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[examples] Update all examples to use NWU coordinate conventions (#4725)

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This commit is contained in:
Ryan Blue
2022-11-28 16:49:49 -05:00
committed by GitHub
parent cb38bacfe8
commit 2b2aa8eef7
40 changed files with 55 additions and 56 deletions
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2
wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp
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@@ -27,7 +27,7 @@ class Robot : public frc::TimedRobot {
void TeleopPeriodic() override {
// Drive with arcade style
m_robotDrive.ArcadeDrive(-m_stick.GetY(), m_stick.GetX());
m_robotDrive.ArcadeDrive(-m_stick.GetY(), -m_stick.GetX());
}
};

2
wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp
View File

@@ -30,7 +30,7 @@ class Robot : public frc::TimedRobot {
// 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.GetLeftY(),
m_driverController.GetRightX());
-m_driverController.GetRightX());
}
};

2
wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp
View File

@@ -22,7 +22,7 @@ RobotContainer::RobotContainer() {
m_drive.SetDefaultCommand(frc2::cmd::Run(
[this] {
m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
m_driverController.GetRightX());
-m_driverController.GetRightX());
},
{&m_drive}));
}

2
wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp
View File

@@ -15,7 +15,7 @@ RobotContainer::RobotContainer() {
// Set up default drive command
m_drive.SetDefaultCommand(m_drive.ArcadeDriveCommand(
[this] { return -m_driverController.GetLeftY(); },
[this] { return m_driverController.GetRightX(); }));
[this] { return -m_driverController.GetRightX(); }));
}
void RobotContainer::ConfigureButtonBindings() {

2
wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
View File

@@ -16,7 +16,7 @@ RobotContainer::RobotContainer() {
m_drive.SetDefaultCommand(frc2::cmd::Run(
[this] {
m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
m_driverController.GetRightX());
-m_driverController.GetRightX());
},
{&m_drive}));
}

2
wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp
View File

@@ -14,7 +14,7 @@ RobotContainer::RobotContainer() {
m_drive.SetDefaultCommand(frc2::cmd::Run(
[this] {
m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
m_driverController.GetRightX());
-m_driverController.GetRightX());
},
{&m_drive}));
}

6
wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/RobotContainer.cpp
View File

@@ -22,9 +22,9 @@ RobotContainer::RobotContainer()
frc::SmartDashboard::PutData(&m_wrist);
frc::SmartDashboard::PutData(&m_claw);
m_drivetrain.SetDefaultCommand(TankDrive([this] { return m_joy.GetLeftY(); },
[this] { return m_joy.GetRightY(); },
m_drivetrain));
m_drivetrain.SetDefaultCommand(
TankDrive([this] { return -m_joy.GetLeftY(); },
[this] { return -m_joy.GetRightY(); }, m_drivetrain));
// Configure the button bindings
ConfigureButtonBindings();

4
wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
View File

@@ -11,11 +11,11 @@
class Robot : public frc::TimedRobot {
public:
Robot() {
m_right.SetInverted(true);
m_robotDrive.SetExpiration(100_ms);
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's
// gearbox is constructed, you might have to invert the left side instead.
m_right.SetInverted(true);
m_robotDrive.SetExpiration(100_ms);
m_timer.Start();
}

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

@@ -32,9 +32,7 @@ class Robot : public frc::TimedRobot {
*/
void TeleopPeriodic() override {
double turningValue = (kAngleSetpoint - m_gyro.GetAngle()) * kP;
// Invert the direction of the turn if we are going backwards
turningValue = std::copysign(turningValue, m_joystick.GetY());
m_robotDrive.ArcadeDrive(-m_joystick.GetY(), turningValue);
m_drive.ArcadeDrive(-m_joystick.GetY(), -turningValue);
}
private:
@@ -52,7 +50,7 @@ class Robot : public frc::TimedRobot {
frc::PWMSparkMax m_left{kLeftMotorPort};
frc::PWMSparkMax m_right{kRightMotorPort};
frc::DifferentialDrive m_robotDrive{m_left, m_right};
frc::DifferentialDrive m_drive{m_left, m_right};
frc::AnalogGyro m_gyro{kGyroPort};
frc::Joystick m_joystick{kJoystickPort};

