mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
Initial checkin of unified hierarchy of WPILib 2015
This commit is contained in:
Brad Miller
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timestamp=${timestamp}
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version=${version}
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@@ -0,0 +1,21 @@
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||||
# Deployment information
|
||||
username=admin
|
||||
password=
|
||||
deploy.dir=/home/admin
|
||||
deploy.run.command=./runcppprogram
|
||||
deploy.debug.command=./debugcppprogram
|
||||
|
||||
# Libraries to use
|
||||
wpilib=${user.home}/wpilib/cpp/${cpp-version}
|
||||
wpilib.lib=${wpilib}/lib
|
||||
|
||||
# Ant support
|
||||
wpilib.ant.dir=${wpilib}/ant
|
||||
jsch.jar=${wpilib.ant.dir}/jsch-0.1.50.jar
|
||||
classloadertask.jar=${wpilib.ant.dir}/ant-classloadertask.jar
|
||||
|
||||
# Build information
|
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out=FRCUserProgram
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src.dir=src
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build.dir=build
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out.exe=Debug/${out}
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<?xml version="1.0" encoding="UTF-8"?>
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<project name="FRC Deployment" default="deploy">
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<!--
|
||||
The following properties can be defined to override system level
|
||||
settings. These should not be touched unless you know what you're
|
||||
doing. The primary use is to override the wpilib version when
|
||||
working with older robots that can't compile with the latest
|
||||
libraries.
|
||||
-->
|
||||
|
||||
<!-- By default the system version of WPI is used -->
|
||||
<!-- <property name="version" value=""/> -->
|
||||
|
||||
<!-- By default the system team number is used -->
|
||||
<!-- <property name="team-number" value=""/> -->
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||||
|
||||
<!-- By default the target is set to 10.TE.AM.2 -->
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||||
<!-- <property name="target" value=""/> -->
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||||
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||||
<property file="${user.home}/wpilib/wpilib.properties"/>
|
||||
<property file="build.properties"/>
|
||||
|
||||
<import file="${wpilib.ant.dir}/build.xml"/>
|
||||
|
||||
</project>
|
||||
@@ -0,0 +1,31 @@
|
||||
#include "$classname.h"
|
||||
|
||||
$classname::$classname() {
|
||||
// Use Requires() here to declare subsystem dependencies
|
||||
// eg. Requires(chassis);
|
||||
}
|
||||
|
||||
// Called just before this Command runs the first time
|
||||
void $classname::Initialize() {
|
||||
|
||||
}
|
||||
|
||||
// Called repeatedly when this Command is scheduled to run
|
||||
void $classname::Execute() {
|
||||
|
||||
}
|
||||
|
||||
// Make this return true when this Command no longer needs to run execute()
|
||||
bool $classname::IsFinished() {
|
||||
return false;
|
||||
}
|
||||
|
||||
// Called once after isFinished returns true
|
||||
void $classname::End() {
|
||||
|
||||
}
|
||||
|
||||
// Called when another command which requires one or more of the same
|
||||
// subsystems is scheduled to run
|
||||
void $classname::Interrupted() {
|
||||
}
|
||||
@@ -0,0 +1,21 @@
|
||||
#ifndef $classname_H
|
||||
#define $classname_H
|
||||
|
||||
#include "../CommandBase.h"
|
||||
|
||||
/**
|
||||
*
|
||||
*
|
||||
* @author ExampleAuthor
|
||||
*/
|
||||
class $classname: public CommandBase {
|
||||
public:
|
||||
$classname();
|
||||
virtual void Initialize();
|
||||
virtual void Execute();
|
||||
virtual bool IsFinished();
|
||||
virtual void End();
|
||||
virtual void Interrupted();
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,21 @@
|
||||
#include "CommandBase.h"
|
||||
#include "Subsystems/ExampleSubsystem.h"
|
||||
#include "Commands/Scheduler.h"
|
||||
|
||||
CommandBase::CommandBase(const char *name) : Command(name) {
|
||||
}
|
||||
|
||||
CommandBase::CommandBase() : Command() {
|
||||
}
|
||||
|
||||
// Initialize a single static instance of all of your subsystems to NULL
|
||||
ExampleSubsystem* CommandBase::examplesubsystem = NULL;
|
||||
OI* CommandBase::oi = NULL;
|
||||
|
||||
void CommandBase::init() {
|
||||
// Create a single static instance of all of your subsystems. The following
|
||||
// line should be repeated for each subsystem in the project.
