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Merge branch '2022'

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This commit is contained in:
Peter Johnson
2021-05-09 14:15:40 -07:00
parent ba08baabb9 a3cd90dd71
commit 3cc2da3328
765 changed files with 5914 additions and 13714 deletions
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2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.java
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@@ -4,8 +4,8 @@
package edu.wpi.first.wpilibj.commands.profiledpidcommand;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.ProfiledPIDCommand;
// NOTE: Consider using this command inline, rather than writing a subclass. For more

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.java
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@@ -4,8 +4,8 @@
package edu.wpi.first.wpilibj.commands.profiledpidsubsystem;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.ProfiledPIDSubsystem;
public class ReplaceMeProfiledPIDSubsystem extends ProfiledPIDSubsystem {

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trapezoidprofilecommand/ReplaceMeTrapezoidProfileCommand.java
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@@ -4,7 +4,7 @@
package edu.wpi.first.wpilibj.commands.trapezoidprofilecommand;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.TrapezoidProfileCommand;
// NOTE: Consider using this command inline, rather than writing a subclass. For more

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trapezoidprofilesubsystem/ReplaceMeTrapezoidProfileSubsystem.java
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@@ -4,7 +4,7 @@
package edu.wpi.first.wpilibj.commands.trapezoidprofilesubsystem;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.TrapezoidProfileSubsystem;
public class ReplaceMeTrapezoidProfileSubsystem extends TrapezoidProfileSubsystem {

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java
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@@ -5,9 +5,9 @@
package edu.wpi.first.wpilibj.examples.arcadedrive;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
/**
* This is a demo program showing the use of the DifferentialDrive class. Runs the motors with

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java
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@@ -5,10 +5,10 @@
package edu.wpi.first.wpilibj.examples.arcadedrivexboxcontroller;
import edu.wpi.first.wpilibj.GenericHID.Hand;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
/**
* This is a demo program showing the use of the DifferentialDrive class. Runs the motors with split

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java
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@@ -4,12 +4,12 @@
package edu.wpi.first.wpilibj.examples.armbot.subsystems;
import edu.wpi.first.math.controller.ArmFeedforward;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.controller.ArmFeedforward;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.examples.armbot.Constants.ArmConstants;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.ProfiledPIDSubsystem;
/** A robot arm subsystem that moves with a motion profile. */

12
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/DriveSubsystem.java
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@@ -5,22 +5,22 @@
package edu.wpi.first.wpilibj.examples.armbot.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.armbot.Constants.DriveConstants;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final SpeedControllerGroup m_leftMotors =
new SpeedControllerGroup(
private final MotorControllerGroup m_leftMotors =
new MotorControllerGroup(
new PWMSparkMax(DriveConstants.kLeftMotor1Port),
new PWMSparkMax(DriveConstants.kLeftMotor2Port));
// The motors on the right side of the drive.
private final SpeedControllerGroup m_rightMotors =
new SpeedControllerGroup(
private final MotorControllerGroup m_rightMotors =
new MotorControllerGroup(
new PWMSparkMax(DriveConstants.kRightMotor1Port),
new PWMSparkMax(DriveConstants.kRightMotor2Port));

7
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/ExampleSmartMotorController.java
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@@ -4,14 +4,14 @@
package edu.wpi.first.wpilibj.examples.armbotoffboard;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
/**
* A simplified stub class that simulates the API of a common "smart" motor controller.
*
* <p>Has no actual functionality.
*/
public class ExampleSmartMotorController implements SpeedController {
public class ExampleSmartMotorController implements MotorController {
public enum PIDMode {
kPosition,
kVelocity,
@@ -93,7 +93,4 @@ public class ExampleSmartMotorController implements SpeedController {
@Override
public void stopMotor() {}
@Override
public void pidWrite(double output) {}
}

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/ArmSubsystem.java
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@@ -4,10 +4,10 @@
package edu.wpi.first.wpilibj.examples.armbotoffboard.subsystems;
import edu.wpi.first.wpilibj.controller.ArmFeedforward;
import edu.wpi.first.math.controller.ArmFeedforward;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.examples.armbotoffboard.Constants.ArmConstants;
import edu.wpi.first.wpilibj.examples.armbotoffboard.ExampleSmartMotorController;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.TrapezoidProfileSubsystem;
/** A robot arm subsystem that moves with a motion profile. */

12
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/DriveSubsystem.java
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@@ -5,22 +5,22 @@
package edu.wpi.first.wpilibj.examples.armbotoffboard.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.armbotoffboard.Constants.DriveConstants;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final SpeedControllerGroup m_leftMotors =
new SpeedControllerGroup(
private final MotorControllerGroup m_leftMotors =
new MotorControllerGroup(
new PWMSparkMax(DriveConstants.kLeftMotor1Port),
new PWMSparkMax(DriveConstants.kLeftMotor2Port));
// The motors on the right side of the drive.
private final SpeedControllerGroup m_rightMotors =
new SpeedControllerGroup(
private final MotorControllerGroup m_rightMotors =
new MotorControllerGroup(
new PWMSparkMax(DriveConstants.kRightMotor1Port),
new PWMSparkMax(DriveConstants.kRightMotor2Port));

8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java
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@@ -4,19 +4,19 @@
package edu.wpi.first.wpilibj.examples.armsimulation;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.simulation.BatterySim;
import edu.wpi.first.wpilibj.simulation.EncoderSim;
import edu.wpi.first.wpilibj.simulation.RoboRioSim;
import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.VecBuilder;
/** This is a sample program to demonstrate the use of elevator simulation with existing code. */
public class Robot extends TimedRobot {

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/axiscamera/Robot.java
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@@ -4,10 +4,10 @@
package edu.wpi.first.wpilibj.examples.axiscamera;
import edu.wpi.cscore.AxisCamera;
import edu.wpi.cscore.CvSink;
import edu.wpi.cscore.CvSource;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.cscore.AxisCamera;
import edu.wpi.first.cscore.CvSink;
import edu.wpi.first.cscore.CvSource;
import edu.wpi.first.wpilibj.TimedRobot;
import org.opencv.core.Mat;
import org.opencv.core.Point;

