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Cleaned up C++ examples (#672)

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This commit is contained in:
Tyler Veness
2017-11-03 13:22:56 -07:00
committed by Peter Johnson
parent 6401aa1fde
commit 45d48d6b5a
69 changed files with 672 additions and 598 deletions
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9
wpilibcExamples/src/main/cpp/examples/ArcadeDrive/src/Robot.cpp
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@@ -12,12 +12,15 @@
* Runs the motors with arcade steering.
*/
class Robot : public frc::IterativeRobot {
frc::RobotDrive myRobot{0, 1};
frc::Joystick stick{0};
frc::Spark m_left{0};
frc::Spark m_right{1};
frc::RobotDrive m_robotDrive{m_left, m_right};
frc::Joystick m_stick{0};
public:
void TeleopPeriodic() {
myRobot.ArcadeDrive(stick); // drive with arcade style
// drive with arcade style
m_robotDrive.ArcadeDrive(m_stick.GetY(), m_stick.GetX());
}
};

41
wpilibcExamples/src/main/cpp/examples/Encoder/src/Robot.cpp
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@@ -26,26 +26,6 @@
* autonomous mode.
*/
class Robot : public frc::IterativeRobot {
/**
* The Encoder object is constructed with 4 parameters, the last two
* being
* optional.
* The first two parameters (1, 2 in this case) refer to the ports on
* the
* roboRIO which the encoder uses. Because a quadrature encoder has
* two signal wires, the signal from two DIO ports on the roboRIO are
* used.
* The third (optional) parameter is a boolean which defaults to false.
* If you set this parameter to true, the direction of the encoder
* will
* be reversed, in case it makes more sense mechanically.
* The final (optional) parameter specifies encoding rate (k1X, k2X, or
* k4X)
* and defaults to k4X. Faster (k4X) encoding gives greater positional
* precision but more noise in the rate.
*/
frc::Encoder m_encoder{1, 2, false, Encoder::k4X};
public:
Robot() {
/* Defines the number of samples to average when determining the
@@ -88,6 +68,27 @@ public:
frc::SmartDashboard::PutNumber(
"Encoder Rate", m_encoder.GetRate());
}
private:
/**
* The Encoder object is constructed with 4 parameters, the last two
* being
* optional.
* The first two parameters (1, 2 in this case) refer to the ports on
* the
* roboRIO which the encoder uses. Because a quadrature encoder has
* two signal wires, the signal from two DIO ports on the roboRIO are
* used.
* The third (optional) parameter is a boolean which defaults to false.
* If you set this parameter to true, the direction of the encoder
* will
* be reversed, in case it makes more sense mechanically.
* The final (optional) parameter specifies encoding rate (k1X, k2X, or
* k4X)
* and defaults to k4X. Faster (k4X) encoding gives greater positional
* precision but more noise in the rate.
*/
frc::Encoder m_encoder{1, 2, false, Encoder::k4X};
};
START_ROBOT_CLASS(Robot)

2
wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/Autonomous.cpp
View File

@@ -7,8 +7,6 @@
#include "Autonomous.h"
#include <iostream>
#include "CloseClaw.h"
#include "DriveStraight.h"
#include "Pickup.h"

8
wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/CloseClaw.cpp
View File

@@ -11,17 +11,17 @@
CloseClaw::CloseClaw()
: frc::Command("CloseClaw") {
Requires(Robot::claw.get());
Requires(&Robot::claw);
}
// Called just before this Command runs the first time
void CloseClaw::Initialize() {
Robot::claw->Close();
Robot::claw.Close();
}
// Make this return true when this Command no longer needs to run execute()
bool CloseClaw::IsFinished() {
return Robot::claw->IsGripping();
return Robot::claw.IsGripping();
}
// Called once after isFinished returns true
@@ -30,6 +30,6 @@ void CloseClaw::End() {
// fall out
// + there is no need to worry about stalling the motor or crushing the can.
#ifndef SIMULATION
Robot::claw->Stop();
Robot::claw.Stop();
#endif
}

30
wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/DriveStraight.cpp
View File

@@ -7,42 +7,38 @@
#include "DriveStraight.h"
#include <PIDController.h>
#include "../Robot.h"
DriveStraight::DriveStraight(double distance) {
Requires(Robot::drivetrain.get());
pid = new frc::PIDController(4, 0, 0, new DriveStraightPIDSource(),
new DriveStraightPIDOutput());
pid->SetAbsoluteTolerance(0.01);
pid->SetSetpoint(distance);
Requires(&Robot::drivetrain);
m_pid.SetAbsoluteTolerance(0.01);
m_pid.SetSetpoint(distance);
}
// Called just before this Command runs the first time
void DriveStraight::Initialize() {
// Get everything in a safe starting state.
Robot::drivetrain->Reset();
pid->Reset();
pid->Enable();
Robot::drivetrain.Reset();
m_pid.Reset();
m_pid.Enable();
}
// Make this return true when this Command no longer needs to run execute()
bool DriveStraight::IsFinished() {
return pid->OnTarget();
return m_pid.OnTarget();
}
// Called once after isFinished returns true
void DriveStraight::End() {
// Stop PID and the wheels
pid->Disable();
Robot::drivetrain->Drive(0, 0);
m_pid.Disable();
Robot::drivetrain.Drive(0, 0);
}
double DriveStraightPIDSource::PIDGet() {
return Robot::drivetrain->GetDistance();
double DriveStraight::DriveStraightPIDSource::PIDGet() {
return Robot::drivetrain.GetDistance();
}
void DriveStraightPIDOutput::PIDWrite(double d) {
Robot::drivetrain->Drive(d, d);
void DriveStraight::DriveStraightPIDOutput::PIDWrite(double d) {
Robot::drivetrain.Drive(d, d);
}

