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[wpilib] Add PS4Controller, remove Hand from GenericHID/XboxController (#3345)

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- GenericHID is now concrete, and has only getRawAxis/Button(int) functionality
- getXxx() has been moved into Joystick as that's the only place where it makes sense
- Hand (and therefore getXxx(Hand)) has been removed, replaced by specific getLeft/RightXxx() methods in XboxController and the new PS4Controller class
- C++ ::Button:: and ::Axis:: enums have been converted to identically-namespaced static constexpr ints
This commit is contained in:
Starlight220
2021-08-14 20:00:46 +03:00
committed by GitHub
parent 25f6f478a5
commit 031962608b
82 changed files with 2548 additions and 934 deletions
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6
wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp
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@@ -2,7 +2,6 @@
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <frc/GenericHID.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>
#include <frc/drive/DifferentialDrive.h>
@@ -23,9 +22,8 @@ class Robot : public frc::TimedRobot {
// Drive with split arcade style
// That means that the Y axis of the left stick moves forward
// and backward, and the X of the right stick turns left and right.
m_robotDrive.ArcadeDrive(
m_driverController.GetY(frc::GenericHID::JoystickHand::kLeftHand),
m_driverController.GetX(frc::GenericHID::JoystickHand::kRightHand));
m_robotDrive.ArcadeDrive(m_driverController.GetLeftY(),
m_driverController.GetRightX());
}
};

14
wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp
View File

@@ -17,9 +17,8 @@ RobotContainer::RobotContainer() {
// Set up default drive command
m_drive.SetDefaultCommand(frc2::RunCommand(
[this] {
m_drive.ArcadeDrive(
m_driverController.GetY(frc::GenericHID::kLeftHand),
m_driverController.GetX(frc::GenericHID::kRightHand));
m_drive.ArcadeDrive(m_driverController.GetLeftY(),
m_driverController.GetRightX());
},
{&m_drive}));
}
@@ -28,7 +27,7 @@ void RobotContainer::ConfigureButtonBindings() {
// Configure your button bindings here
// Move the arm to 2 radians above horizontal when the 'A' button is pressed.
frc2::JoystickButton(&m_driverController, 1)
frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kA)
.WhenPressed(
[this] {
m_arm.SetGoal(2_rad);
@@ -37,7 +36,7 @@ void RobotContainer::ConfigureButtonBindings() {
{&m_arm});
// Move the arm to neutral position when the 'B' button is pressed.
frc2::JoystickButton(&m_driverController, 2)
frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kB)
.WhenPressed(
[this] {
m_arm.SetGoal(ArmConstants::kArmOffset);
@@ -46,11 +45,12 @@ void RobotContainer::ConfigureButtonBindings() {
{&m_arm});
// Disable the arm controller when Y is pressed.
frc2::JoystickButton(&m_driverController, 4)
frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kY)
.WhenPressed([this] { m_arm.Disable(); }, {&m_arm});
// While holding the shoulder button, drive at half speed
frc2::JoystickButton(&m_driverController, 6)
frc2::JoystickButton(&m_driverController,
frc::XboxController::Button::kRightBumper)
.WhenPressed([this] { m_drive.SetMaxOutput(0.5); })
.WhenReleased([this] { m_drive.SetMaxOutput(1); });
}

12
wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp
View File

@@ -17,9 +17,8 @@ RobotContainer::RobotContainer() {
// Set up default drive command
m_drive.SetDefaultCommand(frc2::RunCommand(
[this] {
m_drive.ArcadeDrive(
m_driverController.GetY(frc::GenericHID::kLeftHand),
m_driverController.GetX(frc::GenericHID::kRightHand));
m_drive.ArcadeDrive(m_driverController.GetLeftY(),
m_driverController.GetRightX());
},
{&m_drive}));
}
@@ -28,16 +27,17 @@ void RobotContainer::ConfigureButtonBindings() {
// Configure your button bindings here
// Move the arm to 2 radians above horizontal when the 'A' button is pressed.
frc2::JoystickButton(&m_driverController, 1)
frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kA)
.WhenPressed([this] { m_arm.SetGoal(2_rad); }, {&m_arm});
// Move the arm to neutral position when the 'B' button is pressed.
frc2::JoystickButton(&m_driverController, 1)
frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kB)
.WhenPressed([this] { m_arm.SetGoal(ArmConstants::kArmOffset); },
{&m_arm});
// While holding the shoulder button, drive at half speed
frc2::JoystickButton(&m_driverController, 6)
frc2::JoystickButton(&m_driverController,
frc::XboxController::Button::kRightBumper)
.WhenPressed([this] { m_drive.SetMaxOutput(0.5); })
.WhenReleased([this] { m_drive.SetMaxOutput(1); });
}