32
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java
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@@ -4,17 +4,17 @@
package edu.wpi.first.wpilibj.examples.differentialdrivebot;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.math.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
/** Represents a differential drive style drivetrain. */
public class Drivetrain {
@@ -25,18 +25,18 @@ public class Drivetrain {
private static final double kWheelRadius = 0.0508; // meters
private static final int kEncoderResolution = 4096;
private final SpeedController m_leftLeader = new PWMSparkMax(1);
private final SpeedController m_leftFollower = new PWMSparkMax(2);
private final SpeedController m_rightLeader = new PWMSparkMax(3);
private final SpeedController m_rightFollower = new PWMSparkMax(4);
private final MotorController m_leftLeader = new PWMSparkMax(1);
private final MotorController m_leftFollower = new PWMSparkMax(2);
private final MotorController m_rightLeader = new PWMSparkMax(3);
private final MotorController m_rightFollower = new PWMSparkMax(4);
private final Encoder m_leftEncoder = new Encoder(0, 1);
private final Encoder m_rightEncoder = new Encoder(2, 3);
private final SpeedControllerGroup m_leftGroup =
new SpeedControllerGroup(m_leftLeader, m_leftFollower);
private final SpeedControllerGroup m_rightGroup =
new SpeedControllerGroup(m_rightLeader, m_rightFollower);
private final MotorControllerGroup m_leftGroup =
new MotorControllerGroup(m_leftLeader, m_leftFollower);
private final MotorControllerGroup m_rightGroup =
new MotorControllerGroup(m_rightLeader, m_rightFollower);
private final AnalogGyro m_gyro = new AnalogGyro(0);

38
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
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@@ -4,22 +4,22 @@
package edu.wpi.first.wpilibj.examples.differentialdriveposeestimator;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.estimator.DifferentialDrivePoseEstimator;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.estimator.DifferentialDrivePoseEstimator;
import edu.wpi.first.wpilibj.examples.swervesdriveposeestimator.ExampleGlobalMeasurementSensor;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
/** Represents a differential drive style drivetrain. */
public class Drivetrain {
@@ -30,18 +30,18 @@ public class Drivetrain {
private static final double kWheelRadius = 0.0508; // meters
private static final int kEncoderResolution = 4096;
private final SpeedController m_leftLeader = new PWMSparkMax(1);
private final SpeedController m_leftFollower = new PWMSparkMax(2);
private final SpeedController m_rightLeader = new PWMSparkMax(3);
private final SpeedController m_rightFollower = new PWMSparkMax(4);
private final MotorController m_leftLeader = new PWMSparkMax(1);
private final MotorController m_leftFollower = new PWMSparkMax(2);
private final MotorController m_rightLeader = new PWMSparkMax(3);
private final MotorController m_rightFollower = new PWMSparkMax(4);
private final Encoder m_leftEncoder = new Encoder(0, 1);
private final Encoder m_rightEncoder = new Encoder(2, 3);
private final SpeedControllerGroup m_leftGroup =
new SpeedControllerGroup(m_leftLeader, m_leftFollower);
private final SpeedControllerGroup m_rightGroup =
new SpeedControllerGroup(m_rightLeader, m_rightFollower);
private final MotorControllerGroup m_leftGroup =
new MotorControllerGroup(m_leftLeader, m_leftFollower);
private final MotorControllerGroup m_rightGroup =
new MotorControllerGroup(m_rightLeader, m_rightFollower);
private final AnalogGyro m_gyro = new AnalogGyro(0);

7
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/ExampleSmartMotorController.java
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@@ -4,14 +4,14 @@
package edu.wpi.first.wpilibj.examples.drivedistanceoffboard;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
/**
* A simplified stub class that simulates the API of a common "smart" motor controller.
*
* <p>Has no actual functionality.
*/
public class ExampleSmartMotorController implements SpeedController {
public class ExampleSmartMotorController implements MotorController {
public enum PIDMode {
kPosition,
kVelocity,
@@ -97,7 +97,4 @@ public class ExampleSmartMotorController implements SpeedController {
@Override
public void stopMotor() {}
@Override
public void pidWrite(double output) {}
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java
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@@ -6,13 +6,13 @@ package edu.wpi.first.wpilibj.examples.drivedistanceoffboard;
import static edu.wpi.first.wpilibj.XboxController.Button;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.OIConstants;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.commands.DriveDistanceProfiled;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/commands/DriveDistanceProfiled.java
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@@ -4,9 +4,9 @@
package edu.wpi.first.wpilibj.examples.drivedistanceoffboard.commands;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.TrapezoidProfileCommand;
/** Drives a set distance using a motion profile. */

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java
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@@ -4,11 +4,11 @@
package edu.wpi.first.wpilibj.examples.drivedistanceoffboard.subsystems;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.ExampleSmartMotorController;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class DriveSubsystem extends SubsystemBase {

8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java
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@@ -4,20 +4,20 @@
package edu.wpi.first.wpilibj.examples.elevatorprofiledpid;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
public class Robot extends TimedRobot {
private static double kDt = 0.02;
private final Joystick m_joystick = new Joystick(1);
private final Encoder m_encoder = new Encoder(1, 2);
private final SpeedController m_motor = new PWMSparkMax(1);
private final MotorController m_motor = new PWMSparkMax(1);
// Create a PID controller whose setpoint's change is subject to maximum
// velocity and acceleration constraints.