33
wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/DriveStraight.h
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@@ -8,13 +8,10 @@
#pragma once
#include <Commands/Command.h>
#include <PIDController.h>
#include <PIDOutput.h>
#include <PIDSource.h>
namespace frc {
class PIDController;
} // namespace frc
/**
* Drive the given distance straight (negative values go backwards).
* Uses a local PID controller to run a simple PID loop that is only
@@ -28,18 +25,20 @@ public:
bool IsFinished() override;
void End() override;
class DriveStraightPIDSource : public frc::PIDSource {
public:
virtual ~DriveStraightPIDSource() = default;
double PIDGet() override;
};
class DriveStraightPIDOutput : public frc::PIDOutput {
public:
virtual ~DriveStraightPIDOutput() = default;
void PIDWrite(double d) override;
};
private:
frc::PIDController* pid;
};
class DriveStraightPIDSource : public PIDSource {
public:
virtual ~DriveStraightPIDSource() = default;
double PIDGet() override;
};
class DriveStraightPIDOutput : public PIDOutput {
public:
virtual ~DriveStraightPIDOutput() = default;
void PIDWrite(double d) override;
DriveStraightPIDSource m_source;
DriveStraightPIDOutput m_output;
frc::PIDController m_pid{4, 0, 0, &m_source, &m_output};
};

6
wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/OpenClaw.cpp
View File

@@ -11,13 +11,13 @@
OpenClaw::OpenClaw()
: frc::Command("OpenClaw") {
Requires(Robot::claw.get());
Requires(&Robot::claw);
SetTimeout(1);
}
// Called just before this Command runs the first time
void OpenClaw::Initialize() {
Robot::claw->Open();
Robot::claw.Open();
}
// Make this return true when this Command no longer needs to run execute()
@@ -27,5 +27,5 @@ bool OpenClaw::IsFinished() {
// Called once after isFinished returns true
void OpenClaw::End() {
Robot::claw->Stop();
Robot::claw.Stop();
}

28
wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/SetDistanceToBox.cpp
View File

@@ -12,37 +12,35 @@
#include "../Robot.h"
SetDistanceToBox::SetDistanceToBox(double distance) {
Requires(Robot::drivetrain.get());
pid = new frc::PIDController(-2, 0, 0, new SetDistanceToBoxPIDSource(),
new SetDistanceToBoxPIDOutput());
pid->SetAbsoluteTolerance(0.01);
pid->SetSetpoint(distance);
Requires(&Robot::drivetrain);
m_pid.SetAbsoluteTolerance(0.01);
m_pid.SetSetpoint(distance);
}
// Called just before this Command runs the first time
void SetDistanceToBox::Initialize() {
// Get everything in a safe starting state.
Robot::drivetrain->Reset();
pid->Reset();
pid->Enable();
Robot::drivetrain.Reset();
m_pid.Reset();
m_pid.Enable();
}
// Make this return true when this Command no longer needs to run execute()
bool SetDistanceToBox::IsFinished() {
return pid->OnTarget();
return m_pid.OnTarget();
}
// Called once after isFinished returns true
void SetDistanceToBox::End() {
// Stop PID and the wheels
pid->Disable();
Robot::drivetrain->Drive(0, 0);
m_pid.Disable();
Robot::drivetrain.Drive(0, 0);
}
double SetDistanceToBoxPIDSource::PIDGet() {
return Robot::drivetrain->GetDistanceToObstacle();
double SetDistanceToBox::SetDistanceToBoxPIDSource::PIDGet() {
return Robot::drivetrain.GetDistanceToObstacle();
}
void SetDistanceToBoxPIDOutput::PIDWrite(double d) {
Robot::drivetrain->Drive(d, d);
void SetDistanceToBox::SetDistanceToBoxPIDOutput::PIDWrite(double d) {
Robot::drivetrain.Drive(d, d);
}

33
wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/SetDistanceToBox.h
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@@ -8,13 +8,10 @@
#pragma once
#include <Commands/Command.h>
#include <PIDController.h>
#include <PIDOutput.h>
#include <PIDSource.h>
namespace frc {
class PIDController;
} // namespace frc
/**
* Drive until the robot is the given distance away from the box. Uses a local
* PID controller to run a simple PID loop that is only enabled while this
@@ -28,18 +25,20 @@ public:
bool IsFinished() override;
void End() override;
class SetDistanceToBoxPIDSource : public frc::PIDSource {
public:
virtual ~SetDistanceToBoxPIDSource() = default;
double PIDGet() override;
};
class SetDistanceToBoxPIDOutput : public frc::PIDOutput {
public:
virtual ~SetDistanceToBoxPIDOutput() = default;
void PIDWrite(double d) override;
};
private:
frc::PIDController* pid;
};
class SetDistanceToBoxPIDSource : public frc::PIDSource {
public:
virtual ~SetDistanceToBoxPIDSource() = default;
double PIDGet() override;
};
class SetDistanceToBoxPIDOutput : public frc::PIDOutput {
public:
virtual ~SetDistanceToBoxPIDOutput() = default;
void PIDWrite(double d) override;
SetDistanceToBoxPIDSource m_source;
SetDistanceToBoxPIDOutput m_output;
frc::PIDController m_pid{-2, 0, 0, &m_source, &m_output};
};

10
wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/SetElevatorSetpoint.cpp
View File

@@ -13,17 +13,17 @@
SetElevatorSetpoint::SetElevatorSetpoint(double setpoint)
: frc::Command("SetElevatorSetpoint") {
this->setpoint = setpoint;
Requires(Robot::elevator.get());
m_setpoint = setpoint;
Requires(&Robot::elevator);
}
// Called just before this Command runs the first time
void SetElevatorSetpoint::Initialize() {
Robot::elevator->SetSetpoint(setpoint);
Robot::elevator->Enable();
Robot::elevator.SetSetpoint(m_setpoint);
Robot::elevator.Enable();
}
// Make this return true when this Command no longer needs to run execute()
bool SetElevatorSetpoint::IsFinished() {
return Robot::elevator->OnTarget();
return Robot::elevator.OnTarget();
}

2
wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/SetElevatorSetpoint.h
View File

@@ -23,5 +23,5 @@ public:
bool IsFinished() override;
private:
double setpoint;
double m_setpoint;
};

10
wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/SetWristSetpoint.cpp
View File

@@ -11,17 +11,17 @@
SetWristSetpoint::SetWristSetpoint(double setpoint)
: frc::Command("SetWristSetpoint") {
this->setpoint = setpoint;
Requires(Robot::wrist.get());
m_setpoint = setpoint;
Requires(&Robot::wrist);
}
// Called just before this Command runs the first time
void SetWristSetpoint::Initialize() {
Robot::wrist->SetSetpoint(setpoint);
Robot::wrist->Enable();
Robot::wrist.SetSetpoint(m_setpoint);
Robot::wrist.Enable();
}
// Make this return true when this Command no longer needs to run execute()
bool SetWristSetpoint::IsFinished() {
return Robot::wrist->OnTarget();
return Robot::wrist.OnTarget();
}