1
wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
View File

@@ -3,7 +3,6 @@
// the WPILib BSD license file in the root directory of this project.
#include <frc/Encoder.h>
#include <frc/GenericHID.h>
#include <frc/Joystick.h>
#include <frc/RobotController.h>
#include <frc/StateSpaceUtil.h>

6
wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Robot.cpp
View File

@@ -18,16 +18,14 @@ class Robot : public frc::TimedRobot {
void TeleopPeriodic() override {
// Get the x speed. We are inverting this because Xbox controllers return
// negative values when we push forward.
const auto xSpeed = -m_speedLimiter.Calculate(
m_controller.GetY(frc::GenericHID::kLeftHand)) *
const auto xSpeed = -m_speedLimiter.Calculate(m_controller.GetLeftY()) *
Drivetrain::kMaxSpeed;
// Get the rate of angular rotation. We are inverting this because we want a
// positive value when we pull to the left (remember, CCW is positive in
// mathematics). Xbox controllers return positive values when you pull to
// the right by default.
const auto rot = -m_rotLimiter.Calculate(
m_controller.GetX(frc::GenericHID::kRightHand)) *
const auto rot = -m_rotLimiter.Calculate(m_controller.GetRightX()) *
Drivetrain::kMaxAngularSpeed;
m_drive.Drive(xSpeed, rot);

6
wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Robot.cpp
View File

@@ -18,16 +18,14 @@ class Robot : public frc::TimedRobot {
void TeleopPeriodic() override {
// Get the x speed. We are inverting this because Xbox controllers return
// negative values when we push forward.
const auto xSpeed = -m_speedLimiter.Calculate(
m_controller.GetY(frc::GenericHID::kLeftHand)) *
const auto xSpeed = -m_speedLimiter.Calculate(m_controller.GetLeftY()) *
Drivetrain::kMaxSpeed;
// Get the rate of angular rotation. We are inverting this because we want a
// positive value when we pull to the left (remember, CCW is positive in
// mathematics). Xbox controllers return positive values when you pull to
// the right by default.
const auto rot = -m_rotLimiter.Calculate(
m_controller.GetX(frc::GenericHID::kRightHand)) *
const auto rot = -m_rotLimiter.Calculate(m_controller.GetRightX()) *
Drivetrain::kMaxAngularSpeed;
m_drive.Drive(xSpeed, rot);

12
wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
View File

@@ -18,9 +18,8 @@ RobotContainer::RobotContainer() {
// Set up default drive command
m_drive.SetDefaultCommand(frc2::RunCommand(
[this] {
m_drive.ArcadeDrive(
m_driverController.GetY(frc::GenericHID::kLeftHand),
m_driverController.GetX(frc::GenericHID::kRightHand));
m_drive.ArcadeDrive(m_driverController.GetLeftY(),
m_driverController.GetRightX());
},
{&m_drive}));
}
@@ -29,18 +28,19 @@ void RobotContainer::ConfigureButtonBindings() {
// Configure your button bindings here
// While holding the shoulder button, drive at half speed
frc2::JoystickButton(&m_driverController, 6)
frc2::JoystickButton(&m_driverController,
frc::XboxController::Button::kRightBumper)
.WhenPressed(&m_driveHalfSpeed)
.WhenReleased(&m_driveFullSpeed);
// Drive forward by 3 meters when the 'A' button is pressed, with a timeout of
// 10 seconds
frc2::JoystickButton(&m_driverController, 1)
frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kA)
.WhenPressed(DriveDistanceProfiled(3_m, &m_drive).WithTimeout(10_s));
// Do the same thing as above when the 'B' button is pressed, but defined
// inline
frc2::JoystickButton(&m_driverController, 2)
frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kB)
.WhenPressed(
frc2::TrapezoidProfileCommand<units::meters>(
frc::TrapezoidProfile<units::meters>(

1
wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
View File

@@ -3,7 +3,6 @@
// the WPILib BSD license file in the root directory of this project.
#include <frc/Encoder.h>
#include <frc/GenericHID.h>
#include <frc/Joystick.h>
#include <frc/RobotController.h>
#include <frc/StateSpaceUtil.h>