2
wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp
View File

@@ -21,7 +21,7 @@ RobotContainer::RobotContainer() {
m_drive.SetDefaultCommand(frc2::RunCommand(
[this] {
m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
m_driverController.GetRightX());
-m_driverController.GetRightX());
},
{&m_drive}));
}

4
wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp
View File

@@ -28,8 +28,8 @@ class Robot : public frc::TimedRobot {
* Mecanum drive is used with the gyro angle as an input.
*/
void TeleopPeriodic() override {
m_robotDrive.DriveCartesian(-m_joystick.GetY(), m_joystick.GetX(),
m_joystick.GetZ(), m_gyro.GetRotation2d());
m_robotDrive.DriveCartesian(-m_joystick.GetY(), -m_joystick.GetX(),
-m_joystick.GetZ(), m_gyro.GetRotation2d());
}
private:

2
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
View File

@@ -24,7 +24,7 @@ RobotContainer::RobotContainer() {
m_drive.SetDefaultCommand(frc2::cmd::Run(
[this] {
m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
m_driverController.GetRightX());
-m_driverController.GetRightX());
},
{&m_drive}));
}

2
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
View File

@@ -28,7 +28,7 @@ RobotContainer::RobotContainer() {
// Set up default drive command
m_drive.SetDefaultCommand(DefaultDrive(
&m_drive, [this] { return -m_driverController.GetLeftY(); },
[this] { return m_driverController.GetRightX(); }));
[this] { return -m_driverController.GetRightX(); }));
}
void RobotContainer::ConfigureButtonBindings() {

6
wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp
View File

@@ -30,9 +30,9 @@ RobotContainer::RobotContainer() {
// Set up default drive command
m_drive.SetDefaultCommand(frc2::RunCommand(
[this] {
m_drive.Drive(m_driverController.GetLeftY(),
m_driverController.GetRightX(),
m_driverController.GetLeftX(), false);
m_drive.Drive(-m_driverController.GetLeftY(),
-m_driverController.GetRightX(),
-m_driverController.GetLeftX(), false);
},
{&m_drive}));
}

4
wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
View File

@@ -24,8 +24,8 @@ class Robot : public frc::TimedRobot {
/* Use the joystick X axis for forward movement, Y axis for lateral
* movement, and Z axis for rotation.
*/
m_robotDrive.DriveCartesian(-m_stick.GetY(), m_stick.GetX(),
m_stick.GetZ());
m_robotDrive.DriveCartesian(-m_stick.GetY(), -m_stick.GetX(),
-m_stick.GetZ());
}
private:

4
wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
View File

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

4
wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp
View File

@@ -25,8 +25,8 @@ void RapidReactCommandBot::ConfigureBindings() {
// Control the drive with split-stick arcade controls
m_drive.SetDefaultCommand(m_drive.ArcadeDriveCommand(
[this] { return m_driverController.GetLeftY(); },
[this] { return m_driverController.GetRightX(); }));
[this] { return -m_driverController.GetLeftY(); },
[this] { return -m_driverController.GetRightX(); }));
// Deploy the intake with the X button
m_driverController.X().OnTrue(m_intake.IntakeCommand());

2
wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/RobotContainer.cpp
View File

@@ -19,7 +19,7 @@ void RobotContainer::ConfigureButtonBindings() {
// Also set default commands here
m_drive.SetDefaultCommand(TeleopArcadeDrive(
&m_drive, [this] { return -m_controller.GetRawAxis(1); },
[this] { return m_controller.GetRawAxis(2); }));
[this] { return -m_controller.GetRawAxis(2); }));
// Example of how to use the onboard IO
m_onboardButtonA.OnTrue(frc2::cmd::Print("Button A Pressed"))

2
wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp
View File

@@ -34,7 +34,7 @@ RobotContainer::RobotContainer() {
m_drive.SetDefaultCommand(frc2::RunCommand(
[this] {
m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
m_driverController.GetRightX());
-m_driverController.GetLeftX());
},
{&m_drive}));
}