2
wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/SetWristSetpoint.h
View File

@@ -21,5 +21,5 @@ public:
bool IsFinished() override;
private:
double setpoint;
double m_setpoint;
};

7
wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/TankDriveWithJoystick.cpp
View File

@@ -11,12 +11,13 @@
TankDriveWithJoystick::TankDriveWithJoystick()
: frc::Command("TankDriveWithJoystick") {
Requires(Robot::drivetrain.get());
Requires(&Robot::drivetrain);
}
// Called repeatedly when this Command is scheduled to run
void TankDriveWithJoystick::Execute() {
Robot::drivetrain->Drive(Robot::oi->GetJoystick());
auto& joystick = Robot::oi.GetJoystick();
Robot::drivetrain.Drive(-joystick.GetY(), -joystick.GetRawAxis(4));
}
// Make this return true when this Command no longer needs to run execute()
@@ -26,5 +27,5 @@ bool TankDriveWithJoystick::IsFinished() {
// Called once after isFinished returns true
void TankDriveWithJoystick::End() {
Robot::drivetrain->Drive(0, 0);
Robot::drivetrain.Drive(0, 0);
}

20
wpilibcExamples/src/main/cpp/examples/GearsBot/src/OI.cpp
View File

@@ -22,17 +22,17 @@ OI::OI() {
frc::SmartDashboard::PutData("Close Claw", new CloseClaw());
// Connect the buttons to commands
d_up.WhenPressed(new SetElevatorSetpoint(0.2));
d_down.WhenPressed(new SetElevatorSetpoint(-0.2));
d_right.WhenPressed(new CloseClaw());
d_left.WhenPressed(new OpenClaw());
m_dUp.WhenPressed(new SetElevatorSetpoint(0.2));
m_dDown.WhenPressed(new SetElevatorSetpoint(-0.2));
m_dRight.WhenPressed(new CloseClaw());
m_dLeft.WhenPressed(new OpenClaw());
r1.WhenPressed(new PrepareToPickup());
r2.WhenPressed(new Pickup());
l1.WhenPressed(new Place());
l2.WhenPressed(new Autonomous());
m_r1.WhenPressed(new PrepareToPickup());
m_r2.WhenPressed(new Pickup());
m_l1.WhenPressed(new Place());
m_l2.WhenPressed(new Autonomous());
}
frc::Joystick* OI::GetJoystick() {
return &joy;
frc::Joystick& OI::GetJoystick() {
return m_joy;
}

20
wpilibcExamples/src/main/cpp/examples/GearsBot/src/OI.h
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@@ -13,18 +13,18 @@
class OI {
public:
OI();
frc::Joystick* GetJoystick();
frc::Joystick& GetJoystick();
private:
frc::Joystick joy{0};
frc::Joystick m_joy{0};
// Create some buttons
frc::JoystickButton d_up{&joy, 5};
frc::JoystickButton d_right{&joy, 6};
frc::JoystickButton d_down{&joy, 7};
frc::JoystickButton d_left{&joy, 8};
frc::JoystickButton l2{&joy, 9};
frc::JoystickButton r2{&joy, 10};
frc::JoystickButton l1{&joy, 11};
frc::JoystickButton r1{&joy, 12};
frc::JoystickButton m_dUp{&m_joy, 5};
frc::JoystickButton m_dRight{&m_joy, 6};
frc::JoystickButton m_dDown{&m_joy, 7};
frc::JoystickButton m_dLeft{&m_joy, 8};
frc::JoystickButton m_l2{&m_joy, 9};
frc::JoystickButton m_r2{&m_joy, 10};
frc::JoystickButton m_l1{&m_joy, 11};
frc::JoystickButton m_r1{&m_joy, 12};
};

24
wpilibcExamples/src/main/cpp/examples/GearsBot/src/Robot.cpp
View File

@@ -9,22 +9,22 @@
#include <iostream>
std::shared_ptr<DriveTrain> Robot::drivetrain = std::make_shared<DriveTrain>();
std::shared_ptr<Elevator> Robot::elevator = std::make_shared<Elevator>();
std::shared_ptr<Wrist> Robot::wrist = std::make_shared<Wrist>();
std::shared_ptr<Claw> Robot::claw = std::make_shared<Claw>();
std::unique_ptr<OI> Robot::oi = std::make_unique<OI>();
DriveTrain Robot::drivetrain;
Elevator Robot::elevator;
Wrist Robot::wrist;
Claw Robot::claw;
OI Robot::oi;
void Robot::RobotInit() {
// Show what command your subsystem is running on the SmartDashboard
frc::SmartDashboard::PutData(drivetrain.get());
frc::SmartDashboard::PutData(elevator.get());
frc::SmartDashboard::PutData(wrist.get());
frc::SmartDashboard::PutData(claw.get());
frc::SmartDashboard::PutData(&drivetrain);
frc::SmartDashboard::PutData(&elevator);
frc::SmartDashboard::PutData(&wrist);
frc::SmartDashboard::PutData(&claw);
}
void Robot::AutonomousInit() {
autonomousCommand.Start();
m_autonomousCommand.Start();
std::cout << "Starting Auto" << std::endl;
}
@@ -37,7 +37,7 @@ void Robot::TeleopInit() {
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
autonomousCommand.Cancel();
m_autonomousCommand.Cancel();
std::cout << "Starting Teleop" << std::endl;
}
@@ -46,7 +46,7 @@ void Robot::TeleopPeriodic() {
}
void Robot::TestPeriodic() {
lw->Run();
m_lw.Run();
}
START_ROBOT_CLASS(Robot)