|
||||
examplesubsystem = new ExampleSubsystem();
|
||||
|
||||
oi = new OI();
|
||||
}
|
||||
@@ -0,0 +1,24 @@
|
||||
#ifndef COMMAND_BASE_H
|
||||
#define COMMAND_BASE_H
|
||||
|
||||
#include "Commands/Command.h"
|
||||
#include "Subsystems/ExampleSubsystem.h"
|
||||
#include "OI.h"
|
||||
|
||||
|
||||
/**
|
||||
* The base for all commands. All atomic commands should subclass CommandBase.
|
||||
* CommandBase stores creates and stores each control system. To access a
|
||||
* subsystem elsewhere in your code in your code use CommandBase.examplesubsystem
|
||||
*/
|
||||
class CommandBase: public Command {
|
||||
public:
|
||||
CommandBase(const char *name);
|
||||
CommandBase();
|
||||
static void init();
|
||||
// Create a single static instance of all of your subsystems
|
||||
static ExampleSubsystem *examplesubsystem;
|
||||
static OI *oi;
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,21 @@
|
||||
|
||||
#include "$classname.h"
|
||||
|
||||
$classname::$classname() {
|
||||
// Add Commands here:
|
||||
// e.g. AddSequential(new Command1());
|
||||
// AddSequential(new Command2());
|
||||
// these will run in order.
|
||||
|
||||
// To run multiple commands at the same time,
|
||||
// use AddParallel()
|
||||
// e.g. AddParallel(new Command1());
|
||||
// AddSequential(new Command2());
|
||||
// Command1 and Command2 will run in parallel.
|
||||
|
||||
// A command group will require all of the subsystems that each member
|
||||
// would require.
|
||||
// e.g. if Command1 requires chassis, and Command2 requires arm,
|
||||
// a CommandGroup containing them would require both the chassis and the
|
||||
// arm.
|
||||
}
|
||||
@@ -0,0 +1,17 @@
|
||||
|
||||
#ifndef $classname_H
|
||||
#define $classname_H
|
||||
|
||||
#include "Commands/CommandGroup.h"
|
||||
|
||||
/**
|
||||
*
|
||||
*
|
||||
* @author ExampleAuthor
|
||||
*/
|
||||
class $classname: public CommandGroup {
|
||||
public:
|
||||
$classname();
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,31 @@
|
||||
#include "ExampleCommand.h"
|
||||
|
||||
ExampleCommand::ExampleCommand() {
|
||||
// Use Requires() here to declare subsystem dependencies
|
||||
// eg. Requires(chassis);
|
||||
}
|
||||
|
||||
// Called just before this Command runs the first time
|
||||
void ExampleCommand::Initialize() {
|
||||
|
||||
}
|
||||
|
||||
// Called repeatedly when this Command is scheduled to run
|
||||
void ExampleCommand::Execute() {
|
||||
|
||||
}
|
||||
|
||||
// Make this return true when this Command no longer needs to run execute()
|
||||
bool ExampleCommand::IsFinished() {
|
||||
return false;
|
||||
}
|
||||
|
||||
// Called once after isFinished returns true
|
||||
void ExampleCommand::End() {
|
||||
|
||||
}
|
||||
|
||||
// Called when another command which requires one or more of the same
|
||||
// subsystems is scheduled to run
|
||||
void ExampleCommand::Interrupted() {
|
||||
}
|
||||
@@ -0,0 +1,21 @@
|
||||
#ifndef EXAMPLE_COMMAND_H
|
||||
#define EXAMPLE_COMMAND_H
|
||||
|
||||
#include "../CommandBase.h"
|
||||
|
||||
/**
|
||||
*
|
||||
*
|
||||
* @author ExampleAuthor
|
||||
*/
|
||||
class ExampleCommand: public CommandBase {
|
||||
public:
|
||||
ExampleCommand();
|
||||
virtual void Initialize();
|
||||
virtual void Execute();
|
||||
virtual bool IsFinished();
|
||||
virtual void End();
|
||||
virtual void Interrupted();
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,16 @@
|
||||
#include "ExampleSubsystem.h"
|
||||
#include "../Robotmap.h"
|
||||
|
||||
ExampleSubsystem::ExampleSubsystem() : Subsystem("ExampleSubsystem") {
|
||||
|
||||
}
|
||||
|
||||
void ExampleSubsystem::InitDefaultCommand() {
|
||||
// Set the default command for a subsystem here.
