From 15275433d42b152cadfa326dbfcdc7a41f617457 Mon Sep 17 00:00:00 2001 From: Modelmat Date: Tue, 7 Dec 2021 05:08:34 +0000 Subject: [PATCH] [examples] Fix duplicate port allocations in C++ SwerveBot/SwerveDrivePoseEstimator/RomiReference (#3773) - Remove duplicate motor port (2) from C++ SwerveBot/SwerveDrivePoseEstimator Java has the correct motor ports. - Fix duplicate port allocation in C++ RomiReference by correcting if/else check Java logic was already correct, and confirms this change. --- .../cpp/examples/RomiReference/cpp/subsystems/OnBoardIO.cpp | 1 + .../src/main/cpp/examples/SwerveBot/include/Drivetrain.h | 2 +- .../cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.h | 2 +- 3 files changed, 3 insertions(+), 2 deletions(-) diff --git a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/OnBoardIO.cpp b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/OnBoardIO.cpp index b178ec02c7..1b76c74ec1 100644 --- a/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/OnBoardIO.cpp +++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/OnBoardIO.cpp @@ -17,6 +17,7 @@ OnBoardIO::OnBoardIO(OnBoardIO::ChannelMode dio1, OnBoardIO::ChannelMode dio2) { } if (dio2 == ChannelMode::INPUT) { m_buttonC = std::make_unique(2); + } else { m_redLed = std::make_unique(2); } } diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h index 6ff5b48b38..2b3cc0e887 100644 --- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h +++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h @@ -36,7 +36,7 @@ class Drivetrain { frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m}; SwerveModule m_frontLeft{1, 2, 0, 1, 2, 3}; - SwerveModule m_frontRight{2, 3, 4, 5, 6, 7}; + SwerveModule m_frontRight{3, 4, 4, 5, 6, 7}; SwerveModule m_backLeft{5, 6, 8, 9, 10, 11}; SwerveModule m_backRight{7, 8, 12, 13, 14, 15}; diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.h index 81f8bb7685..f52572973d 100644 --- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.h +++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.h @@ -36,7 +36,7 @@ class Drivetrain { frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m}; SwerveModule m_frontLeft{1, 2, 0, 1, 2, 3}; - SwerveModule m_frontRight{2, 3, 4, 5, 6, 7}; + SwerveModule m_frontRight{3, 4, 4, 5, 6, 7}; SwerveModule m_backLeft{5, 6, 8, 9, 10, 11}; SwerveModule m_backRight{7, 8, 12, 13, 14, 15};