16
wpilibcExamples/src/main/cpp/examples/GearsBot/src/Robot.h
View File

@@ -7,8 +7,6 @@
#pragma once
#include <memory>
#include <Commands/Command.h>
#include <IterativeRobot.h>
#include <LiveWindow/LiveWindow.h>
@@ -22,15 +20,15 @@
class Robot : public frc::IterativeRobot {
public:
static std::shared_ptr<DriveTrain> drivetrain;
static std::shared_ptr<Elevator> elevator;
static std::shared_ptr<Wrist> wrist;
static std::shared_ptr<Claw> claw;
static std::unique_ptr<OI> oi;
static DriveTrain drivetrain;
static Elevator elevator;
static Wrist wrist;
static Claw claw;
static OI oi;
private:
Autonomous autonomousCommand;
frc::LiveWindow* lw = frc::LiveWindow::GetInstance();
Autonomous m_autonomousCommand;
frc::LiveWindow& m_lw = *frc::LiveWindow::GetInstance();
void RobotInit() override;
void AutonomousInit() override;

8
wpilibcExamples/src/main/cpp/examples/GearsBot/src/Subsystems/Claw.cpp
View File

@@ -18,19 +18,19 @@ Claw::Claw()
void Claw::InitDefaultCommand() {}
void Claw::Open() {
motor.Set(-1);
m_motor.Set(-1);
}
void Claw::Close() {
motor.Set(1);
m_motor.Set(1);
}
void Claw::Stop() {
motor.Set(0);
m_motor.Set(0);
}
bool Claw::IsGripping() {
return contact.Get();
return m_contact.Get();
}
void Claw::Log() {}

6
wpilibcExamples/src/main/cpp/examples/GearsBot/src/Subsystems/Claw.h
View File

@@ -9,7 +9,7 @@
#include <Commands/Subsystem.h>
#include <DigitalInput.h>
#include <Victor.h>
#include <Spark.h>
/**
* The claw subsystem is a simple system with a motor for opening and closing.
@@ -46,6 +46,6 @@ public:
void Log();
private:
frc::Victor motor{7};
frc::DigitalInput contact{5};
frc::Spark m_motor{7};
frc::DigitalInput m_contact{5};
};

53
wpilibcExamples/src/main/cpp/examples/GearsBot/src/Subsystems/DriveTrain.cpp
View File

@@ -20,36 +20,36 @@ DriveTrain::DriveTrain()
// simulate 360 tick encoders. This if statement allows for the
// real robot to handle this difference in devices.
#ifndef SIMULATION
leftEncoder.SetDistancePerPulse(0.042);
rightEncoder.SetDistancePerPulse(0.042);
m_leftEncoder.SetDistancePerPulse(0.042);
m_rightEncoder.SetDistancePerPulse(0.042);
#else
// Circumference in ft = 4in/12(in/ft)*PI
leftEncoder.SetDistancePerPulse(
m_leftEncoder.SetDistancePerPulse(
static_cast<double>(4.0 / 12.0 * M_PI) / 360.0);
rightEncoder.SetDistancePerPulse(
m_rightEncoder.SetDistancePerPulse(
static_cast<double>(4.0 / 12.0 * M_PI) / 360.0);
#endif
// Let's show everything on the LiveWindow
// frc::LiveWindow::GetInstance()->AddActuator("Drive Train",
// "Front_Left Motor", &frontLeft);
// "Front_Left Motor", &m_frontLeft);
// frc::LiveWindow::GetInstance()->AddActuator("Drive Train",
// "Rear Left Motor", &rearLeft);
// "Rear Left Motor", &m_rearLeft);
// frc::LiveWindow::GetInstance()->AddActuator("Drive Train",
// "Front Right Motor", &frontRight);
// "Front Right Motor", &m_frontRight);
// frc::LiveWindow::GetInstance()->AddActuator("Drive Train",
// "Rear Right Motor", &rearRight);
// "Rear Right Motor", &m_rearRight);
// frc::LiveWindow::GetInstance()->AddSensor("Drive Train", "Left
// Encoder",
// &leftEncoder);
// &m_leftEncoder);
// frc::LiveWindow::GetInstance()->AddSensor("Drive Train", "Right
// Encoder",
// &rightEncoder);
// &m_rightEncoder);
// frc::LiveWindow::GetInstance()->AddSensor("Drive Train",
// "Rangefinder",
// &rangefinder);
// &m_rangefinder);
// frc::LiveWindow::GetInstance()->AddSensor("Drive Train", "Gyro",
// &gyro);
// &m_gyro);
}
/**
@@ -65,37 +65,34 @@ void DriveTrain::InitDefaultCommand() {
*/
void DriveTrain::Log() {
frc::SmartDashboard::PutNumber(
"Left Distance", leftEncoder.GetDistance());
"Left Distance", m_leftEncoder.GetDistance());
frc::SmartDashboard::PutNumber(
"Right Distance", rightEncoder.GetDistance());
frc::SmartDashboard::PutNumber("Left Speed", leftEncoder.GetRate());
frc::SmartDashboard::PutNumber("Right Speed", rightEncoder.GetRate());
frc::SmartDashboard::PutNumber("Gyro", gyro.GetAngle());
"Right Distance", m_rightEncoder.GetDistance());
frc::SmartDashboard::PutNumber("Left Speed", m_leftEncoder.GetRate());
frc::SmartDashboard::PutNumber("Right Speed", m_rightEncoder.GetRate());
frc::SmartDashboard::PutNumber("Gyro", m_gyro.GetAngle());
}
void DriveTrain::Drive(double left, double right) {
drive.TankDrive(left, right);
}
void DriveTrain::Drive(frc::Joystick* joy) {
Drive(-joy->GetY(), -joy->GetRawAxis(4));
m_robotDrive.TankDrive(left, right);
}
double DriveTrain::GetHeading() {
return gyro.GetAngle();
return m_gyro.GetAngle();
}
void DriveTrain::Reset() {
gyro.Reset();
leftEncoder.Reset();
rightEncoder.Reset();
m_gyro.Reset();
m_leftEncoder.Reset();
m_rightEncoder.Reset();
}
double DriveTrain::GetDistance() {
return (leftEncoder.GetDistance() + rightEncoder.GetDistance()) / 2;
return (m_leftEncoder.GetDistance() + m_rightEncoder.GetDistance())
/ 2.0;
}
double DriveTrain::GetDistanceToObstacle() {
// Really meters in simulation since it's a rangefinder...
return rangefinder.GetAverageVoltage();
return m_rangefinder.GetAverageVoltage();
}

33
wpilibcExamples/src/main/cpp/examples/GearsBot/src/Subsystems/DriveTrain.h
View File