|
||||
//SetDefaultCommand(new MySpecialCommand());
|
||||
}
|
||||
|
||||
|
||||
// Put methods for controlling this subsystem
|
||||
// here. Call these from Commands.
|
||||
|
||||
@@ -0,0 +1,20 @@
|
||||
#ifndef EXAMPLE_SUBSYSTEM_H
|
||||
#define EXAMPLE_SUBSYSTEM_H
|
||||
#include "Commands/Subsystem.h"
|
||||
#include "WPILib.h"
|
||||
|
||||
/**
|
||||
*
|
||||
*
|
||||
* @author ExampleAuthor
|
||||
*/
|
||||
class ExampleSubsystem: public Subsystem {
|
||||
private:
|
||||
// It's desirable that everything possible under private except
|
||||
// for methods that implement subsystem capabilities
|
||||
public:
|
||||
ExampleSubsystem();
|
||||
void InitDefaultCommand();
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,5 @@
|
||||
#include "OI.h"
|
||||
|
||||
OI::OI() {
|
||||
// Process operator interface input here.
|
||||
}
|
||||
@@ -0,0 +1,13 @@
|
||||
#ifndef OI_H
|
||||
#define OI_H
|
||||
|
||||
#include "WPILib.h"
|
||||
|
||||
class OI {
|
||||
private:
|
||||
|
||||
public:
|
||||
OI();
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,31 @@
|
||||
|
||||
#include "$classname.h"
|
||||
#include "../Robotmap.h"
|
||||
#include "SmartDashboard/SmartDashboard.h"
|
||||
#include "LiveWindow/LiveWindow.h"
|
||||
|
||||
#@autogenerated_code("pid", "")
|
||||
#parse("${exporter-path}PIDSubsystem-pid.cpp")
|
||||
#end
|
||||
$classname::$classname() : PIDSubsystem("$classname", 1.0, 0.0, 0.0) {
|
||||
// Use these to get going:
|
||||
// SetSetpoint() - Sets where the PID controller should move the system
|
||||
// to
|
||||
// Enable() - Enables the PID controller.
|
||||
}
|
||||
|
||||
double $classname::ReturnPIDInput() {
|
||||
// Return your input value for the PID loop
|
||||
// e.g. a sensor, like a potentiometer:
|
||||
// yourPot->SetAverageVoltage() / kYourMaxVoltage;
|
||||
}
|
||||
|
||||
void $classname::UsePIDOutput(double output) {
|
||||
// Use output to drive your system, like a motor
|
||||
// e.g. yourMotor->Set(output);
|
||||
}
|
||||
|
||||
void $classname::InitDefaultCommand() {
|
||||
// Set the default command for a subsystem here.