16
wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp
View File

@@ -16,9 +16,8 @@ RobotContainer::RobotContainer() {
// Set up default drive command
m_drive.SetDefaultCommand(frc2::RunCommand(
[this] {
m_drive.ArcadeDrive(
m_driverController.GetY(frc::GenericHID::kLeftHand),
m_driverController.GetX(frc::GenericHID::kRightHand));
m_drive.ArcadeDrive(m_driverController.GetLeftY(),
m_driverController.GetRightX());
},
{&m_drive}));
}
@@ -27,18 +26,21 @@ void RobotContainer::ConfigureButtonBindings() {
// Configure your button bindings here
// Spin up the shooter when the 'A' button is pressed
frc2::JoystickButton(&m_driverController, 1).WhenPressed(&m_spinUpShooter);
frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kA)
.WhenPressed(&m_spinUpShooter);
// Turn off the shooter when the 'B' button is pressed
frc2::JoystickButton(&m_driverController, 2).WhenPressed(&m_stopShooter);
frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kB)
.WhenPressed(&m_stopShooter);
// Shoot when the 'X' button is held
frc2::JoystickButton(&m_driverController, 3)
frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kX)
.WhenPressed(&m_shoot)
.WhenReleased(&m_stopFeeder);
// While holding the shoulder button, drive at half speed
frc2::JoystickButton(&m_driverController, 6)
frc2::JoystickButton(&m_driverController,
frc::XboxController::Button::kRightBumper)
.WhenPressed(&m_driveHalfSpeed)
.WhenReleased(&m_driveFullSpeed);
}

39
wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/RobotContainer.cpp
View File

@@ -22,10 +22,9 @@ RobotContainer::RobotContainer()
frc::SmartDashboard::PutData(&m_wrist);
frc::SmartDashboard::PutData(&m_claw);
m_drivetrain.SetDefaultCommand(TankDrive(
[this] { return m_joy.GetY(frc::GenericHID::JoystickHand::kLeftHand); },
[this] { return m_joy.GetY(frc::GenericHID::JoystickHand::kRightHand); },
&m_drivetrain));
m_drivetrain.SetDefaultCommand(TankDrive([this] { return m_joy.GetLeftY(); },
[this] { return m_joy.GetRightY(); },
&m_drivetrain));
// Configure the button bindings
ConfigureButtonBindings();
@@ -33,24 +32,20 @@ RobotContainer::RobotContainer()
void RobotContainer::ConfigureButtonBindings() {
// Configure your button bindings here
frc2::JoystickButton m_dUp{&m_joy, 5};
frc2::JoystickButton m_dRight{&m_joy, 6};
frc2::JoystickButton m_dDown{&m_joy, 7};
frc2::JoystickButton m_dLeft{&m_joy, 8};
frc2::JoystickButton m_l2{&m_joy, 9};
frc2::JoystickButton m_r2{&m_joy, 10};
frc2::JoystickButton m_l1{&m_joy, 11};
frc2::JoystickButton m_r1{&m_joy, 12};
m_dUp.WhenPressed(SetElevatorSetpoint(0.25, &m_elevator));
m_dDown.WhenPressed(SetElevatorSetpoint(0.0, &m_elevator));
m_dRight.WhenPressed(CloseClaw(&m_claw));
m_dLeft.WhenPressed(OpenClaw(&m_claw));
m_r1.WhenPressed(PrepareToPickup(&m_claw, &m_wrist, &m_elevator));
m_r2.WhenPressed(Pickup(&m_claw, &m_wrist, &m_elevator));
m_l1.WhenPressed(Place(&m_claw, &m_wrist, &m_elevator));
m_l2.WhenPressed(Autonomous(&m_claw, &m_wrist, &m_elevator, &m_drivetrain));
frc2::JoystickButton(&m_joy, 5).WhenPressed(
SetElevatorSetpoint(0.25, &m_elevator));
frc2::JoystickButton(&m_joy, 6).WhenPressed(CloseClaw(&m_claw));
frc2::JoystickButton(&m_joy, 7).WhenPressed(
SetElevatorSetpoint(0.0, &m_elevator));
frc2::JoystickButton(&m_joy, 8).WhenPressed(OpenClaw(&m_claw));
frc2::JoystickButton(&m_joy, 9).WhenPressed(
Autonomous(&m_claw, &m_wrist, &m_elevator, &m_drivetrain));
frc2::JoystickButton(&m_joy, 10)
.WhenPressed(Pickup(&m_claw, &m_wrist, &m_elevator));
frc2::JoystickButton(&m_joy, 11)
.WhenPressed(Place(&m_claw, &m_wrist, &m_elevator));
frc2::JoystickButton(&m_joy, 12)
.WhenPressed(PrepareToPickup(&m_claw, &m_wrist, &m_elevator));
}
frc2::Command* RobotContainer::GetAutonomousCommand() {

4
wpilibcExamples/src/main/cpp/examples/GearsBot/include/RobotContainer.h
View File

@@ -4,7 +4,7 @@
#pragma once
#include <frc/Joystick.h>
#include <frc/XboxController.h>
#include <frc2/command/Command.h>
#include "commands/Autonomous.h"
@@ -28,7 +28,7 @@ class RobotContainer {
private:
// The robot's subsystems and commands are defined here...
frc::Joystick m_joy{0};
frc::XboxController m_joy{0};
Claw m_claw;
Wrist m_wrist;

