Update Java examples to use new PIDController (#1809)

This also allows us to re-enable Werror.

wpilibjExamples/build.gradle

@@ -33,7 +33,7 @@ if (!project.hasProperty('skipPMD')) {
 
 gradle.projectsEvaluated {
     tasks.withType(JavaCompile) {
-        options.compilerArgs << "-Xlint:unchecked" << "-Xlint:deprecation"
+        options.compilerArgs << "-Xlint:unchecked" << "-Xlint:deprecation" << "-Werror"
     }
 }
 

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/DriveStraight.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2017-2019 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.                                                               */
@@ -7,10 +7,8 @@
 
 package edu.wpi.first.wpilibj.examples.gearsbot.commands;
 
-import edu.wpi.first.wpilibj.PIDController;
-import edu.wpi.first.wpilibj.PIDSource;
-import edu.wpi.first.wpilibj.PIDSourceType;
 import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.controller.PIDController;
 
 import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
 
@@ -21,7 +19,7 @@ import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
  * encoders.
  */
 public class DriveStraight extends Command {
-  private final PIDController m_pid;
+  private final PIDController m_pid = new PIDController(4, 0, 0);
 
   /**
    * Create a new DriveStraight command.
@@ -29,24 +27,6 @@ public class DriveStraight extends Command {
    */
   public DriveStraight(double distance) {
     requires(Robot.m_drivetrain);
-    m_pid = new PIDController(4, 0, 0, new PIDSource() {
-      PIDSourceType m_sourceType = PIDSourceType.kDisplacement;
-
-      @Override
-      public double pidGet() {
-        return Robot.m_drivetrain.getDistance();
-      }
-
-      @Override
-      public void setPIDSourceType(PIDSourceType pidSource) {
-        m_sourceType = pidSource;
-      }
-
-      @Override
-      public PIDSourceType getPIDSourceType() {
-        return m_sourceType;
-      }
-    }, d -> Robot.m_drivetrain.drive(d, d));
 
     m_pid.setAbsoluteTolerance(0.01);
     m_pid.setSetpoint(distance);
@@ -58,20 +38,25 @@ public class DriveStraight extends Command {
     // Get everything in a safe starting state.
     Robot.m_drivetrain.reset();
     m_pid.reset();
-    m_pid.enable();
+  }
+
+  @Override
+  protected void execute() {
+    double pidOut = m_pid.calculate(Robot.m_drivetrain.getDistance());
+
+    Robot.m_drivetrain.drive(pidOut, pidOut);
   }
 
   // Make this return true when this Command no longer needs to run execute()
   @Override
   protected boolean isFinished() {
-    return m_pid.onTarget();
+    return m_pid.atSetpoint();
   }
 
   // Called once after isFinished returns true
   @Override
   protected void end() {
-    // Stop PID and the wheels
-    m_pid.disable();
+    // Stop the wheels
     Robot.m_drivetrain.drive(0, 0);
   }
 }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetDistanceToBox.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2017-2019 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.                                                               */
@@ -7,10 +7,8 @@
 
 package edu.wpi.first.wpilibj.examples.gearsbot.commands;
 
-import edu.wpi.first.wpilibj.PIDController;
-import edu.wpi.first.wpilibj.PIDSource;
-import edu.wpi.first.wpilibj.PIDSourceType;
 import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.controller.PIDController;
 
 import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
 
@@ -21,7 +19,7 @@ import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
  * encoders.
  */
 public class SetDistanceToBox extends Command {
-  private final PIDController m_pid;
+  private final PIDController m_pid = new PIDController(-2, 0, 0);
 
   /**
    * Create a new set distance to box command.
@@ -29,24 +27,6 @@ public class SetDistanceToBox extends Command {
    */
   public SetDistanceToBox(double distance) {
     requires(Robot.m_drivetrain);
-    m_pid = new PIDController(-2, 0, 0, new PIDSource() {
-      PIDSourceType m_sourceType = PIDSourceType.kDisplacement;
-
-      @Override
-      public double pidGet() {
-        return Robot.m_drivetrain.getDistanceToObstacle();
-      }
-
-      @Override
-      public void setPIDSourceType(PIDSourceType pidSource) {
-        m_sourceType = pidSource;
-      }
-
-      @Override
-      public PIDSourceType getPIDSourceType() {
-        return m_sourceType;
-      }
-    }, d -> Robot.m_drivetrain.drive(d, d));
 
     m_pid.setAbsoluteTolerance(0.01);
     m_pid.setSetpoint(distance);
@@ -58,20 +38,25 @@ public class SetDistanceToBox extends Command {
     // Get everything in a safe starting state.
     Robot.m_drivetrain.reset();
     m_pid.reset();
-    m_pid.enable();
+  }
+
+  @Override
+  protected void execute() {
+    double pidOut = m_pid.calculate(Robot.m_drivetrain.getDistanceToObstacle());
+
+    Robot.m_drivetrain.drive(pidOut, pidOut);
   }
 