|
||||
//setDefaultCommand(new MySpecialCommand());
|
||||
}
|
||||
@@ -0,0 +1,21 @@
|
||||
|
||||
#ifndef $classname_H
|
||||
#define $classname_H
|
||||
|
||||
#include "Commands/PIDSubsystem.h"
|
||||
#include "WPILib.h"
|
||||
|
||||
/**
|
||||
*
|
||||
*
|
||||
* @author ExampleAuthor
|
||||
*/
|
||||
class $classname: public PIDSubsystem {
|
||||
public:
|
||||
$classname();
|
||||
double ReturnPIDInput();
|
||||
void UsePIDOutput(double output);
|
||||
void InitDefaultCommand();
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,51 @@
|
||||
//============================================================================
|
||||
// Name : Robot.cpp
|
||||
// Author :
|
||||
// Version :
|
||||
// Copyright :
|
||||
// Description : Hello World in C++, Ansi-style
|
||||
//============================================================================
|
||||
|
||||
#include "WPILib.h"
|
||||
#include "Commands/Command.h"
|
||||
#include "Commands/ExampleCommand.h"
|
||||
#include "CommandBase.h"
|
||||
|
||||
class Robot : public IterativeRobot {
|
||||
private:
|
||||
Command *autonomousCommand;
|
||||
LiveWindow *lw;
|
||||
|
||||
virtual void RobotInit() {
|
||||
CommandBase::init();
|
||||
autonomousCommand = new ExampleCommand();
|
||||
lw = LiveWindow::GetInstance();
|
||||
}
|
||||
|
||||
virtual void AutonomousInit() {
|
||||
autonomousCommand->Start();
|
||||
}
|
||||
|
||||
virtual void AutonomousPeriodic() {
|
||||
Scheduler::GetInstance()->Run();
|
||||
}
|
||||
|
||||
virtual void TeleopInit() {
|
||||
// This makes sure that the autonomous stops running when
|
||||
// teleop starts running. If you want the autonomous to
|
||||
// continue until interrupted by another command, remove
|
||||
// this line or comment it out.
|
||||
autonomousCommand->Cancel();
|
||||
}
|
||||
|
||||
virtual void TeleopPeriodic() {
|
||||
Scheduler::GetInstance()->Run();
|
||||
}
|
||||
|
||||
virtual void TestPeriodic() {
|
||||
lw->Run();
|
||||
}
|
||||
};
|
||||
|
||||
START_ROBOT_CLASS(Robot);
|
||||
|
||||
@@ -0,0 +1,22 @@
|
||||
#ifndef ROBOTMAP_H
|
||||
#define ROBOTMAP_H
|
||||
|
||||
|
||||
/**
|
||||
* The RobotMap is a mapping from the ports sensors and actuators are wired into
|
||||
* to a variable name. This provides flexibility changing wiring, makes checking
|
||||
* the wiring easier and significantly reduces the number of magic numbers
|
||||
* floating around.
|
||||
*/
|
||||
|
||||
// For example to map the left and right motors, you could define the
|
||||
// following variables to use with your drivetrain subsystem.
|
||||
// #define LEFTMOTOR 1
|
||||
// #define RIGHTMOTOR 2
|
||||
|
||||
// If you are using multiple modules, make sure to define both the port
|
||||
// number and the module. For example you with a rangefinder:
|
||||
// #define RANGE_FINDER_PORT 1
|
||||
// #define RANGE_FINDER_MODULE 1
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,15 @@
|
||||
#include "$classname.h"
|
||||
#include "../Robotmap.h"
|
||||
|
||||
$classname::$classname() : Subsystem("ExampleSubsystem") {
|
||||
|
||||
}
|
||||
|
||||
void $classname::InitDefaultCommand() {
|
||||
// Set the default command for a subsystem here.
|
||||
//SetDefaultCommand(new MySpecialCommand());
|
||||
}
|
||||
|
||||
|
||||
// Put methods for controlling this subsystem
|
||||
// here. Call these from Commands.