27
wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp
View File

@@ -19,9 +19,8 @@ RobotContainer::RobotContainer() {
// Set up default drive command
m_drive.SetDefaultCommand(frc2::RunCommand(
[this] {
m_drive.ArcadeDrive(
m_driverController.GetY(frc::GenericHID::kLeftHand),
m_driverController.GetX(frc::GenericHID::kRightHand));
m_drive.ArcadeDrive(m_driverController.GetLeftY(),
m_driverController.GetRightX());
},
{&m_drive}));
}
@@ -31,8 +30,8 @@ void RobotContainer::ConfigureButtonBindings() {
// Assorted commands to be bound to buttons
// Stabilize robot to drive straight with gyro when left bumper is held
frc2::JoystickButton(&m_driverController, 5)
// Stabilize robot to drive straight with gyro when L1 is held
frc2::JoystickButton(&m_driverController, frc::PS4Controller::Button::kL1)
.WhenHeld(frc2::PIDCommand{
frc2::PIDController{dc::kStabilizationP, dc::kStabilizationI,
dc::kStabilizationD},
@@ -42,24 +41,22 @@ void RobotContainer::ConfigureButtonBindings() {
0,
// Pipe the output to the turning controls
[this](double output) {
m_drive.ArcadeDrive(m_driverController.GetY(
frc::GenericHID::JoystickHand::kLeftHand),
output);
m_drive.ArcadeDrive(m_driverController.GetLeftY(), output);
},
// Require the robot drive
{&m_drive}});
// Turn to 90 degrees when the 'X' button is pressed
frc2::JoystickButton(&m_driverController, 3)
// Turn to 90 degrees when the 'Cross' button is pressed
frc2::JoystickButton(&m_driverController, frc::PS4Controller::Button::kCross)
.WhenPressed(TurnToAngle{90_deg, &m_drive}.WithTimeout(5_s));
// Turn to -90 degrees with a profile when the 'A' button is pressed, with a 5
// second timeout
frc2::JoystickButton(&m_driverController, 1)
// Turn to -90 degrees with a profile when the 'Square' button is pressed,
// with a 5 second timeout
frc2::JoystickButton(&m_driverController, frc::PS4Controller::Button::kSquare)
.WhenPressed(TurnToAngle{90_deg, &m_drive}.WithTimeout(5_s));
// While holding the shoulder button, drive at half speed
frc2::JoystickButton(&m_driverController, 6)
// While holding R1, drive at half speed
frc2::JoystickButton(&m_driverController, frc::PS4Controller::Button::kR1)
.WhenPressed(frc2::InstantCommand{[this] { m_drive.SetMaxOutput(0.5); }})
.WhenReleased(frc2::InstantCommand{[this] { m_drive.SetMaxOutput(1); }});
}

4
wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/RobotContainer.h
View File

@@ -4,7 +4,7 @@
#pragma once
#include <frc/XboxController.h>
#include <frc/PS4Controller.h>
#include <frc/controller/PIDController.h>
#include <frc/smartdashboard/SendableChooser.h>
#include <frc2/command/Command.h>
@@ -32,7 +32,7 @@ class RobotContainer {
private:
// The driver's controller
frc::XboxController m_driverController{OIConstants::kDriverControllerPort};
frc::PS4Controller m_driverController{OIConstants::kDriverControllerPort};
// The robot's subsystems and commands are defined here...

19
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
View File

@@ -23,9 +23,8 @@ RobotContainer::RobotContainer() {
// Set up default drive command
m_drive.SetDefaultCommand(frc2::RunCommand(
[this] {
m_drive.ArcadeDrive(
m_driverController.GetY(frc::GenericHID::kLeftHand),
m_driverController.GetX(frc::GenericHID::kRightHand));
m_drive.ArcadeDrive(m_driverController.GetLeftY(),
m_driverController.GetRightX());
},
{&m_drive}));
}
@@ -33,12 +32,14 @@ RobotContainer::RobotContainer() {
void RobotContainer::ConfigureButtonBindings() {
// Configure your button bindings here
// Grab the hatch when the 'A' button is pressed.
frc2::JoystickButton(&m_driverController, 1).WhenPressed(&m_grabHatch);
// Release the hatch when the 'B' button is pressed.
frc2::JoystickButton(&m_driverController, 2).WhenPressed(&m_releaseHatch);
// While holding the shoulder button, drive at half speed
frc2::JoystickButton(&m_driverController, 6)
// Grab the hatch when the 'Circle' button is pressed.
frc2::JoystickButton(&m_driverController, frc::PS4Controller::Button::kCircle)
.WhenPressed(&m_grabHatch);
// Release the hatch when the 'Square' button is pressed.
frc2::JoystickButton(&m_driverController, frc::PS4Controller::Button::kSquare)
.WhenPressed(&m_releaseHatch);
// While holding R1, drive at half speed
frc2::JoystickButton(&m_driverController, frc::PS4Controller::Button::kR1)
.WhenPressed(&m_driveHalfSpeed)
.WhenReleased(&m_driveFullSpeed);
}

4
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.h
View File

@@ -4,7 +4,7 @@
#pragma once
#include <frc/XboxController.h>
#include <frc/PS4Controller.h>
#include <frc/smartdashboard/SendableChooser.h>
#include <frc2/command/Command.h>
#include <frc2/command/FunctionalCommand.h>
@@ -35,7 +35,7 @@ class RobotContainer {
private:
// The driver's controller
frc::XboxController m_driverController{OIConstants::kDriverControllerPort};
frc::PS4Controller m_driverController{OIConstants::kDriverControllerPort};
// The robot's subsystems and commands are defined here...