8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java
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@@ -4,19 +4,19 @@
package edu.wpi.first.wpilibj.examples.elevatorsimulation;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.simulation.BatterySim;
import edu.wpi.first.wpilibj.simulation.ElevatorSim;
import edu.wpi.first.wpilibj.simulation.EncoderSim;
import edu.wpi.first.wpilibj.simulation.RoboRioSim;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.VecBuilder;
/** This is a sample program to demonstrate the use of elevator simulation with existing code. */
public class Robot extends TimedRobot {

7
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/ExampleSmartMotorController.java
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@@ -4,14 +4,14 @@
package edu.wpi.first.wpilibj.examples.elevatortrapezoidprofile;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
/**
* A simplified stub class that simulates the API of a common "smart" motor controller.
*
* <p>Has no actual functionality.
*/
public class ExampleSmartMotorController implements SpeedController {
public class ExampleSmartMotorController implements MotorController {
public enum PIDMode {
kPosition,
kVelocity,
@@ -93,7 +93,4 @@ public class ExampleSmartMotorController implements SpeedController {
@Override
public void stopMotor() {}
@Override
public void pidWrite(double output) {}
}

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java
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@@ -4,10 +4,10 @@
package edu.wpi.first.wpilibj.examples.elevatortrapezoidprofile;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
public class Robot extends TimedRobot {
private static double kDt = 0.02;

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

@@ -12,7 +12,7 @@
},
{
"name": "Tank Drive",
"description": "Demonstrate the use of the RobotDrive class doing teleop driving with tank steering",
"description": "Demonstrate the use of the DifferentialDrive class doing teleop driving with tank steering",
"tags": [
"Actuators",
"Joystick",
@@ -37,7 +37,7 @@
},
{
"name": "Mecanum Drive",
"description": "Demonstrate the use of the RobotDrive class doing teleop driving with Mecanum steering",
"description": "Demonstrate the use of the MecanumDrive class doing teleop driving with Mecanum steering",
"tags": [
"Actuators",
"Joystick",

12
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/DriveSubsystem.java
View File

@@ -5,22 +5,22 @@
package edu.wpi.first.wpilibj.examples.frisbeebot.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.DriveConstants;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final SpeedControllerGroup m_leftMotors =
new SpeedControllerGroup(
private final MotorControllerGroup m_leftMotors =
new MotorControllerGroup(
new PWMSparkMax(DriveConstants.kLeftMotor1Port),
new PWMSparkMax(DriveConstants.kLeftMotor2Port));
// The motors on the right side of the drive.
private final SpeedControllerGroup m_rightMotors =
new SpeedControllerGroup(
private final MotorControllerGroup m_rightMotors =
new MotorControllerGroup(
new PWMSparkMax(DriveConstants.kRightMotor1Port),
new PWMSparkMax(DriveConstants.kRightMotor2Port));

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java
View File

@@ -4,11 +4,11 @@
package edu.wpi.first.wpilibj.examples.frisbeebot.subsystems;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.ShooterConstants;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.PIDSubsystem;
public class ShooterSubsystem extends PIDSubsystem {

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

@@ -5,7 +5,7 @@
package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.motorcontrol.Victor;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;

14
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java
View File

@@ -7,11 +7,11 @@ package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -20,11 +20,11 @@ public class DriveTrain extends SubsystemBase {
* The DriveTrain subsystem incorporates the sensors and actuators attached to the robots chassis.
* These include four drive motors, a left and right encoder and a gyro.
*/
private final SpeedController m_leftMotor =
new SpeedControllerGroup(new PWMSparkMax(0), new PWMSparkMax(1));
private final MotorController m_leftMotor =
new MotorControllerGroup(new PWMSparkMax(0), new PWMSparkMax(1));
private final SpeedController m_rightMotor =
new SpeedControllerGroup(new PWMSparkMax(2), new PWMSparkMax(3));
private final MotorController m_rightMotor =
new MotorControllerGroup(new PWMSparkMax(2), new PWMSparkMax(3));
private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotor, m_rightMotor);

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

@@ -5,9 +5,9 @@
package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
import edu.wpi.first.wpilibj.motorcontrol.Victor;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.PIDSubsystem;

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

@@ -5,9 +5,9 @@
package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
import edu.wpi.first.wpilibj.motorcontrol.Victor;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.PIDSubsystem;

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

@@ -5,10 +5,10 @@
package edu.wpi.first.wpilibj.examples.gettingstarted;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
/**
* The VM is configured to automatically run this class, and to call the functions corresponding to

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java
View File

@@ -6,9 +6,9 @@ package edu.wpi.first.wpilibj.examples.gyro;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
/**
* This is a sample program to demonstrate how to use a gyro sensor to make a robot drive straight.
@@ -39,8 +39,8 @@ public class Robot extends TimedRobot {
}
/**
* The motor speed is set from the joystick while the RobotDrive turning value is assigned from
* the error between the setpoint and the gyro angle.
* The motor speed is set from the joystick while the DifferentialDrive turning value is assigned
* from the error between the setpoint and the gyro angle.
*/
@Override
public void teleopPeriodic() {

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

@@ -4,10 +4,10 @@
package edu.wpi.first.wpilibj.examples.gyrodrivecommands.commands;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.gyrodrivecommands.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.ProfiledPIDCommand;
/** A command that will turn the robot to the specified angle using a motion profile. */

12
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/subsystems/DriveSubsystem.java
View File

@@ -6,23 +6,23 @@ package edu.wpi.first.wpilibj.examples.gyrodrivecommands.subsystems;
import edu.wpi.first.wpilibj.ADXRS450_Gyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants;
import edu.wpi.first.wpilibj.interfaces.Gyro;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final SpeedControllerGroup m_leftMotors =
new SpeedControllerGroup(
private final MotorControllerGroup m_leftMotors =
new MotorControllerGroup(
new PWMSparkMax(DriveConstants.kLeftMotor1Port),
new PWMSparkMax(DriveConstants.kLeftMotor2Port));
// The motors on the right side of the drive.
private final SpeedControllerGroup m_rightMotors =
new SpeedControllerGroup(
private final MotorControllerGroup m_rightMotors =
new MotorControllerGroup(
new PWMSparkMax(DriveConstants.kRightMotor1Port),
new PWMSparkMax(DriveConstants.kRightMotor2Port));

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

@@ -6,9 +6,9 @@ package edu.wpi.first.wpilibj.examples.gyromecanum;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.drive.MecanumDrive;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
/**
* This is a sample program that uses mecanum drive with a gyro sensor to maintain rotation

12
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/DriveSubsystem.java
View File

@@ -5,22 +5,22 @@
package edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.DriveConstants;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final SpeedControllerGroup m_leftMotors =
new SpeedControllerGroup(
private final MotorControllerGroup m_leftMotors =
new MotorControllerGroup(
new PWMSparkMax(DriveConstants.kLeftMotor1Port),
new PWMSparkMax(DriveConstants.kLeftMotor2Port));
// The motors on the right side of the drive.
private final SpeedControllerGroup m_rightMotors =
new SpeedControllerGroup(
private final MotorControllerGroup m_rightMotors =
new MotorControllerGroup(
new PWMSparkMax(DriveConstants.kRightMotor1Port),
new PWMSparkMax(DriveConstants.kRightMotor2Port));