|
||||
@@ -0,0 +1,20 @@
|
||||
#ifndef $classname_H
|
||||
#define $classname_H
|
||||
#include "Commands/Subsystem.h"
|
||||
#include "WPILib.h"
|
||||
|
||||
/**
|
||||
*
|
||||
*
|
||||
* @author ExampleAuthor
|
||||
*/
|
||||
class $classname: public Subsystem {
|
||||
private:
|
||||
// It's desirable that everything possible under private except
|
||||
// for methods that implement subsystem capabilities
|
||||
public:
|
||||
$classname();
|
||||
void InitDefaultCommand();
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,13 @@
|
||||
// TODO: convert into C++ template
|
||||
|
||||
import edu.wpi.first.wpilibj.command.Trigger;
|
||||
|
||||
/**
|
||||
* New and improved C++
|
||||
*/
|
||||
public class $classname extends Trigger {
|
||||
|
||||
public boolean get() {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,13 @@
|
||||
// TODO: convert into C++ template
|
||||
|
||||
import edu.wpi.first.wpilibj.command.Trigger;
|
||||
|
||||
/**
|
||||
* New and improved C++
|
||||
*/
|
||||
public class $classname extends Trigger {
|
||||
|
||||
public boolean get() {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,30 @@
|
||||
//============================================================================
|
||||
// Name : Robot.cpp
|
||||
// Author :
|
||||
// Version :
|
||||
// Copyright :
|
||||
// Description : Hello World in C++, Ansi-style
|
||||
//============================================================================
|
||||
|
||||
#include <networktables/NetworkTable.h>
|
||||
#include <iostream>
|
||||
using namespace std;
|
||||
|
||||
// This is a simple robot program
|
||||
int main() {
|
||||
NetworkTable::SetServerMode();
|
||||
NetworkTable::SetTeam(190);
|
||||
NetworkTable* table = NetworkTable::GetTable("SmartDashboard");
|
||||
cout << "Started up" << endl;
|
||||
|
||||
long i = 0;
|
||||
while (true) {
|
||||
cout << i << endl;
|
||||
table->PutNumber("i", i);
|
||||
i++;
|
||||
|
||||
sleep(1);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,17 @@
|
||||
package $package;
|
||||
|
||||
/**
|
||||
* Simplest possible robot program
|
||||
*
|
||||
* @author Team $team-number
|
||||
*/
|
||||
public class Robot {
|
||||
|
||||
/**
|
||||
* @param args Input....
|
||||
*/
|
||||
public static void main(String[] args) {
|
||||
// Do stuff here!
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,47 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<examples>
|
||||
<tagDescription>
|
||||
<name>Simple Robot</name>
|
||||
<description>Examples for simple robot programs.</description>
|
||||
</tagDescription>
|
||||
<tagDescription>
|
||||
<name>Network Tables</name>
|
||||
<description>Examples of how to use Network Tables to accomplish a
|
||||
variety of tasks such as sending and receiving values to both
|
||||
dashboards and co-processors..</description>
|
||||
</tagDescription>
|
||||
|
||||
<example>
|
||||
<name>Simple Robot Example</name>
|
||||
<description>The simplest possible program that compiles. This
|
||||
shows the structure of a simple program that does nothing at
|
||||
all.</description>
|
||||
<tags>
|
||||
<tag>Simple Robot</tag>
|
||||
</tags>
|
||||
<packages>
|
||||
<package>src</package>
|
||||
</packages>
|
||||
<files>
|
||||
<file source="examples/Simple Robot Example/Robot.java" destination="src/Robot.cpp" />
|
||||
</files>
|
||||
</example>
|
||||
|
||||
<example>
|
||||
<name>Network Table Counter</name>
|
||||
<description>A simple program that increments a network table
|
||||
variable once every second. This shows the structure of a simple