12
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
View File

@@ -27,9 +27,8 @@ RobotContainer::RobotContainer() {
// Set up default drive command
m_drive.SetDefaultCommand(DefaultDrive(
&m_drive,
[this] { return m_driverController.GetY(frc::GenericHID::kLeftHand); },
[this] { return m_driverController.GetX(frc::GenericHID::kRightHand); }));
&m_drive, [this] { return m_driverController.GetLeftY(); },
[this] { return m_driverController.GetRightX(); }));
}
void RobotContainer::ConfigureButtonBindings() {
@@ -41,13 +40,14 @@ void RobotContainer::ConfigureButtonBindings() {
// stack-allocated and declared as members of RobotContainer.
// Grab the hatch when the 'A' button is pressed.
frc2::JoystickButton(&m_driverController, 1)
frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kA)
.WhenPressed(new GrabHatch(&m_hatch));
// Release the hatch when the 'B' button is pressed.
frc2::JoystickButton(&m_driverController, 2)
frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kB)
.WhenPressed(new ReleaseHatch(&m_hatch));
// While holding the shoulder button, drive at half speed
frc2::JoystickButton(&m_driverController, 6)
frc2::JoystickButton(&m_driverController,
frc::XboxController::Button::kRightBumper)
.WhenHeld(new HalveDriveSpeed(&m_drive));
}

3
wpilibcExamples/src/main/cpp/examples/HidRumble/cpp/Robot.cpp
View File

@@ -2,7 +2,6 @@
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <frc/GenericHID.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>
@@ -24,7 +23,7 @@ class Robot : public frc::TimedRobot {
}
private:
frc::XboxController m_hid{0};
frc::GenericHID m_hid{0};
};
#ifndef RUNNING_FRC_TESTS

9
wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Robot.cpp
View File

@@ -30,23 +30,20 @@ class Robot : public frc::TimedRobot {
void DriveWithJoystick(bool fieldRelative) {
// Get the x speed. We are inverting this because Xbox controllers return
// negative values when we push forward.
const auto xSpeed = -m_xspeedLimiter.Calculate(
m_controller.GetY(frc::GenericHID::kLeftHand)) *
const auto xSpeed = -m_xspeedLimiter.Calculate(m_controller.GetLeftY()) *
Drivetrain::kMaxSpeed;
// Get the y speed or sideways/strafe speed. We are inverting this because
// we want a positive value when we pull to the left. Xbox controllers
// return positive values when you pull to the right by default.
const auto ySpeed = -m_yspeedLimiter.Calculate(
m_controller.GetX(frc::GenericHID::kLeftHand)) *
const auto ySpeed = -m_yspeedLimiter.Calculate(m_controller.GetLeftX()) *
Drivetrain::kMaxSpeed;
// Get the rate of angular rotation. We are inverting this because we want a
// positive value when we pull to the left (remember, CCW is positive in
// mathematics). Xbox controllers return positive values when you pull to
// the right by default.
const auto rot = -m_rotLimiter.Calculate(
m_controller.GetX(frc::GenericHID::kRightHand)) *
const auto rot = -m_rotLimiter.Calculate(m_controller.GetRightX()) *
Drivetrain::kMaxAngularSpeed;
m_mecanum.Drive(xSpeed, ySpeed, rot, fieldRelative);

10
wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp
View File

@@ -30,10 +30,9 @@ RobotContainer::RobotContainer() {
// Set up default drive command
m_drive.SetDefaultCommand(frc2::RunCommand(
[this] {
m_drive.Drive(m_driverController.GetY(frc::GenericHID::kLeftHand),
m_driverController.GetX(frc::GenericHID::kRightHand),
m_driverController.GetX(frc::GenericHID::kLeftHand),
false);
m_drive.Drive(m_driverController.GetLeftY(),
m_driverController.GetRightX(),
m_driverController.GetLeftX(), false);
},
{&m_drive}));
}
@@ -42,7 +41,8 @@ void RobotContainer::ConfigureButtonBindings() {
// Configure your button bindings here
// While holding the shoulder button, drive at half speed
frc2::JoystickButton(&m_driverController, 6)
frc2::JoystickButton(&m_driverController,
frc::XboxController::Button::kRightBumper)
.WhenPressed(&m_driveHalfSpeed)
.WhenReleased(&m_driveFullSpeed);
}