@@ -10,9 +10,10 @@
#include <AnalogGyro.h>
#include <AnalogInput.h>
#include <Commands/Subsystem.h>
#include <Drive/DifferentialDrive.h>
#include <Encoder.h>
#include <RobotDrive.h>
#include <Talon.h>
#include <Spark.h>
#include <SpeedControllerGroup.h>
namespace frc {
class Joystick;
@@ -45,11 +46,6 @@ public:
*/
void Drive(double left, double right);
/**
* @param joy The ps3 style joystick to use to drive tank style.
*/
void Drive(frc::Joystick* joy);
/**
* @return The robots heading in degrees.
*/
@@ -71,13 +67,18 @@ public:
double GetDistanceToObstacle();
private:
frc::Talon frontLeft{1};
frc::Talon rearLeft{2};
frc::Talon frontRight{3};
frc::Talon rearRight{4};
frc::RobotDrive drive{frontLeft, rearLeft, frontRight, rearRight};
frc::Encoder leftEncoder{1, 2};
frc::Encoder rightEncoder{3, 4};
frc::AnalogInput rangefinder{6};
frc::AnalogGyro gyro{1};
frc::Spark m_frontLeft{1};
frc::Spark m_rearLeft{2};
frc::SpeedControllerGroup m_left{m_frontLeft, m_rearLeft};
frc::Spark m_frontRight{3};
frc::Spark m_rearRight{4};
frc::SpeedControllerGroup m_right{m_frontRight, m_rearRight};
frc::DifferentialDrive m_robotDrive{m_left, m_right};
frc::Encoder m_leftEncoder{1, 2};
frc::Encoder m_rightEncoder{3, 4};
frc::AnalogInput m_rangefinder{6};
frc::AnalogGyro m_gyro{1};
};

10
wpilibcExamples/src/main/cpp/examples/GearsBot/src/Subsystems/Elevator.cpp
View File

@@ -19,8 +19,8 @@ Elevator::Elevator()
// Let's show everything on the LiveWindow
// frc::LiveWindow::GetInstance()->AddActuator("Elevator", "Motor",
// &motor);
// frc::LiveWindow::GetInstance()->AddSensor("Elevator", "Pot", &pot);
// &m_motor);
// frc::LiveWindow::GetInstance()->AddSensor("Elevator", "Pot", &m_pot);
// frc::LiveWindow::GetInstance()->AddActuator("Elevator", "PID",
// GetPIDController());
}
@@ -28,13 +28,13 @@ Elevator::Elevator()
void Elevator::InitDefaultCommand() {}
void Elevator::Log() {
// frc::SmartDashboard::PutData("Wrist Pot", &pot);
// frc::SmartDashboard::PutData("Wrist Pot", &m_pot);
}
double Elevator::ReturnPIDInput() {
return pot.Get();
return m_pot.Get();
}
void Elevator::UsePIDOutput(double d) {
motor.Set(d);
m_motor.Set(d);
}

8
wpilibcExamples/src/main/cpp/examples/GearsBot/src/Subsystems/Elevator.h
View File

@@ -9,7 +9,7 @@
#include <AnalogPotentiometer.h>
#include <Commands/PIDSubsystem.h>
#include <Victor.h>
#include <Spark.h>
/**
* The elevator subsystem uses PID to go to a given height. Unfortunately, in
@@ -42,14 +42,14 @@ public:
void UsePIDOutput(double d);
private:
frc::Victor motor{5};
frc::Spark m_motor{5};
// Conversion value of potentiometer varies between the real world and
// simulation
#ifndef SIMULATION
frc::AnalogPotentiometer pot{2, -2.0 / 5};
frc::AnalogPotentiometer m_pot{2, -2.0 / 5};
#else
frc::AnalogPotentiometer pot{2}; // Defaults to meters
frc::AnalogPotentiometer m_pot{2}; // Defaults to meters
#endif
static constexpr double kP_real = 4;

6
wpilibcExamples/src/main/cpp/examples/GearsBot/src/Subsystems/Wrist.cpp
View File

@@ -28,13 +28,13 @@ Wrist::Wrist()
void Wrist::InitDefaultCommand() {}
void Wrist::Log() {
// frc::SmartDashboard::PutData("Wrist Angle", &pot);
// frc::SmartDashboard::PutData("Wrist Angle", &m_pot);
}
double Wrist::ReturnPIDInput() {
return pot.Get();
return m_pot.Get();
}
void Wrist::UsePIDOutput(double d) {
motor.Set(d);
m_motor.Set(d);
}

8
wpilibcExamples/src/main/cpp/examples/GearsBot/src/Subsystems/Wrist.h
View File

@@ -9,7 +9,7 @@
#include <AnalogPotentiometer.h>
#include <Commands/PIDSubsystem.h>
#include <Victor.h>
#include <Spark.h>
/**
* The wrist subsystem is like the elevator, but with a rotational joint instead
@@ -40,14 +40,14 @@ public:
void UsePIDOutput(double d) override;
private:
frc::Victor motor{6};
frc::Spark m_motor{6};
// Conversion value of potentiometer varies between the real world and
// simulation
#ifndef SIMULATION
frc::AnalogPotentiometer pot{3, -270.0 / 5};
frc::AnalogPotentiometer m_pot{3, -270.0 / 5};
#else
frc::AnalogPotentiometer pot{3}; // Defaults to degrees
frc::AnalogPotentiometer m_pot{3}; // Defaults to degrees
#endif
static constexpr double kP_real = 1;