12
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/DriveSubsystem.java
View File

@@ -5,22 +5,22 @@
package edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.DriveConstants;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final SpeedControllerGroup m_leftMotors =
new SpeedControllerGroup(
private final MotorControllerGroup m_leftMotors =
new MotorControllerGroup(
new PWMSparkMax(DriveConstants.kLeftMotor1Port),
new PWMSparkMax(DriveConstants.kLeftMotor2Port));
// The motors on the right side of the drive.
private final SpeedControllerGroup m_rightMotors =
new SpeedControllerGroup(
private final MotorControllerGroup m_rightMotors =
new MotorControllerGroup(
new PWMSparkMax(DriveConstants.kRightMotor1Port),
new PWMSparkMax(DriveConstants.kRightMotor2Port));

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision/Robot.java
View File

@@ -4,10 +4,10 @@
package edu.wpi.first.wpilibj.examples.intermediatevision;
import edu.wpi.cscore.CvSink;
import edu.wpi.cscore.CvSource;
import edu.wpi.cscore.UsbCamera;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.cscore.CvSink;
import edu.wpi.first.cscore.CvSource;
import edu.wpi.first.cscore.UsbCamera;
import edu.wpi.first.wpilibj.TimedRobot;
import org.opencv.core.Mat;
import org.opencv.core.Point;

24
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
View File

@@ -4,17 +4,17 @@
package edu.wpi.first.wpilibj.examples.mecanumbot;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.MecanumDriveKinematics;
import edu.wpi.first.math.kinematics.MecanumDriveOdometry;
import edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics;
import edu.wpi.first.wpilibj.kinematics.MecanumDriveOdometry;
import edu.wpi.first.wpilibj.kinematics.MecanumDriveWheelSpeeds;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
/** Represents a mecanum drive style drivetrain. */
@SuppressWarnings("PMD.TooManyFields")
@@ -22,10 +22,10 @@ public class Drivetrain {
public static final double kMaxSpeed = 3.0; // 3 meters per second
public static final double kMaxAngularSpeed = Math.PI; // 1/2 rotation per second
private final SpeedController m_frontLeftMotor = new PWMSparkMax(1);
private final SpeedController m_frontRightMotor = new PWMSparkMax(2);
private final SpeedController m_backLeftMotor = new PWMSparkMax(3);
private final SpeedController m_backRightMotor = new PWMSparkMax(4);
private final MotorController m_frontLeftMotor = new PWMSparkMax(1);
private final MotorController m_frontRightMotor = new PWMSparkMax(2);
private final MotorController m_backLeftMotor = new PWMSparkMax(3);
private final MotorController m_backRightMotor = new PWMSparkMax(4);
private final Encoder m_frontLeftEncoder = new Encoder(0, 1);
private final Encoder m_frontRightEncoder = new Encoder(2, 3);

8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Constants.java
View File

@@ -4,10 +4,10 @@
package edu.wpi.first.wpilibj.examples.mecanumcontrollercommand;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.MecanumDriveKinematics;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
/**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean

14
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java
View File

@@ -4,6 +4,12 @@
package edu.wpi.first.wpilibj.examples.mecanumcontrollercommand;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.XboxController.Button;
@@ -13,12 +19,6 @@ import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.AutoCon
import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.OIConstants;
import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.trajectory.Trajectory;
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.MecanumControllerCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
@@ -118,7 +118,7 @@ public class RobotContainer {
new PIDController(DriveConstants.kPFrontRightVel, 0, 0),
new PIDController(DriveConstants.kPRearRightVel, 0, 0),
m_robotDrive::getCurrentWheelSpeeds,
m_robotDrive::setDriveSpeedControllersVolts, // Consumer for the output motor voltages
m_robotDrive::setDriveMotorControllersVolts, // Consumer for the output motor voltages
m_robotDrive);
// Reset odometry to the starting pose of the trajectory.

14
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java
View File

@@ -4,16 +4,16 @@
package edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.subsystems;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.kinematics.MecanumDriveMotorVoltages;
import edu.wpi.first.math.kinematics.MecanumDriveOdometry;
import edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds;
import edu.wpi.first.wpilibj.ADXRS450_Gyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.drive.MecanumDrive;
import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.DriveConstants;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.interfaces.Gyro;
import edu.wpi.first.wpilibj.kinematics.MecanumDriveMotorVoltages;
import edu.wpi.first.wpilibj.kinematics.MecanumDriveOdometry;
import edu.wpi.first.wpilibj.kinematics.MecanumDriveWheelSpeeds;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class DriveSubsystem extends SubsystemBase {
@@ -117,8 +117,8 @@ public class DriveSubsystem extends SubsystemBase {
}
}
/** Sets the front left drive SpeedController to a voltage. */
public void setDriveSpeedControllersVolts(MecanumDriveMotorVoltages volts) {
/** Sets the front left drive MotorController to a voltage. */
public void setDriveMotorControllersVolts(MecanumDriveMotorVoltages volts) {
m_frontLeft.setVoltage(volts.frontLeftVoltage);
m_rearLeft.setVoltage(volts.rearLeftVoltage);
m_frontRight.setVoltage(volts.frontRightVoltage);

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

@@ -5,11 +5,11 @@
package edu.wpi.first.wpilibj.examples.mecanumdrive;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.drive.MecanumDrive;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
/** This is a demo program showing how to use Mecanum control with the RobotDrive class. */
/** This is a demo program showing how to use Mecanum control with the MecanumDrive class. */
public class Robot extends TimedRobot {
private static final int kFrontLeftChannel = 2;
private static final int kRearLeftChannel = 3;