9
wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Robot.cpp
View File

@@ -30,23 +30,20 @@ class Robot : public frc::TimedRobot {
void DriveWithJoystick(bool fieldRelative) {
// Get the x speed. We are inverting this because Xbox controllers return
// negative values when we push forward.
const auto xSpeed = -m_xspeedLimiter.Calculate(
m_controller.GetY(frc::GenericHID::kLeftHand)) *
const auto xSpeed = -m_xspeedLimiter.Calculate(m_controller.GetLeftY()) *
Drivetrain::kMaxSpeed;
// Get the y speed or sideways/strafe speed. We are inverting this because
// we want a positive value when we pull to the left. Xbox controllers
// return positive values when you pull to the right by default.
const auto ySpeed = -m_yspeedLimiter.Calculate(
m_controller.GetX(frc::GenericHID::kLeftHand)) *
const auto ySpeed = -m_yspeedLimiter.Calculate(m_controller.GetLeftX()) *
Drivetrain::kMaxSpeed;
// Get the rate of angular rotation. We are inverting this because we want a
// positive value when we pull to the left (remember, CCW is positive in
// mathematics). Xbox controllers return positive values when you pull to
// the right by default.
const auto rot = -m_rotLimiter.Calculate(
m_controller.GetX(frc::GenericHID::kRightHand)) *
const auto rot = -m_rotLimiter.Calculate(m_controller.GetRightX()) *
Drivetrain::kMaxAngularSpeed;
m_mecanum.Drive(xSpeed, ySpeed, rot, fieldRelative);

4
wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/triggers/DoubleButton.cpp
View File

@@ -4,9 +4,9 @@
#include "triggers/DoubleButton.h"
#include <frc/Joystick.h>
#include <frc/GenericHID.h>
DoubleButton::DoubleButton(frc::Joystick* joy, int button1, int button2)
DoubleButton::DoubleButton(frc::GenericHID* joy, int button1, int button2)
: m_joy(*joy) {
m_button1 = button1;
m_button2 = button2;

6
wpilibcExamples/src/main/cpp/examples/PacGoat/include/triggers/DoubleButton.h
View File

@@ -7,17 +7,17 @@
#include <frc/buttons/Trigger.h>
namespace frc {
class Joystick;
class GenericHID;
} // namespace frc
class DoubleButton : public frc::Trigger {
public:
DoubleButton(frc::Joystick* joy, int button1, int button2);
DoubleButton(frc::GenericHID* joy, int button1, int button2);
bool Get() override;
private:
frc::Joystick& m_joy;
frc::GenericHID& m_joy;
int m_button1;
int m_button2;
};

5
wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
View File

@@ -28,9 +28,8 @@ RobotContainer::RobotContainer() {
// Set up default drive command
m_drive.SetDefaultCommand(frc2::RunCommand(
[this] {
m_drive.ArcadeDrive(
m_driverController.GetY(frc::GenericHID::kLeftHand),
m_driverController.GetX(frc::GenericHID::kRightHand));
m_drive.ArcadeDrive(m_driverController.GetLeftY(),
m_driverController.GetRightX());
},
{&m_drive}));
}

6
wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Robot.cpp
View File

@@ -54,16 +54,14 @@ class Robot : public frc::TimedRobot {
void TeleopPeriodic() override {
// Get the x speed. We are inverting this because Xbox controllers return
// negative values when we push forward.
const auto xSpeed = -m_speedLimiter.Calculate(
m_controller.GetY(frc::GenericHID::kLeftHand)) *
const auto xSpeed = -m_speedLimiter.Calculate(m_controller.GetLeftY()) *
Drivetrain::kMaxSpeed;
// Get the rate of angular rotation. We are inverting this because we want a
// positive value when we pull to the left (remember, CCW is positive in
// mathematics). Xbox controllers return positive values when you pull to
// the right by default.
const auto rot = -m_rotLimiter.Calculate(
m_controller.GetX(frc::GenericHID::kRightHand)) *
const auto rot = -m_rotLimiter.Calculate(m_controller.GetRightX()) *
Drivetrain::kMaxAngularSpeed;
m_drive.Drive(xSpeed, rot);

9
wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/cpp/RobotContainer.cpp
View File

@@ -45,12 +45,15 @@ void RobotContainer::ConfigureButtonBindings() {
// Configure your button bindings here
// Run instant command 1 when the 'A' button is pressed
frc2::JoystickButton(&m_driverController, 0).WhenPressed(&m_instantCommand1);
frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kA)
.WhenPressed(&m_instantCommand1);
// Run instant command 2 when the 'X' button is pressed
frc2::JoystickButton(&m_driverController, 3).WhenPressed(&m_instantCommand2);
frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kX)
.WhenPressed(&m_instantCommand2);
// Run instant command 3 when the 'Y' button is held; release early to
// interrupt
frc2::JoystickButton(&m_driverController, 4).WhenHeld(&m_waitCommand);
frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kY)
.WhenHeld(&m_waitCommand);
}
frc2::Command* RobotContainer::GetAutonomousCommand() {