39
wpilibcExamples/src/main/cpp/examples/GettingStarted/src/Robot.cpp
View File

@@ -5,36 +5,33 @@
/* the project. */
/*----------------------------------------------------------------------------*/
#include <Drive/DifferentialDrive.h>
#include <IterativeRobot.h>
#include <Joystick.h>
#include <LiveWindow/LiveWindow.h>
#include <RobotDrive.h>
#include <Spark.h>
#include <Timer.h>
class Robot : public frc::IterativeRobot {
public:
Robot() {
myRobot.SetExpiration(0.1);
timer.Start();
m_robotDrive.SetExpiration(0.1);
m_timer.Start();
}
private:
frc::RobotDrive myRobot{0, 1}; // Robot drive system
frc::Joystick stick{0}; // Only joystick
frc::LiveWindow* lw = frc::LiveWindow::GetInstance();
frc::Timer timer;
void AutonomousInit() override {
timer.Reset();
timer.Start();
m_timer.Reset();
m_timer.Start();
}
void AutonomousPeriodic() override {
// Drive for 2 seconds
if (timer.Get() < 2.0) {
myRobot.Drive(-0.5, 0.0); // Drive forwards half speed
if (m_timer.Get() < 2.0) {
// Drive forwards half speed
m_robotDrive.ArcadeDrive(-0.5, 0.0);
} else {
myRobot.Drive(0.0, 0.0); // Stop robot
// Stop robot
m_robotDrive.ArcadeDrive(0.0, 0.0);
}
}
@@ -42,10 +39,20 @@ private:
void TeleopPeriodic() override {
// Drive with arcade style (use right stick)
myRobot.ArcadeDrive(stick);
m_robotDrive.ArcadeDrive(m_stick.GetY(), m_stick.GetX());
}
void TestPeriodic() override { lw->Run(); }
void TestPeriodic() override { m_lw.Run(); }
private:
// Robot drive system
frc::Spark m_left{0};
frc::Spark m_right{1};
frc::DifferentialDrive m_robotDrive{m_left, m_right};
frc::Joystick m_stick{0};
frc::LiveWindow& m_lw = *frc::LiveWindow::GetInstance();
frc::Timer m_timer;
};
START_ROBOT_CLASS(Robot)

20
wpilibcExamples/src/main/cpp/examples/Gyro/src/Robot.cpp
View File

@@ -8,9 +8,10 @@
#include <cmath>
#include <AnalogGyro.h>
#include <Drive/DifferentialDrive.h>
#include <IterativeRobot.h>
#include <Joystick.h>
#include <RobotDrive.h>
#include <Spark.h>
/**
* This is a sample program to demonstrate how to use a gyro sensor to make a
@@ -22,7 +23,7 @@
class Robot : public frc::IterativeRobot {
public:
void RobotInit() override {
gyro.SetSensitivity(kVoltsPerDegreePerSecond);
m_gyro.SetSensitivity(kVoltsPerDegreePerSecond);
}
/**
@@ -31,10 +32,10 @@ public:
* angle.
*/
void TeleopPeriodic() override {
double turningValue = (kAngleSetpoint - gyro.GetAngle()) * kP;
double turningValue = (kAngleSetpoint - m_gyro.GetAngle()) * kP;
// Invert the direction of the turn if we are going backwards
turningValue = std::copysign(turningValue, joystick.GetY());
myRobot.Drive(joystick.GetY(), turningValue);
turningValue = std::copysign(turningValue, m_joystick.GetY());
m_robotDrive.ArcadeDrive(m_joystick.GetY(), turningValue);
}
private:
@@ -50,9 +51,12 @@ private:
static constexpr int kGyroPort = 0;
static constexpr int kJoystickPort = 0;
frc::RobotDrive myRobot{kLeftMotorPort, kRightMotorPort};
frc::AnalogGyro gyro{kGyroPort};
frc::Joystick joystick{kJoystickPort};
frc::Spark m_left{kLeftMotorPort};
frc::Spark m_right{kRightMotorPort};
frc::DifferentialDrive m_robotDrive{m_left, m_right};
frc::AnalogGyro m_gyro{kGyroPort};
frc::Joystick m_joystick{kJoystickPort};
};
START_ROBOT_CLASS(Robot)

31
wpilibcExamples/src/main/cpp/examples/GyroMecanum/src/Robot.cpp
View File

@@ -6,9 +6,10 @@
/*----------------------------------------------------------------------------*/
#include <AnalogGyro.h>
#include <Drive/MecanumDrive.h>
#include <IterativeRobot.h>
#include <Joystick.h>
#include <RobotDrive.h>
#include <Spark.h>
/**
* This is a sample program that uses mecanum drive with a gyro sensor to
@@ -20,18 +21,19 @@ public:
void RobotInit() override {
// invert the left side motors
// you may need to change or remove this to match your robot
myRobot.SetInvertedMotor(RobotDrive::kFrontLeftMotor, true);
myRobot.SetInvertedMotor(RobotDrive::kRearLeftMotor, true);
m_frontLeft.SetInverted(true);
m_rearLeft.SetInverted(true);
gyro.SetSensitivity(kVoltsPerDegreePerSecond);
m_gyro.SetSensitivity(kVoltsPerDegreePerSecond);
}
/**
* Mecanum drive is used with the gyro angle as an input.
*/
void TeleopPeriodic() override {
myRobot.MecanumDrive_Cartesian(joystick.GetX(), joystick.GetY(),
joystick.GetZ(), gyro.GetAngle());
m_robotDrive.DriveCartesian(m_joystick.GetX(),
m_joystick.GetY(), m_joystick.GetZ(),
m_gyro.GetAngle());
}
private:
@@ -40,16 +42,21 @@ private:
static constexpr double kVoltsPerDegreePerSecond = 0.0128;
static constexpr int kFrontLeftMotorPort = 0;
static constexpr int kFrontRightMotorPort = 1;
static constexpr int kRearLeftMotorPort = 2;
static constexpr int kRearLeftMotorPort = 1;
static constexpr int kFrontRightMotorPort = 2;
static constexpr int kRearRightMotorPort = 3;
static constexpr int kGyroPort = 0;
static constexpr int kJoystickPort = 0;
frc::RobotDrive myRobot{kFrontLeftMotorPort, kFrontRightMotorPort,
kRearLeftMotorPort, kRearRightMotorPort};
frc::AnalogGyro gyro{kGyroPort};
frc::Joystick joystick{kJoystickPort};
frc::Spark m_frontLeft{kFrontLeftMotorPort};
frc::Spark m_rearLeft{kRearLeftMotorPort};
frc::Spark m_frontRight{kFrontRightMotorPort};
frc::Spark m_rearRight{kRearRightMotorPort};
frc::MecanumDrive m_robotDrive{
m_frontLeft, m_rearLeft, m_frontRight, m_rearRight};
frc::AnalogGyro m_gyro{kGyroPort};
frc::Joystick m_joystick{kJoystickPort};
};
START_ROBOT_CLASS(Robot)