30
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
View File

@@ -4,22 +4,22 @@
package edu.wpi.first.wpilibj.examples.mecanumdriveposeestimator;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.estimator.MecanumDrivePoseEstimator;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.MecanumDriveKinematics;
import edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.estimator.MecanumDrivePoseEstimator;
import edu.wpi.first.wpilibj.examples.swervesdriveposeestimator.ExampleGlobalMeasurementSensor;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics;
import edu.wpi.first.wpilibj.kinematics.MecanumDriveWheelSpeeds;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
/** Represents a mecanum drive style drivetrain. */
@SuppressWarnings("PMD.TooManyFields")
@@ -27,10 +27,10 @@ public class Drivetrain {
public static final double kMaxSpeed = 3.0; // 3 meters per second
public static final double kMaxAngularSpeed = Math.PI; // 1/2 rotation per second
private final SpeedController m_frontLeftMotor = new PWMSparkMax(1);
private final SpeedController m_frontRightMotor = new PWMSparkMax(2);
private final SpeedController m_backLeftMotor = new PWMSparkMax(3);
private final SpeedController m_backRightMotor = new PWMSparkMax(4);
private final MotorController m_frontLeftMotor = new PWMSparkMax(1);
private final MotorController m_frontRightMotor = new PWMSparkMax(2);
private final MotorController m_backLeftMotor = new PWMSparkMax(3);
private final MotorController m_backRightMotor = new PWMSparkMax(4);
private final Encoder m_frontLeftEncoder = new Encoder(0, 1);
private final Encoder m_frontRightEncoder = new Encoder(2, 3);

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/ExampleGlobalMeasurementSensor.java
View File

@@ -4,11 +4,11 @@
package edu.wpi.first.wpilibj.examples.mecanumdriveposeestimator;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.math.StateSpaceUtil;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.math.StateSpaceUtil;
import edu.wpi.first.math.util.Units;
/** This dummy class represents a global measurement sensor, such as a computer vision solution. */
public final class ExampleGlobalMeasurementSensor {

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
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@@ -7,8 +7,8 @@ package edu.wpi.first.wpilibj.examples.mechanism2d;
import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d;
import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d;
import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d;

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Robot.java
View File

@@ -5,9 +5,9 @@
package edu.wpi.first.wpilibj.examples.motorcontrol;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
/**
* This sample program shows how to control a motor using a joystick. In the operator control part
@@ -20,7 +20,7 @@ public class Robot extends TimedRobot {
private static final int kMotorPort = 0;
private static final int kJoystickPort = 0;
private SpeedController m_motor;
private MotorController m_motor;
private Joystick m_joystick;
@Override

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrolencoder/Robot.java
View File

@@ -6,9 +6,9 @@ package edu.wpi.first.wpilibj.examples.motorcontrolencoder;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
@@ -27,7 +27,7 @@ public class Robot extends TimedRobot {
private static final int kEncoderPortA = 0;
private static final int kEncoderPortB = 1;
private SpeedController m_motor;
private MotorController m_motor;
private Joystick m_joystick;
private Encoder m_encoder;

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Collector.java
View File

@@ -6,9 +6,9 @@ package edu.wpi.first.wpilibj.examples.pacgoat.subsystems;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.Victor;
/**
* The Collector subsystem has one motor for the rollers, a limit switch for ball detection, a
@@ -21,7 +21,7 @@ public class Collector extends Subsystem {
public static final double kReverse = -1;
// Subsystem devices
private final SpeedController m_rollerMotor = new Victor(6);
private final MotorController m_rollerMotor = new Victor(6);
private final DigitalInput m_ballDetector = new DigitalInput(10);
private final DigitalInput m_openDetector = new DigitalInput(6);
private final Solenoid m_piston = new Solenoid(1, 1);

22
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/DriveTrain.java
View File

@@ -8,13 +8,13 @@ import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.CounterBase.EncodingType;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
import edu.wpi.first.wpilibj.examples.pacgoat.commands.DriveWithJoystick;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.Victor;
/**
* The DriveTrain subsystem controls the robot's chassis and reads in information about it's speed
@@ -22,14 +22,14 @@ import edu.wpi.first.wpilibj.examples.pacgoat.commands.DriveWithJoystick;
*/
public class DriveTrain extends Subsystem {
// Subsystem devices
private final SpeedController m_frontLeftCIM = new Victor(1);
private final SpeedController m_frontRightCIM = new Victor(2);
private final SpeedController m_rearLeftCIM = new Victor(3);
private final SpeedController m_rearRightCIM = new Victor(4);
private final SpeedControllerGroup m_leftCIMs =
new SpeedControllerGroup(m_frontLeftCIM, m_rearLeftCIM);
private final SpeedControllerGroup m_rightCIMs =
new SpeedControllerGroup(m_frontRightCIM, m_rearRightCIM);
private final MotorController m_frontLeftCIM = new Victor(1);
private final MotorController m_frontRightCIM = new Victor(2);
private final MotorController m_rearLeftCIM = new Victor(3);
private final MotorController m_rearRightCIM = new Victor(4);
private final MotorControllerGroup m_leftCIMs =
new MotorControllerGroup(m_frontLeftCIM, m_rearLeftCIM);
private final MotorControllerGroup m_rightCIMs =
new MotorControllerGroup(m_frontRightCIM, m_rearRightCIM);
private final DifferentialDrive m_drive;
private final Encoder m_rightEncoder = new Encoder(1, 2, true, EncodingType.k4X);
private final Encoder m_leftEncoder = new Encoder(3, 4, false, EncodingType.k4X);

11
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Pivot.java
View File

@@ -6,11 +6,10 @@ package edu.wpi.first.wpilibj.examples.pacgoat.subsystems;
import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.command.PIDSubsystem;
import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
import edu.wpi.first.wpilibj.interfaces.Potentiometer;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.Victor;
/**
* The Pivot subsystem contains the Van-door motor and the pot for PID control of angle of the pivot
@@ -29,10 +28,10 @@ public class Pivot extends PIDSubsystem {
// 0 degrees is vertical facing up.
// Angle increases the more forward the pivot goes.
private final Potentiometer m_pot = new AnalogPotentiometer(1);
private final AnalogPotentiometer m_pot = new AnalogPotentiometer(1);
// Motor to move the pivot.
private final SpeedController m_motor = new Victor(5);
private final MotorController m_motor = new Victor(5);
/** Create a new pivot subsystem. */
public Pivot() {
@@ -65,7 +64,7 @@ public class Pivot extends PIDSubsystem {
/** Set the motor speed based off of the PID output. */
@Override
protected void usePIDOutput(double output) {
m_motor.pidWrite(output);
m_motor.set(output);
}
/** If the pivot is at its upper limit. */

