Rename GearsBotNew example to GearsBot

wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h

@@ -0,0 +1,61 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <frc/AnalogPotentiometer.h>
+#include <frc/PWMVictorSPX.h>
+#include <frc2/command/PIDSubsystem.h>
+
+/**
+ * The wrist subsystem is like the elevator, but with a rotational joint instead
+ * of a linear joint.
+ */
+class Wrist : public frc2::PIDSubsystem {
+ public:
+  Wrist();
+
+  /**
+   * The log method puts interesting information to the SmartDashboard.
+   */
+  void Log();
+
+  /**
+   * Use the potentiometer as the PID sensor. This method is automatically
+   * called by the subsystem.
+   */
+  double GetMeasurement() override;
+
+  /**
+   * Use the motor as the PID output. This method is automatically called
+   * by
+   * the subsystem.
+   */
+  void UseOutput(double d) override;
+
+  double GetSetpoint() override;
+
+  /**
+   * Sets the setpoint for the subsystem.
+   */
+  void SetSetpoint(double setpoint);
+
+ private:
+  frc::PWMVictorSPX m_motor{6};
+  double m_setpoint = 0;
+
+// Conversion value of potentiometer varies between the real world and
+// simulation
+#ifndef SIMULATION
+  frc::AnalogPotentiometer m_pot{3, -270.0 / 5};
+#else
+  frc::AnalogPotentiometer m_pot{3};  // Defaults to degrees
+#endif
+
+  static constexpr double kP_real = 1;
+  static constexpr double kP_simulation = 0.05;
+};