29
wpilibcExamples/src/main/cpp/examples/MecanumDrive/src/Robot.cpp
View File

@@ -5,9 +5,10 @@
/* the project. */
/*----------------------------------------------------------------------------*/
#include <Drive/MecanumDrive.h>
#include <IterativeRobot.h>
#include <Joystick.h>
#include <RobotDrive.h>
#include <Spark.h>
/**
* This is a demo program showing how to use Mecanum control with the RobotDrive
@@ -18,8 +19,8 @@ public:
void RobotInit() {
// Invert the left side motors
// You may need to change or remove this to match your robot
robotDrive.SetInvertedMotor(RobotDrive::kFrontLeftMotor, true);
robotDrive.SetInvertedMotor(RobotDrive::kRearLeftMotor, true);
m_frontLeft.SetInverted(true);
m_rearLeft.SetInverted(true);
}
void TeleopPeriodic() override {
@@ -27,22 +28,26 @@ public:
* forward
* movement, and Z axis for rotation.
*/
robotDrive.MecanumDrive_Cartesian(
stick.GetX(), stick.GetY(), stick.GetZ());
m_robotDrive.DriveCartesian(
m_stick.GetX(), m_stick.GetY(), m_stick.GetZ());
}
private:
static constexpr int kFrontLeftChannel = 2;
static constexpr int kRearLeftChannel = 3;
static constexpr int kFrontRightChannel = 1;
static constexpr int kRearRightChannel = 0;
static constexpr int kFrontLeftChannel = 0;
static constexpr int kRearLeftChannel = 1;
static constexpr int kFrontRightChannel = 2;
static constexpr int kRearRightChannel = 3;
static constexpr int kJoystickChannel = 0;
frc::RobotDrive robotDrive{kFrontLeftChannel, kRearLeftChannel,
kFrontRightChannel, kRearRightChannel};
frc::Spark m_frontLeft{kFrontLeftChannel};
frc::Spark m_rearLeft{kRearLeftChannel};
frc::Spark m_frontRight{kFrontRightChannel};
frc::Spark m_rearRight{kRearRightChannel};
frc::MecanumDrive m_robotDrive{
m_frontLeft, m_rearLeft, m_frontRight, m_rearRight};
frc::Joystick stick{kJoystickChannel};
frc::Joystick m_stick{kJoystickChannel};
};
START_ROBOT_CLASS(Robot)

2
wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/CheckForHotGoal.cpp
View File

@@ -15,5 +15,5 @@ CheckForHotGoal::CheckForHotGoal(double time) {
// Make this return true when this Command no longer needs to run execute()
bool CheckForHotGoal::IsFinished() {
return IsTimedOut() || Robot::shooter->GoalIsHot();
return IsTimedOut() || Robot::shooter.GoalIsHot();
}

4
wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/CloseClaw.cpp
View File

@@ -10,10 +10,10 @@
#include "../Robot.h"
CloseClaw::CloseClaw() {
Requires(Robot::collector.get());
Requires(&Robot::collector);
}
// Called just before this Command runs the first time
void CloseClaw::Initialize() {
Robot::collector->Close();
Robot::collector.Close();
}

26
wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/DriveForward.cpp
View File

@@ -12,9 +12,9 @@
#include "../Robot.h"
void DriveForward::init(double dist, double maxSpeed) {
Requires(Robot::drivetrain.get());
distance = dist;
driveForwardSpeed = maxSpeed;
Requires(&Robot::drivetrain);
m_distance = dist;
m_driveForwardSpeed = maxSpeed;
}
DriveForward::DriveForward() {
@@ -31,29 +31,29 @@ DriveForward::DriveForward(double dist, double maxSpeed) {
// Called just before this Command runs the first time
void DriveForward::Initialize() {
Robot::drivetrain->GetRightEncoder()->Reset();
Robot::drivetrain.GetRightEncoder().Reset();
SetTimeout(2);
}
// Called repeatedly when this Command is scheduled to run
void DriveForward::Execute() {
error = (distance
- Robot::drivetrain->GetRightEncoder()->GetDistance());
if (driveForwardSpeed * kP * error >= driveForwardSpeed) {
Robot::drivetrain->TankDrive(
driveForwardSpeed, driveForwardSpeed);
m_error = (m_distance
- Robot::drivetrain.GetRightEncoder().GetDistance());
if (m_driveForwardSpeed * kP * m_error >= m_driveForwardSpeed) {
Robot::drivetrain.TankDrive(
m_driveForwardSpeed, m_driveForwardSpeed);
} else {
Robot::drivetrain->TankDrive(driveForwardSpeed * kP * error,
driveForwardSpeed * kP * error);
Robot::drivetrain.TankDrive(m_driveForwardSpeed * kP * m_error,
m_driveForwardSpeed * kP * m_error);
}
}
// Make this return true when this Command no longer needs to run execute()
bool DriveForward::IsFinished() {
return (std::fabs(error) <= kTolerance) || IsTimedOut();
return (std::fabs(m_error) <= kTolerance) || IsTimedOut();
}
// Called once after isFinished returns true
void DriveForward::End() {
Robot::drivetrain->Stop();
Robot::drivetrain.Stop();
}

6
wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/DriveForward.h
View File

@@ -24,9 +24,9 @@ public:
void End() override;
private:
double driveForwardSpeed;
double distance;
double error = 0;
double m_driveForwardSpeed;
double m_distance;
double m_error = 0;
static constexpr double kTolerance = 0.1;
static constexpr double kP = -1.0 / 5.0;

7
wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/DriveWithJoystick.cpp
View File

@@ -10,12 +10,13 @@
#include "../Robot.h"
DriveWithJoystick::DriveWithJoystick() {
Requires(Robot::drivetrain.get());
Requires(&Robot::drivetrain);
}
// Called repeatedly when this Command is scheduled to run
void DriveWithJoystick::Execute() {
Robot::drivetrain->TankDrive(Robot::oi->GetJoystick());
auto& joystick = Robot::oi.GetJoystick();
Robot::drivetrain.TankDrive(joystick.GetY(), joystick.GetRawAxis(4));
}
// Make this return true when this Command no longer needs to run execute()
@@ -25,5 +26,5 @@ bool DriveWithJoystick::IsFinished() {
// Called once after isFinished returns true
void DriveWithJoystick::End() {
Robot::drivetrain->Stop();
Robot::drivetrain.Stop();
}