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java
View File

@@ -6,10 +6,10 @@ package edu.wpi.first.wpilibj.examples.potentiometerpid;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
/**
* This is a sample program to demonstrate how to use a soft potentiometer and a PID controller to
@@ -33,7 +33,7 @@ public class Robot extends TimedRobot {
private PIDController m_pidController;
private AnalogInput m_potentiometer;
private SpeedController m_elevatorMotor;
private MotorController m_elevatorMotor;
private Joystick m_joystick;
private int m_index;

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

@@ -4,7 +4,7 @@
package edu.wpi.first.wpilibj.examples.ramsetecommand;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
/**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean

18
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
View File

@@ -6,22 +6,22 @@ package edu.wpi.first.wpilibj.examples.ramsetecommand;
import static edu.wpi.first.wpilibj.XboxController.Button;
import edu.wpi.first.math.controller.RamseteController;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import edu.wpi.first.math.trajectory.constraint.DifferentialDriveVoltageConstraint;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.RamseteController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.AutoConstants;
import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.OIConstants;
import edu.wpi.first.wpilibj.examples.ramsetecommand.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.trajectory.Trajectory;
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveVoltageConstraint;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.RamseteCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;

18
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
View File

@@ -4,28 +4,28 @@
package edu.wpi.first.wpilibj.examples.ramsetecommand.subsystems;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.ADXRS450_Gyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.interfaces.Gyro;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final SpeedControllerGroup m_leftMotors =
new SpeedControllerGroup(
private final MotorControllerGroup m_leftMotors =
new MotorControllerGroup(
new PWMSparkMax(DriveConstants.kLeftMotor1Port),
new PWMSparkMax(DriveConstants.kLeftMotor2Port));
// The motors on the right side of the drive.
private final SpeedControllerGroup m_rightMotors =
new SpeedControllerGroup(
private final MotorControllerGroup m_rightMotors =
new MotorControllerGroup(
new PWMSparkMax(DriveConstants.kRightMotor1Port),
new PWMSparkMax(DriveConstants.kRightMotor2Port));

34
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Drivetrain.java
View File

@@ -4,18 +4,18 @@
package edu.wpi.first.wpilibj.examples.ramsetecontroller;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.math.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
/** Represents a differential drive style drivetrain. */
public class Drivetrain {
@@ -26,18 +26,18 @@ public class Drivetrain {
private static final double kWheelRadius = 0.0508; // meters
private static final int kEncoderResolution = 4096;
private final SpeedController m_leftLeader = new PWMSparkMax(1);
private final SpeedController m_leftFollower = new PWMSparkMax(2);
private final SpeedController m_rightLeader = new PWMSparkMax(3);
private final SpeedController m_rightFollower = new PWMSparkMax(4);
private final MotorController m_leftLeader = new PWMSparkMax(1);
private final MotorController m_leftFollower = new PWMSparkMax(2);
private final MotorController m_rightLeader = new PWMSparkMax(3);
private final MotorController m_rightFollower = new PWMSparkMax(4);
private final Encoder m_leftEncoder = new Encoder(0, 1);
private final Encoder m_rightEncoder = new Encoder(2, 3);
private final SpeedControllerGroup m_leftGroup =
new SpeedControllerGroup(m_leftLeader, m_leftFollower);
private final SpeedControllerGroup m_rightGroup =
new SpeedControllerGroup(m_rightLeader, m_rightFollower);
private final MotorControllerGroup m_leftGroup =
new MotorControllerGroup(m_leftLeader, m_leftFollower);
private final MotorControllerGroup m_rightGroup =
new MotorControllerGroup(m_rightLeader, m_rightFollower);
private final AnalogGyro m_gyro = new AnalogGyro(0);

16
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java
View File

@@ -4,19 +4,19 @@
package edu.wpi.first.wpilibj.examples.ramsetecontroller;
import edu.wpi.first.math.controller.RamseteController;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.SlewRateLimiter;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.controller.RamseteController;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.trajectory.Trajectory;
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj.util.Units;
import java.util.List;
public class Robot extends TimedRobot {

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

@@ -6,9 +6,9 @@ package edu.wpi.first.wpilibj.examples.romireference.subsystems;
import edu.wpi.first.wpilibj.BuiltInAccelerometer;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.romireference.sensors.RomiGyro;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Drivetrain extends SubsystemBase {

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

@@ -7,9 +7,9 @@ package edu.wpi.first.wpilibj.examples.shuffleboard;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;

32
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
View File

@@ -4,27 +4,27 @@
package edu.wpi.first.wpilibj.examples.simpledifferentialdrivesimulation;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.math.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.math.numbers.N2;
import edu.wpi.first.math.system.LinearSystem;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.simulation.AnalogGyroSim;
import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim;
import edu.wpi.first.wpilibj.simulation.EncoderSim;
import edu.wpi.first.wpilibj.smartdashboard.Field2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.system.LinearSystem;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
import edu.wpi.first.wpiutil.math.numbers.N2;
@SuppressWarnings("PMD.TooManyFields")
public class Drivetrain {
@@ -42,10 +42,10 @@ public class Drivetrain {
private final PWMSparkMax m_rightLeader = new PWMSparkMax(3);
private final PWMSparkMax m_rightFollower = new PWMSparkMax(4);
private final SpeedControllerGroup m_leftGroup =
new SpeedControllerGroup(m_leftLeader, m_leftFollower);
private final SpeedControllerGroup m_rightGroup =
new SpeedControllerGroup(m_rightLeader, m_rightFollower);
private final MotorControllerGroup m_leftGroup =
new MotorControllerGroup(m_leftLeader, m_leftFollower);
private final MotorControllerGroup m_rightGroup =
new MotorControllerGroup(m_rightLeader, m_rightFollower);
private final Encoder m_leftEncoder = new Encoder(0, 1);
private final Encoder m_rightEncoder = new Encoder(2, 3);