2
wpilibcExamples/src/main/cpp/examples/TankDrive/cpp/Robot.cpp
View File

@@ -28,7 +28,7 @@ class Robot : public frc::TimedRobot {
void TeleopPeriodic() override {
// Drive with tank style
m_robotDrive.TankDrive(m_leftStick.GetY(), m_rightStick.GetY());
m_robotDrive.TankDrive(-m_leftStick.GetY(), -m_rightStick.GetY());
}
};

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java
View File

@@ -32,6 +32,6 @@ public class Robot extends TimedRobot {
// Drive with arcade drive.
// That means that the Y axis drives forward
// and backward, and the X turns left and right.
m_robotDrive.arcadeDrive(-m_stick.getY(), m_stick.getX());
m_robotDrive.arcadeDrive(-m_stick.getY(), -m_stick.getX());
}
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java
View File

@@ -32,6 +32,6 @@ public class Robot extends TimedRobot {
// Drive with split arcade drive.
// 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.getLeftY(), m_driverController.getRightX());
m_robotDrive.arcadeDrive(-m_driverController.getLeftY(), -m_driverController.getRightX());
}
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java
View File

@@ -41,7 +41,7 @@ public class RobotContainer {
Commands.run(
() ->
m_robotDrive.arcadeDrive(
-m_driverController.getLeftY(), m_driverController.getRightX()),
-m_driverController.getLeftY(), -m_driverController.getRightX()),
m_robotDrive));
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/RobotContainer.java
View File

@@ -39,7 +39,7 @@ public class RobotContainer {
// A split-stick arcade command, with forward/backward controlled by the left
// hand, and turning controlled by the right.
m_robotDrive.arcadeDriveCommand(
() -> -m_driverController.getLeftY(), () -> m_driverController.getRightX()));
() -> -m_driverController.getLeftY(), () -> -m_driverController.getRightX()));
}
/**

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java
View File

@@ -46,7 +46,7 @@ public class RobotContainer {
Commands.run(
() ->
m_robotDrive.arcadeDrive(
-m_driverController.getLeftY(), m_driverController.getRightX()),
-m_driverController.getLeftY(), -m_driverController.getRightX()),
m_robotDrive));
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java
View File

@@ -65,7 +65,7 @@ public class RobotContainer {
Commands.run(
() ->
m_robotDrive.arcadeDrive(
-m_driverController.getLeftY(), m_driverController.getRightX()),
-m_driverController.getLeftY(), -m_driverController.getRightX()),
m_robotDrive));
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/RobotContainer.java
View File

@@ -58,7 +58,7 @@ public class RobotContainer {
// Assign default commands
m_drivetrain.setDefaultCommand(
new TankDrive(m_joystick::getLeftY, m_joystick::getRightY, m_drivetrain));
new TankDrive(() -> -m_joystick.getLeftY(), () -> -m_joystick.getRightY(), m_drivetrain));
// Show what command your subsystem is running on the SmartDashboard
SmartDashboard.putData(m_drivetrain);

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
View File

@@ -61,7 +61,7 @@ public class Robot extends TimedRobot {
/** This function is called periodically during teleoperated mode. */
@Override
public void teleopPeriodic() {
m_robotDrive.arcadeDrive(-m_controller.getLeftY(), m_controller.getRightX());
m_robotDrive.arcadeDrive(-m_controller.getLeftY(), -m_controller.getRightX());
}
/** This function is called once each time the robot enters test mode. */

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java
View File

@@ -50,8 +50,6 @@ public class Robot extends TimedRobot {
@Override
public void teleopPeriodic() {
double turningValue = (kAngleSetpoint - m_gyro.getAngle()) * kP;
// Invert the direction of the turn if we are going backwards
turningValue = Math.copySign(turningValue, m_joystick.getY());
m_myRobot.arcadeDrive(-m_joystick.getY(), turningValue);
m_myRobot.arcadeDrive(-m_joystick.getY(), -turningValue);
}
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java
View File

@@ -45,7 +45,7 @@ public class RobotContainer {
new RunCommand(
() ->
m_robotDrive.arcadeDrive(
-m_driverController.getLeftY(), m_driverController.getRightX()),
-m_driverController.getLeftY(), -m_driverController.getRightX()),
m_robotDrive));
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java
View File