|
||||
program that only uses network tables.</description>
|
||||
<tags>
|
||||
<tag>Simple Robot</tag>
|
||||
<tag>Network Tables</tag>
|
||||
</tags>
|
||||
<packages>
|
||||
<package>src</package>
|
||||
</packages>
|
||||
<files>
|
||||
<file source="examples/Network Table Counter/Robot.cpp" destination="src/Robot.cpp" />
|
||||
</files>
|
||||
</example>
|
||||
|
||||
</examples>
|
||||
@@ -0,0 +1,48 @@
|
||||
//============================================================================
|
||||
// Name : Robot.cpp
|
||||
// Author :
|
||||
// Version :
|
||||
// Copyright :
|
||||
// Description : Hello World in C++, Ansi-style
|
||||
//============================================================================
|
||||
|
||||
//============================================================================
|
||||
// Name : Robot.cpp
|
||||
// Author :
|
||||
// Version :
|
||||
// Copyright :
|
||||
// Description : Hello World in C++, Ansi-style
|
||||
//============================================================================
|
||||
|
||||
#include "WPILib.h"
|
||||
|
||||
class Robot : public IterativeRobot {
|
||||
private:
|
||||
LiveWindow *lw;
|
||||
|
||||
virtual void RobotInit() {
|
||||
lw = LiveWindow::GetInstance();
|
||||
}
|
||||
|
||||
virtual void AutonomousInit() {
|
||||
|
||||
}
|
||||
|
||||
virtual void AutonomousPeriodic() {
|
||||
|
||||
}
|
||||
|
||||
virtual void TeleopInit() {
|
||||
|
||||
}
|
||||
|
||||
virtual void TeleopPeriodic() {
|
||||
|
||||
}
|
||||
|
||||
virtual void TestPeriodic() {
|
||||
lw->Run();
|
||||
}
|
||||
};
|
||||
|
||||
START_ROBOT_CLASS(Robot);
|
||||
@@ -0,0 +1,62 @@
|
||||
//============================================================================
|
||||
// Name : Robot.cpp
|
||||
// Author :
|
||||
// Version :
|
||||
// Copyright :
|
||||
// Description : Hello World in C++, Ansi-style
|
||||
//============================================================================
|
||||
|
||||
#include "WPILib.h"
|
||||
|
||||
/**
|
||||
* This is a demo program showing the use of the RobotBase class.
|
||||
* The SimpleRobot class is the base of a robot application that will automatically call your
|
||||
* Autonomous and OperatorControl methods at the right time as controlled by the switches on
|
||||
* the driver station or the field controls.
|
||||
*/
|
||||
class Robot : public SimpleRobot
|
||||
{
|
||||
RobotDrive myRobot; // robot drive system
|
||||
Joystick stick; // only joystick
|
||||
|
||||
public:
|
||||
Robot(void):
|
||||
myRobot(1, 2), // these must be initialized in the same order
|
||||
stick(1) // as they are declared above.
|
||||
{
|
||||
myRobot.SetExpiration(0.1);
|
||||
}
|
||||
|
||||
/**
|
||||
* Drive left & right motors for 2 seconds then stop
|
||||
*/
|
||||
void Autonomous(void)
|
||||
{
|
||||
myRobot.SetSafetyEnabled(false);
|
||||
myRobot.Drive(-0.5, 0.0); // drive forwards half speed
|
||||
Wait(2.0); // for 2 seconds
|
||||
myRobot.Drive(0.0, 0.0); // stop robot
|
||||
}
|
||||
|
||||
/**
|
||||
* Runs the motors with arcade steering.
|
||||
*/
|
||||
void OperatorControl(void)
|
||||
{
|
||||
myRobot.SetSafetyEnabled(true);
|
||||
while (IsOperatorControl())
|
||||
{
|
||||
myRobot.ArcadeDrive(stick); // drive with arcade style (use right stick)
|
||||
Wait(0.005); // wait for a motor update time
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Runs during test mode
|
||||
*/
|
||||
void Test() {
|
||||
|
||||
}
|
||||
};
|
||||
|
||||
START_ROBOT_CLASS(Robot);
|
||||
Reference in New Issue
Block a user