14
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Robot.java
View File

@@ -4,18 +4,18 @@
package edu.wpi.first.wpilibj.examples.simpledifferentialdrivesimulation;
import edu.wpi.first.math.controller.RamseteController;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.SlewRateLimiter;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.controller.RamseteController;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.trajectory.Trajectory;
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
import java.util.List;
public class Robot extends TimedRobot {

30
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacearm/Robot.java
View File

@@ -4,23 +4,23 @@
package edu.wpi.first.wpilibj.examples.statespacearm;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.controller.LinearQuadraticRegulator;
import edu.wpi.first.math.estimator.KalmanFilter;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N2;
import edu.wpi.first.math.system.LinearSystem;
import edu.wpi.first.math.system.LinearSystemLoop;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.LinearQuadraticRegulator;
import edu.wpi.first.wpilibj.estimator.KalmanFilter;
import edu.wpi.first.wpilibj.system.LinearSystem;
import edu.wpi.first.wpilibj.system.LinearSystemLoop;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.Nat;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.wpiutil.math.numbers.N1;
import edu.wpi.first.wpiutil.math.numbers.N2;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
/**
* This is a sample program to demonstrate how to use a state-space controller to control an arm.
@@ -91,7 +91,7 @@ public class Robot extends TimedRobot {
// An encoder set up to measure arm position in radians.
private final Encoder m_encoder = new Encoder(kEncoderAChannel, kEncoderBChannel);
private final SpeedController m_motor = new PWMSparkMax(kMotorPort);
private final MotorController m_motor = new PWMSparkMax(kMotorPort);
// A joystick to read the trigger from.
private final Joystick m_joystick = new Joystick(kJoystickPort);

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/Constants.java
View File

@@ -4,11 +4,11 @@
package edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.wpilibj.system.LinearSystem;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
import edu.wpi.first.wpiutil.math.numbers.N2;
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.math.numbers.N2;
import edu.wpi.first.math.system.LinearSystem;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
/**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean

20
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java
View File

@@ -4,22 +4,20 @@
package edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation;
import static edu.wpi.first.wpilibj.XboxController.Button;
import edu.wpi.first.math.controller.RamseteController;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import edu.wpi.first.math.trajectory.constraint.DifferentialDriveVoltageConstraint;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.XboxController.Button;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.RamseteController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.trajectory.Trajectory;
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveVoltageConstraint;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.RamseteCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;

22
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
View File

@@ -4,36 +4,36 @@
package edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation.subsystems;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.ADXRS450_Gyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.RobotBase;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation.Constants.DriveConstants;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.simulation.ADXRS450_GyroSim;
import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim;
import edu.wpi.first.wpilibj.simulation.EncoderSim;
import edu.wpi.first.wpilibj.smartdashboard.Field2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpiutil.math.VecBuilder;
public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final SpeedControllerGroup m_leftMotors =
new SpeedControllerGroup(
private final MotorControllerGroup m_leftMotors =
new MotorControllerGroup(
new PWMSparkMax(DriveConstants.kLeftMotor1Port),
new PWMSparkMax(DriveConstants.kLeftMotor2Port));
// The motors on the right side of the drive.
private final SpeedControllerGroup m_rightMotors =
new SpeedControllerGroup(
private final MotorControllerGroup m_rightMotors =
new MotorControllerGroup(
new PWMSparkMax(DriveConstants.kRightMotor1Port),
new PWMSparkMax(DriveConstants.kRightMotor2Port));

30
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceelevator/Robot.java
View File

@@ -4,23 +4,23 @@
package edu.wpi.first.wpilibj.examples.statespaceelevator;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.controller.LinearQuadraticRegulator;
import edu.wpi.first.math.estimator.KalmanFilter;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N2;
import edu.wpi.first.math.system.LinearSystem;
import edu.wpi.first.math.system.LinearSystemLoop;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.LinearQuadraticRegulator;
import edu.wpi.first.wpilibj.estimator.KalmanFilter;
import edu.wpi.first.wpilibj.system.LinearSystem;
import edu.wpi.first.wpilibj.system.LinearSystemLoop;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.Nat;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.wpiutil.math.numbers.N1;
import edu.wpi.first.wpiutil.math.numbers.N2;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
/**
* This is a sample program to demonstrate how to use a state-space controller to control an
@@ -94,7 +94,7 @@ public class Robot extends TimedRobot {
// An encoder set up to measure elevator height in meters.
private final Encoder m_encoder = new Encoder(kEncoderAChannel, kEncoderBChannel);
private final SpeedController m_motor = new PWMSparkMax(kMotorPort);
private final MotorController m_motor = new PWMSparkMax(kMotorPort);
// A joystick to read the trigger from.
private final Joystick m_joystick = new Joystick(kJoystickPort);

26
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
View File

@@ -4,21 +4,21 @@
package edu.wpi.first.wpilibj.examples.statespaceflywheel;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.controller.LinearQuadraticRegulator;
import edu.wpi.first.math.estimator.KalmanFilter;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.system.LinearSystem;
import edu.wpi.first.math.system.LinearSystemLoop;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.LinearQuadraticRegulator;
import edu.wpi.first.wpilibj.estimator.KalmanFilter;
import edu.wpi.first.wpilibj.system.LinearSystem;
import edu.wpi.first.wpilibj.system.LinearSystemLoop;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.Nat;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.wpiutil.math.numbers.N1;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
/**
* This is a sample program to demonstrate how to use a state-space controller to control a
@@ -77,7 +77,7 @@ public class Robot extends TimedRobot {
// An encoder set up to measure flywheel velocity in radians per second.
private final Encoder m_encoder = new Encoder(kEncoderAChannel, kEncoderBChannel);
private final SpeedController m_motor = new PWMSparkMax(kMotorPort);
private final MotorController m_motor = new PWMSparkMax(kMotorPort);
// A joystick to read the trigger from.
private final Joystick m_joystick = new Joystick(kJoystickPort);

