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[wpilibcExamples] Make GearsBot use idiomatic C++ (#3711)

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Replace pointer constructor arguments with references, and const qualify
getters where possible.

Also remove redundant simulation P gain.

Fixes #1146.
This commit is contained in:
Tyler Veness
2021-11-09 20:11:50 -08:00
committed by GitHub
parent 42d3a50aa2
commit 3be0c1217a
30 changed files with 58 additions and 66 deletions
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8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java
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@@ -18,15 +18,11 @@ public class Wrist extends PIDSubsystem {
private final Victor m_motor;
private final AnalogPotentiometer m_pot;
private static final double kP_real = 1;
private static final double kP_simulation = 0.05;
private static final double kP = 1;
/** Create a new wrist subsystem. */
public Wrist() {
super(new PIDController(kP_real, 0, 0));
if (Robot.isSimulation()) { // Check for simulation and update PID values
getController().setPID(kP_simulation, 0, 0);
}
super(new PIDController(kP, 0, 0));
getController().setTolerance(2.5);
m_motor = new Victor(6);