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Rename GearsBotNew example to GearsBot

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This commit is contained in:
Tyler Veness
2019-08-28 20:04:31 -07:00
committed by Peter Johnson
parent c9f9feff1f
commit 2250b7fbe3
54 changed files with 59 additions and 59 deletions
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26
wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Autonomous.h Normal file
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc2/command/CommandHelper.h>
#include <frc2/command/SequentialCommandGroup.h>
#include "subsystems/Claw.h"
#include "subsystems/DriveTrain.h"
#include "subsystems/Elevator.h"
#include "subsystems/Wrist.h"
/**
* The main autonomous command to pickup and deliver the soda to the box.
*/
class Autonomous
: public frc2::CommandHelper<frc2::SequentialCommandGroup, Autonomous> {
public:
Autonomous(Claw* claw, Wrist* wrist, Elevator* elevator,
DriveTrain* drivetrain);
};

28
wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/CloseClaw.h Normal file
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc2/command/CommandBase.h>
#include <frc2/command/CommandHelper.h>
#include "subsystems/Claw.h"
/**
* Opens the claw for one second. Real robots should use sensors, stalling
* motors is BAD!
*/
class CloseClaw : public frc2::CommandHelper<frc2::CommandBase, CloseClaw> {
public:
explicit CloseClaw(Claw* claw);
void Initialize() override;
bool IsFinished() override;
void End(bool interrupted) override;
private:
Claw* m_claw;
};

30
wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/DriveStraight.h Normal file
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc2/command/CommandHelper.h>
#include <frc2/command/PIDCommand.h>
#include "subsystems/DriveTrain.h"
/**
* Drive the given distance straight (negative values go backwards).
* Uses a local PID controller to run a simple PID loop that is only
* enabled while this command is running. The input is the averaged
* values of the left and right encoders.
*/
class DriveStraight
: public frc2::CommandHelper<frc2::PIDCommand, DriveStraight> {
public:
explicit DriveStraight(double distance, DriveTrain* drivetrain);
void Initialize() override;
bool IsFinished() override;
private:
DriveTrain* m_drivetrain;
};

27
wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/OpenClaw.h Normal file
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc2/command/CommandHelper.h>
#include <frc2/command/WaitCommand.h>
#include "subsystems/Claw.h"
/**
* Opens the claw for one second. Real robots should use sensors, stalling
* motors is BAD!
*/
class OpenClaw : public frc2::CommandHelper<frc2::WaitCommand, OpenClaw> {
public:
explicit OpenClaw(Claw* claw);
void Initialize() override;
void End(bool interrupted) override;
private:
Claw* m_claw;
};

25
wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Pickup.h Normal file
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc2/command/CommandHelper.h>
#include <frc2/command/SequentialCommandGroup.h>
#include "subsystems/Claw.h"
#include "subsystems/Elevator.h"
#include "subsystems/Wrist.h"
/**
* Pickup a soda can (if one is between the open claws) and
* get it in a safe state to drive around.
*/
class Pickup
: public frc2::CommandHelper<frc2::SequentialCommandGroup, Pickup> {
public:
Pickup(Claw* claw, Wrist* wrist, Elevator* elevator);
};

23
wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Place.h Normal file
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc2/command/CommandHelper.h>
#include <frc2/command/SequentialCommandGroup.h>
#include "subsystems/Claw.h"
#include "subsystems/Elevator.h"
#include "subsystems/Wrist.h"
/**
* Place a held soda can onto the platform.
*/
class Place : public frc2::CommandHelper<frc2::SequentialCommandGroup, Place> {
public:
Place(Claw* claw, Wrist* wrist, Elevator* elevator);
};

24
wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/PrepareToPickup.h Normal file
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc2/command/CommandHelper.h>
#include <frc2/command/SequentialCommandGroup.h>
#include "subsystems/Claw.h"
#include "subsystems/Elevator.h"
#include "subsystems/Wrist.h"
/**
* Make sure the robot is in a state to pickup soda cans.
*/
class PrepareToPickup : public frc2::CommandHelper<frc2::SequentialCommandGroup,
PrepareToPickup> {
public:
PrepareToPickup(Claw* claw, Wrist* wrist, Elevator* elevator);
};

30
wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetDistanceToBox.h Normal file
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc2/command/CommandHelper.h>
#include <frc2/command/PIDCommand.h>
#include "subsystems/DriveTrain.h"
/**
* Drive until the robot is the given distance away from the box. Uses a local
* PID controller to run a simple PID loop that is only enabled while this
* command is running. The input is the averaged values of the left and right
* encoders.
*/
class SetDistanceToBox
: public frc2::CommandHelper<frc2::PIDCommand, SetDistanceToBox> {
public:
explicit SetDistanceToBox(double distance, DriveTrain* drivetrain);
void Initialize() override;
bool IsFinished() override;
private:
DriveTrain* m_drivetrain;
};

32
wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetElevatorSetpoint.h Normal file
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc2/command/CommandBase.h>
#include <frc2/command/CommandHelper.h>
#include "subsystems/Elevator.h"
/**
* Move the elevator to a given location. This command finishes when it is
* within
* the tolerance, but leaves the PID loop running to maintain the position.
* Other
* commands using the elevator should make sure they disable PID!
*/
class SetElevatorSetpoint
: public frc2::CommandHelper<frc2::CommandBase, SetElevatorSetpoint> {
public:
explicit SetElevatorSetpoint(double setpoint, Elevator* elevator);
void Initialize() override;
bool IsFinished() override;
private:
double m_setpoint;
Elevator* m_elevator;
};

30
wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetWristSetpoint.h Normal file
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc2/command/CommandBase.h>
#include <frc2/command/CommandHelper.h>
#include "subsystems/Wrist.h"
/**
* Move the wrist to a given angle. This command finishes when it is within
* the tolerance, but leaves the PID loop running to maintain the position.
* Other commands using the wrist should make sure they disable PID!
*/
class SetWristSetpoint
: public frc2::CommandHelper<frc2::CommandBase, SetWristSetpoint> {
public:
explicit SetWristSetpoint(double setpoint, Wrist* wrist);
void Initialize() override;
bool IsFinished() override;
private:
double m_setpoint;
Wrist* m_wrist;
};

30
wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/TankDrive.h Normal file
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/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc2/command/CommandBase.h>
#include <frc2/command/CommandHelper.h>
#include "subsystems/DriveTrain.h"
/**
* Have the robot drive tank style using the PS3 Joystick until interrupted.
*/
class TankDrive : public frc2::CommandHelper<frc2::CommandBase, TankDrive> {
public:
TankDrive(DriveTrain* drivetrain, std::function<double()> left,
std::function<double()> right);
void Execute() override;
bool IsFinished() override;
void End(bool interrupted) override;
private:
DriveTrain* m_drivetrain;
std::function<double()> m_left;
std::function<double()> m_right;
};