6
wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp
View File

@@ -41,16 +41,14 @@ class Robot : public frc::TimedRobot {
void TeleopPeriodic() override {
// Get the x speed. We are inverting this because Xbox controllers return
// negative values when we push forward.
const auto xSpeed = -m_speedLimiter.Calculate(
m_controller.GetY(frc::GenericHID::kLeftHand)) *
const auto xSpeed = -m_speedLimiter.Calculate(m_controller.GetLeftY()) *
Drivetrain::kMaxSpeed;
// Get the rate of angular rotation. We are inverting this because we want a
// positive value when we pull to the left (remember, CCW is positive in
// mathematics). Xbox controllers return positive values when you pull to
// the right by default.
auto rot = -m_rotLimiter.Calculate(
m_controller.GetX(frc::GenericHID::kRightHand)) *
auto rot = -m_rotLimiter.Calculate(m_controller.GetRightX()) *
Drivetrain::kMaxAngularSpeed;
m_drive.Drive(xSpeed, rot);

3
wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
View File

@@ -3,7 +3,6 @@
// the WPILib BSD license file in the root directory of this project.
#include <frc/Encoder.h>
#include <frc/GenericHID.h>
#include <frc/StateSpaceUtil.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>
@@ -112,7 +111,7 @@ class Robot : public frc::TimedRobot {
// Sets the target position of our arm. This is similar to setting the
// setpoint of a PID controller.
frc::TrapezoidProfile<units::radians>::State goal;
if (m_joystick.GetBumper(frc::GenericHID::kRightHand)) {
if (m_joystick.GetRightBumper()) {
// We pressed the bumper, so let's set our next reference
goal = {kRaisedPosition, 0_rad_per_s};
} else {

8
wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp
View File

@@ -28,9 +28,8 @@ RobotContainer::RobotContainer() {
// Set up default drive command
m_drive.SetDefaultCommand(frc2::RunCommand(
[this] {
m_drive.ArcadeDrive(
m_driverController.GetY(frc::GenericHID::kLeftHand),
m_driverController.GetX(frc::GenericHID::kRightHand));
m_drive.ArcadeDrive(m_driverController.GetLeftY(),
m_driverController.GetRightX());
},
{&m_drive}));
}
@@ -47,7 +46,8 @@ void RobotContainer::ConfigureButtonBindings() {
// Configure your button bindings here
// While holding the shoulder button, drive at half speed
frc2::JoystickButton(&m_driverController, 6)
frc2::JoystickButton(&m_driverController,
frc::XboxController::Button::kRightBumper)
.WhenPressed(&m_driveHalfSpeed)
.WhenReleased(&m_driveFullSpeed);
}

3
wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
View File

@@ -3,7 +3,6 @@
// the WPILib BSD license file in the root directory of this project.
#include <frc/Encoder.h>
#include <frc/GenericHID.h>
#include <frc/StateSpaceUtil.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>
@@ -109,7 +108,7 @@ class Robot : public frc::TimedRobot {
// Sets the target height of our elevator. This is similar to setting the
// setpoint of a PID controller.
frc::TrapezoidProfile<units::meters>::State goal;
if (m_joystick.GetBumper(frc::GenericHID::kRightHand)) {
if (m_joystick.GetRightBumper()) {
// We pressed the bumper, so let's set our next reference
goal = {kRaisedPosition, 0_fps};
} else {

3
wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
View File

@@ -4,7 +4,6 @@
#include <frc/DriverStation.h>
#include <frc/Encoder.h>
#include <frc/GenericHID.h>
#include <frc/StateSpaceUtil.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>
@@ -93,7 +92,7 @@ class Robot : public frc::TimedRobot {
void TeleopPeriodic() override {
// Sets the target speed of our flywheel. This is similar to setting the
// setpoint of a PID controller.
if (m_joystick.GetBumper(frc::GenericHID::kRightHand)) {
if (m_joystick.GetRightBumper()) {
// We pressed the bumper, so let's set our next reference
m_loop.SetNextR(frc::MakeMatrix<1, 1>(kSpinup.to<double>()));
} else {