@@ -51,6 +51,6 @@ public class Robot extends TimedRobot {
@Override
public void teleopPeriodic() {
m_robotDrive.driveCartesian(
-m_joystick.getY(), m_joystick.getX(), m_joystick.getZ(), m_gyro.getRotation2d());
-m_joystick.getY(), -m_joystick.getX(), -m_joystick.getZ(), m_gyro.getRotation2d());
}
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java
View File

@@ -54,7 +54,7 @@ public class RobotContainer {
Commands.run(
() ->
m_robotDrive.arcadeDrive(
-m_driverController.getLeftY(), m_driverController.getRightX()),
-m_driverController.getLeftY(), -m_driverController.getRightX()),
m_robotDrive));
// Add commands to the autonomous command chooser

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
View File

@@ -60,7 +60,9 @@ public class RobotContainer {
// A split-stick arcade command, with forward/backward controlled by the left
// hand, and turning controlled by the right.
new DefaultDrive(
m_robotDrive, m_driverController::getLeftY, m_driverController::getRightX));
m_robotDrive,
() -> -m_driverController.getLeftY(),
() -> -m_driverController.getRightX()));
// Add commands to the autonomous command chooser
m_chooser.setDefaultOption("Simple Auto", m_simpleAuto);

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java
View File

@@ -51,9 +51,9 @@ public class RobotContainer {
new RunCommand(
() ->
m_robotDrive.drive(
m_driverController.getLeftY(),
m_driverController.getRightX(),
m_driverController.getLeftX(),
-m_driverController.getLeftY(),
-m_driverController.getRightX(),
-m_driverController.getLeftX(),
false),
m_robotDrive));
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java
View File

@@ -42,6 +42,6 @@ public class Robot extends TimedRobot {
public void teleopPeriodic() {
// Use the joystick X axis for forward movement, Y axis for lateral
// movement, and Z axis for rotation.
m_robotDrive.driveCartesian(-m_stick.getY(), m_stick.getX(), m_stick.getZ());
m_robotDrive.driveCartesian(-m_stick.getY(), -m_stick.getX(), -m_stick.getZ());
}
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
View File

@@ -54,7 +54,7 @@ public class RobotContainer {
new RunCommand(
() ->
m_robotDrive.arcadeDrive(
-m_driverController.getLeftY(), m_driverController.getRightX()),
-m_driverController.getLeftY(), -m_driverController.getRightX()),
m_robotDrive));
}

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/RapidReactCommandBot.java
View File

@@ -52,7 +52,8 @@ public class RapidReactCommandBot {
// Control the drive with split-stick arcade controls
m_drive.setDefaultCommand(
m_drive.arcadeDriveCommand(m_driverController::getLeftY, m_driverController::getRightX));
m_drive.arcadeDriveCommand(
() -> -m_driverController.getLeftY(), () -> -m_driverController.getRightX()));
// Deploy the intake with the X button
m_driverController.x().onTrue(m_intake.intakeCommand());

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/RobotContainer.java
View File

@@ -92,6 +92,6 @@ public class RobotContainer {
*/
public Command getArcadeDriveCommand() {
return new ArcadeDrive(
m_drivetrain, () -> -m_controller.getRawAxis(1), () -> m_controller.getRawAxis(2));
m_drivetrain, () -> -m_controller.getRawAxis(1), () -> -m_controller.getRawAxis(2));
}
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java
View File

@@ -54,7 +54,7 @@ public class RobotContainer {
new RunCommand(
() ->
m_robotDrive.arcadeDrive(
-m_driverController.getLeftY(), m_driverController.getRightX()),
-m_driverController.getLeftY(), -m_driverController.getRightX()),
m_robotDrive));
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Robot.java
View File

@@ -36,6 +36,6 @@ public class Robot extends TimedRobot {
@Override
public void teleopPeriodic() {
m_myRobot.tankDrive(m_leftStick.getY(), m_rightStick.getY());
m_myRobot.tankDrive(-m_leftStick.getY(), -m_rightStick.getY());
}
}