// Also calculate angular power
// -1.0 required to ensure positive PID controller effort _increases_ yaw
rotationSpeed = -1.0 * turnController.Calculate(
result.GetBestTarget().GetYaw(), 0);
rotationSpeed =
-turnController.Calculate(result.GetBestTarget().GetYaw(), 0);
} else {
// If we have no targets, stay still.
forwardSpeed = 0;
@@ -51,10 +51,8 @@ void Robot::TeleopPeriodic() {
}
} else {
// Manual Driver Mode
forwardSpeed =
-1.0 * xboxController.GetY(frc::GenericHID::JoystickHand::kRightHand);
rotationSpeed =
xboxController.GetX(frc::GenericHID::JoystickHand::kLeftHand);
forwardSpeed = -xboxController.GetRightY();
rotationSpeed = xboxController.GetLeftX();
}
// Use our forward/turn speeds to control the drivetrain

10
photonlib-cpp-examples/src/main/cpp/examples/aimandrange/include/Robot.h
View File

@@ -1,5 +1,5 @@
/**
* Copyright (C) 2018-2020 Photon Vision.
/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
@@ -19,19 +19,19 @@
#include <photonlib/PhotonCamera.h>
#include <frc/PWMVictorSPX.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>
#include <frc/controller/PIDController.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc/motorcontrol/PWMVictorSPX.h>
#include <units/angle.h>
#include <units/length.h>
class Robot : public frc::TimedRobot {
public:
public:
void TeleopPeriodic() override;
private:
private:
// Constants such as camera and target height stored. Change per robot and
// goal!
const units::meter_t CAMERA_HEIGHT = 24_in;