   // Make this return true when this Command no longer needs to run execute()
   @Override
   protected boolean isFinished() {
-    return m_pid.onTarget();
+    return m_pid.atSetpoint();
   }
 
   // Called once after isFinished returns true
   @Override
   protected void end() {
-    // Stop PID and the wheels
-    m_pid.disable();
+    // Stop the wheels
     Robot.m_drivetrain.drive(0, 0);
   }
 }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/DriveTrain.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2017-2019 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.                                                               */
@@ -11,7 +11,6 @@ import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.PIDSourceType;
 import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.Victor;
@@ -58,10 +57,6 @@ public class DriveTrain extends Subsystem {
     m_drive.setExpiration(0.1);
     m_drive.setMaxOutput(1.0);
 
-    // Configure encoders
-    m_rightEncoder.setPIDSourceType(PIDSourceType.kDisplacement);
-    m_leftEncoder.setPIDSourceType(PIDSourceType.kDisplacement);
-
     if (Robot.isReal()) { // Converts to feet
       m_rightEncoder.setDistancePerPulse(0.0785398);
       m_leftEncoder.setDistancePerPulse(0.0785398);

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2017-2019 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.                                                               */
@@ -9,10 +9,10 @@ package edu.wpi.first.wpilibj.examples.potentiometerpid;
 
 import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.PIDController;
 import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.controller.PIDController;
 
 /**
  * This is a sample program to demonstrate how to use a soft potentiometer and a
@@ -36,9 +36,7 @@ public class Robot extends TimedRobot {
   private static final double kD = -2.0;
 
   private PIDController m_pidController;
-  @SuppressWarnings("PMD.SingularField")
   private AnalogInput m_potentiometer;
-  @SuppressWarnings("PMD.SingularField")
   private SpeedController m_elevatorMotor;
   private Joystick m_joystick;
 
@@ -51,17 +49,17 @@ public class Robot extends TimedRobot {
     m_elevatorMotor = new PWMVictorSPX(kMotorChannel);
     m_joystick = new Joystick(kJoystickChannel);
 
-    m_pidController = new PIDController(kP, kI, kD, m_potentiometer, m_elevatorMotor);
+    m_pidController = new PIDController(kP, kI, kD);
     m_pidController.setInputRange(0, 5);
   }
 
-  @Override
-  public void teleopInit() {
-    m_pidController.enable();
-  }
-
   @Override
   public void teleopPeriodic() {
+    // Run the PID Controller
+    double pidOut
+        = m_pidController.calculate(m_potentiometer.getAverageVoltage());
+    m_elevatorMotor.set(pidOut);
+
     // when the button is pressed once, the selected elevator setpoint
     // is incremented
     boolean currentButtonValue = m_joystick.getTrigger();

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2017-2019 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.                                                               */
@@ -8,10 +8,9 @@
 package edu.wpi.first.wpilibj.examples.ultrasonicpid;
 
 import edu.wpi.first.wpilibj.AnalogInput;
-import edu.wpi.first.wpilibj.PIDController;
-import edu.wpi.first.wpilibj.PIDOutput;
 import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 
 /**
@@ -45,27 +44,26 @@ public class Robot extends TimedRobot {
   private final DifferentialDrive m_robotDrive
       = new DifferentialDrive(new PWMVictorSPX(kLeftMotorPort),
       new PWMVictorSPX(kRightMotorPort));
-  private final PIDController m_pidController
-      = new PIDController(kP, kI, kD, m_ultrasonic, new MyPidOutput());
+  private final PIDController m_pidController = new PIDController(kP, kI, kD);
 
-  /**
-   * Drives the robot a set distance from an object using PID control and the
-   * ultrasonic sensor.
-   */
   @Override
-  public void teleopInit() {
+  public void robotInit() {
     // Set expected range to 0-24 inches; e.g. at 24 inches from object go
     // full forward, at 0 inches from object go full backward.
     m_pidController.setInputRange(0, kMaxDistance * kValueToInches);
-    // Set setpoint of the pid controller
-    m_pidController.setSetpoint(kHoldDistance * kValueToInches);
-    m_pidController.enable(); // begin PID control
   }
 
-  private class MyPidOutput implements PIDOutput {
-    @Override
-    public void pidWrite(double output) {
-      m_robotDrive.arcadeDrive(output, 0);
-    }
+  @Override
+  public void teleopInit() {
+    // Set setpoint of the pid controller
+    m_pidController.setSetpoint(kHoldDistance * kValueToInches);
+  }
+
+  @Override
+  public void teleopPeriodic() {
+    double pidOutput
+        = m_pidController.calculate(m_ultrasonic.getAverageVoltage());
+
+    m_robotDrive.arcadeDrive(pidOutput, 0);
   }
 }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/iterative/Robot.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2017-2019 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.                                                               */
@@ -18,6 +18,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  * creating this project, you must also update the build.gradle file in the
  * project.
  */
+@SuppressWarnings("deprecation")
 public class Robot extends IterativeRobot {
   private static final String kDefaultAuto = "Default";
   private static final String kCustomAuto = "My Auto";