3
wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
View File

@@ -4,7 +4,6 @@
#include <frc/DriverStation.h>
#include <frc/Encoder.h>
#include <frc/GenericHID.h>
#include <frc/StateSpaceUtil.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>
@@ -94,7 +93,7 @@ class Robot : public frc::TimedRobot {
void TeleopPeriodic() override {
// Sets the target speed of our flywheel. This is similar to setting the
// setpoint of a PID controller.
if (m_joystick.GetBumper(frc::GenericHID::kRightHand)) {
if (m_joystick.GetRightBumper()) {
// We pressed the bumper, so let's set our next reference
m_loop.SetNextR(frc::MakeMatrix<1, 1>(kSpinup.to<double>()));
} else {

9
wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Robot.cpp
View File

@@ -30,23 +30,20 @@ class Robot : public frc::TimedRobot {
void DriveWithJoystick(bool fieldRelative) {
// Get the x speed. We are inverting this because Xbox controllers return
// negative values when we push forward.
const auto xSpeed = -m_xspeedLimiter.Calculate(
m_controller.GetY(frc::GenericHID::kLeftHand)) *
const auto xSpeed = -m_xspeedLimiter.Calculate(m_controller.GetLeftY()) *
Drivetrain::kMaxSpeed;
// Get the y speed or sideways/strafe speed. We are inverting this because
// we want a positive value when we pull to the left. Xbox controllers
// return positive values when you pull to the right by default.
const auto ySpeed = -m_yspeedLimiter.Calculate(
m_controller.GetX(frc::GenericHID::kLeftHand)) *
const auto ySpeed = -m_yspeedLimiter.Calculate(m_controller.GetLeftX()) *
Drivetrain::kMaxSpeed;
// Get the rate of angular rotation. We are inverting this because we want a
// positive value when we pull to the left (remember, CCW is positive in
// mathematics). Xbox controllers return positive values when you pull to
// the right by default.
const auto rot = -m_rotLimiter.Calculate(
m_controller.GetX(frc::GenericHID::kRightHand)) *
const auto rot = -m_rotLimiter.Calculate(m_controller.GetRightX()) *
Drivetrain::kMaxAngularSpeed;
m_swerve.Drive(xSpeed, ySpeed, rot, fieldRelative);

11
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
View File

@@ -32,13 +32,10 @@ RobotContainer::RobotContainer() {
// Set up default drive command
m_drive.SetDefaultCommand(frc2::RunCommand(
[this] {
m_drive.Drive(units::meters_per_second_t(
m_driverController.GetY(frc::GenericHID::kLeftHand)),
units::meters_per_second_t(
m_driverController.GetY(frc::GenericHID::kRightHand)),
units::radians_per_second_t(
m_driverController.GetX(frc::GenericHID::kLeftHand)),
false);
m_drive.Drive(
units::meters_per_second_t(m_driverController.GetLeftY()),
units::meters_per_second_t(m_driverController.GetRightY()),
units::radians_per_second_t(m_driverController.GetLeftX()), false);
},
{&m_drive}));
}

9
wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Robot.cpp
View File

@@ -30,23 +30,20 @@ class Robot : public frc::TimedRobot {
void DriveWithJoystick(bool fieldRelative) {
// Get the x speed. We are inverting this because Xbox controllers return
// negative values when we push forward.
const auto xSpeed = -m_xspeedLimiter.Calculate(
m_controller.GetY(frc::GenericHID::kLeftHand)) *
const auto xSpeed = -m_xspeedLimiter.Calculate(m_controller.GetLeftY()) *
Drivetrain::kMaxSpeed;
// Get the y speed or sideways/strafe speed. We are inverting this because
// we want a positive value when we pull to the left. Xbox controllers
// return positive values when you pull to the right by default.
const auto ySpeed = -m_yspeedLimiter.Calculate(
m_controller.GetX(frc::GenericHID::kLeftHand)) *
const auto ySpeed = -m_yspeedLimiter.Calculate(m_controller.GetLeftX()) *
Drivetrain::kMaxSpeed;
// Get the rate of angular rotation. We are inverting this because we want a
// positive value when we pull to the left (remember, CCW is positive in
// mathematics). Xbox controllers return positive values when you pull to
// the right by default.
const auto rot = -m_rotLimiter.Calculate(
m_controller.GetX(frc::GenericHID::kRightHand)) *
const auto rot = -m_rotLimiter.Calculate(m_controller.GetRightX()) *
Drivetrain::kMaxAngularSpeed;
m_swerve.Drive(xSpeed, ySpeed, rot, fieldRelative);

6
wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp
View File

@@ -2,7 +2,6 @@
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <frc/GenericHID.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>
#include <frc/drive/DifferentialDrive.h>
@@ -28,9 +27,8 @@ class Robot : public frc::TimedRobot {
void TeleopPeriodic() override {
// Drive with tank style
m_robotDrive.TankDrive(
m_driverController.GetY(frc::GenericHID::JoystickHand::kLeftHand),
m_driverController.GetY(frc::GenericHID::JoystickHand::kRightHand));
m_robotDrive.TankDrive(m_driverController.GetLeftY(),
m_driverController.GetRightY());
}
};