24
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Robot.java
View File

@@ -4,20 +4,20 @@
package edu.wpi.first.wpilibj.examples.statespaceflywheelsysid;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.controller.LinearQuadraticRegulator;
import edu.wpi.first.math.estimator.KalmanFilter;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.system.LinearSystem;
import edu.wpi.first.math.system.LinearSystemLoop;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.LinearQuadraticRegulator;
import edu.wpi.first.wpilibj.estimator.KalmanFilter;
import edu.wpi.first.wpilibj.system.LinearSystem;
import edu.wpi.first.wpilibj.system.LinearSystemLoop;
import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.Nat;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.wpiutil.math.numbers.N1;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
/**
* This is a sample program to demonstrate how to use a state-space controller to control a
@@ -72,7 +72,7 @@ public class Robot extends TimedRobot {
// An encoder set up to measure flywheel velocity in radians per second.
private final Encoder m_encoder = new Encoder(kEncoderAChannel, kEncoderBChannel);
private final SpeedController m_motor = new PWMSparkMax(kMotorPort);
private final MotorController m_motor = new PWMSparkMax(kMotorPort);
// A joystick to read the trigger from.
private final Joystick m_joystick = new Joystick(kJoystickPort);

8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java
View File

@@ -4,11 +4,11 @@
package edu.wpi.first.wpilibj.examples.swervebot;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.kinematics.SwerveDriveOdometry;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
import edu.wpi.first.wpilibj.kinematics.SwerveDriveOdometry;
/** Represents a swerve drive style drivetrain. */
public class Drivetrain {

16
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
View File

@@ -4,15 +4,15 @@
package edu.wpi.first.wpilibj.examples.swervebot;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
public class SwerveModule {
private static final double kWheelRadius = 0.0508;
@@ -22,8 +22,8 @@ public class SwerveModule {
private static final double kModuleMaxAngularAcceleration =
2 * Math.PI; // radians per second squared
private final SpeedController m_driveMotor;
private final SpeedController m_turningMotor;
private final MotorController m_driveMotor;
private final MotorController m_turningMotor;
private final Encoder m_driveEncoder = new Encoder(0, 1);
private final Encoder m_turningEncoder = new Encoder(2, 3);

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Constants.java
View File

@@ -4,9 +4,9 @@
package edu.wpi.first.wpilibj.examples.swervecontrollercommand;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
/**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean

12
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
View File

@@ -4,6 +4,12 @@
package edu.wpi.first.wpilibj.examples.swervecontrollercommand;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.controller.PIDController;
@@ -12,12 +18,6 @@ import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.AutoCons
import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.OIConstants;
import edu.wpi.first.wpilibj.examples.swervecontrollercommand.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.trajectory.Trajectory;
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SwerveControllerCommand;

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.java
View File

@@ -4,14 +4,14 @@
package edu.wpi.first.wpilibj.examples.swervecontrollercommand.subsystems;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.kinematics.SwerveDriveOdometry;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.wpilibj.ADXRS450_Gyro;
import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.DriveConstants;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.interfaces.Gyro;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
import edu.wpi.first.wpilibj.kinematics.SwerveDriveOdometry;
import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
@SuppressWarnings("PMD.ExcessiveImports")

8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
View File

@@ -4,14 +4,14 @@
package edu.wpi.first.wpilibj.examples.swervecontrollercommand.subsystems;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.ModuleConstants;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
public class SwerveModule {
private final Spark m_driveMotor;

14
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/Drivetrain.java
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@@ -4,15 +4,15 @@
package edu.wpi.first.wpilibj.examples.swervesdriveposeestimator;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.estimator.SwerveDrivePoseEstimator;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.VecBuilder;
/** Represents a swerve drive style drivetrain. */
public class Drivetrain {

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/ExampleGlobalMeasurementSensor.java
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@@ -4,11 +4,11 @@
package edu.wpi.first.wpilibj.examples.swervesdriveposeestimator;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.math.StateSpaceUtil;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.math.StateSpaceUtil;
import edu.wpi.first.math.util.Units;
/** This dummy class represents a global measurement sensor, such as a computer vision solution. */
public final class ExampleGlobalMeasurementSensor {

16
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/SwerveModule.java
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@@ -4,15 +4,15 @@
package edu.wpi.first.wpilibj.examples.swervesdriveposeestimator;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
public class SwerveModule {
private static final double kWheelRadius = 0.0508;
@@ -22,8 +22,8 @@ public class SwerveModule {
private static final double kModuleMaxAngularAcceleration =
2 * Math.PI; // radians per second squared
private final SpeedController m_driveMotor;
private final SpeedController m_turningMotor;
private final MotorController m_driveMotor;
private final MotorController m_turningMotor;
private final Encoder m_driveEncoder = new Encoder(0, 1);
private final Encoder m_turningEncoder = new Encoder(2, 3);

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Robot.java
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@@ -5,13 +5,13 @@
package edu.wpi.first.wpilibj.examples.tankdrive;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
/**
* This is a demo program showing the use of the RobotDrive class, specifically it contains the code
* necessary to operate a robot with tank drive.
* This is a demo program showing the use of the DifferentialDrive class, specifically it contains
* the code necessary to operate a robot with tank drive.
*/
public class Robot extends TimedRobot {
private DifferentialDrive m_myRobot;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrivexboxcontroller/Robot.java
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@@ -5,10 +5,10 @@
package edu.wpi.first.wpilibj.examples.tankdrivexboxcontroller;
import edu.wpi.first.wpilibj.GenericHID.Hand;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
/**
* This is a demo program showing the use of the DifferentialDrive class. Runs the motors with tank

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
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@@ -4,11 +4,11 @@
package edu.wpi.first.wpilibj.examples.ultrasonic;
import edu.wpi.first.math.filter.MedianFilter;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.MedianFilter;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
/**
* This is a sample program demonstrating how to use an ultrasonic sensor and proportional control

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
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@@ -4,12 +4,12 @@
package edu.wpi.first.wpilibj.examples.ultrasonicpid;
import edu.wpi.first.math.filter.MedianFilter;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.MedianFilter;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
/**
* This is a sample program to demonstrate the use of a PIDController with an ultrasonic sensor to

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/subsystems/RomiDrivetrain.java
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@@ -5,8 +5,8 @@
package edu.wpi.first.wpilibj.templates.romicommandbased.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class RomiDrivetrain extends SubsystemBase {

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/RomiDrivetrain.java
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@@ -5,8 +5,8 @@
package edu.wpi.first.wpilibj.templates.romitimed;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
public class RomiDrivetrain {
private static final double kCountsPerRevolution = 1440.0;