6
wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/ExtendShooter.cpp
View File

@@ -11,15 +11,15 @@
ExtendShooter::ExtendShooter()
: frc::TimedCommand(1.0) {
Requires(Robot::shooter.get());
Requires(&Robot::shooter);
}
// Called just before this Command runs the first time
void ExtendShooter::Initialize() {
Robot::shooter->ExtendBoth();
Robot::shooter.ExtendBoth();
}
// Called once after isFinished returns true
void ExtendShooter::End() {
Robot::shooter->RetractBoth();
Robot::shooter.RetractBoth();
}

6
wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/OpenClaw.cpp
View File

@@ -10,15 +10,15 @@
#include "../Robot.h"
OpenClaw::OpenClaw() {
Requires(Robot::collector.get());
Requires(&Robot::collector);
}
// Called just before this Command runs the first time
void OpenClaw::Initialize() {
Robot::collector->Open();
Robot::collector.Open();
}
// Make this return true when this Command no longer needs to run execute()
bool OpenClaw::IsFinished() {
return Robot::collector->IsOpen();
return Robot::collector.IsOpen();
}

6
wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/SetCollectionSpeed.cpp
View File

@@ -10,11 +10,11 @@
#include "../Robot.h"
SetCollectionSpeed::SetCollectionSpeed(double speed) {
Requires(Robot::collector.get());
this->speed = speed;
Requires(&Robot::collector);
m_speed = speed;
}
// Called just before this Command runs the first time
void SetCollectionSpeed::Initialize() {
Robot::collector->SetSpeed(speed);
Robot::collector.SetSpeed(m_speed);
}

2
wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/SetCollectionSpeed.h
View File

@@ -20,5 +20,5 @@ public:
void Initialize() override;
private:
double speed;
double m_speed;
};

10
wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/SetPivotSetpoint.cpp
View File

@@ -10,17 +10,17 @@
#include "../Robot.h"
SetPivotSetpoint::SetPivotSetpoint(double setpoint) {
this->setpoint = setpoint;
Requires(Robot::pivot.get());
m_setpoint = setpoint;
Requires(&Robot::pivot);
}
// Called just before this Command runs the first time
void SetPivotSetpoint::Initialize() {
Robot::pivot->Enable();
Robot::pivot->SetSetpoint(setpoint);
Robot::pivot.Enable();
Robot::pivot.SetSetpoint(m_setpoint);
}
// Make this return true when this Command no longer needs to run execute()
bool SetPivotSetpoint::IsFinished() {
return Robot::pivot->OnTarget();
return Robot::pivot.OnTarget();
}

2
wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/SetPivotSetpoint.h
View File

@@ -21,5 +21,5 @@ public:
bool IsFinished() override;
private:
double setpoint;
double m_setpoint;
};

4
wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/WaitForBall.cpp
View File

@@ -10,10 +10,10 @@
#include "../Robot.h"
WaitForBall::WaitForBall() {
Requires(Robot::collector.get());
Requires(&Robot::collector);
}
// Make this return true when this Command no longer needs to run execute()
bool WaitForBall::IsFinished() {
return Robot::collector->HasBall();
return Robot::collector.HasBall();
}

4
wpilibcExamples/src/main/cpp/examples/PacGoat/src/Commands/WaitForPressure.cpp
View File

@@ -10,10 +10,10 @@
#include "../Robot.h"
WaitForPressure::WaitForPressure() {
Requires(Robot::pneumatics.get());
Requires(&Robot::pneumatics);
}
// Make this return true when this Command no longer needs to run execute()
bool WaitForPressure::IsFinished() {
return Robot::pneumatics->IsPressurized();
return Robot::pneumatics.IsPressurized();
}

14
wpilibcExamples/src/main/cpp/examples/PacGoat/src/OI.cpp
View File

@@ -17,13 +17,13 @@
#include "Subsystems/Pivot.h"
OI::OI() {
R1.WhenPressed(new LowGoal());
R2.WhenPressed(new Collect());
m_r1.WhenPressed(new LowGoal());
m_r2.WhenPressed(new Collect());
L1.WhenPressed(new SetPivotSetpoint(Pivot::kShoot));
L2.WhenPressed(new SetPivotSetpoint(Pivot::kShootNear));
m_l1.WhenPressed(new SetPivotSetpoint(Pivot::kShoot));
m_l2.WhenPressed(new SetPivotSetpoint(Pivot::kShootNear));
sticks.WhenActive(new Shoot());
m_sticks.WhenActive(new Shoot());
// SmartDashboard Buttons
frc::SmartDashboard::PutData("Drive Forward", new DriveForward(2.25));
@@ -36,6 +36,6 @@ OI::OI() {
new SetCollectionSpeed(Collector::kReverse));
}
frc::Joystick* OI::GetJoystick() {
return &joystick;
frc::Joystick& OI::GetJoystick() {
return m_joystick;
}

14
wpilibcExamples/src/main/cpp/examples/PacGoat/src/OI.h
View File

@@ -15,15 +15,15 @@
class OI {
public:
OI();
frc::Joystick* GetJoystick();
frc::Joystick& GetJoystick();
private:
frc::Joystick joystick{0};
frc::Joystick m_joystick{0};
frc::JoystickButton L1{&joystick, 11};
frc::JoystickButton L2{&joystick, 9};
frc::JoystickButton R1{&joystick, 12};
frc::JoystickButton R2{&joystick, 10};
frc::JoystickButton m_l1{&m_joystick, 11};
frc::JoystickButton m_l2{&m_joystick, 9};
frc::JoystickButton m_r1{&m_joystick, 12};
frc::JoystickButton m_r2{&m_joystick, 10};
DoubleButton sticks{&joystick, 2, 3};
DoubleButton m_sticks{&m_joystick, 2, 3};
};

48
wpilibcExamples/src/main/cpp/examples/PacGoat/src/Robot.cpp
View File

@@ -11,32 +11,32 @@
#include <SmartDashboard/SmartDashboard.h>
std::shared_ptr<DriveTrain> Robot::drivetrain = std::make_shared<DriveTrain>();
std::shared_ptr<Pivot> Robot::pivot = std::make_shared<Pivot>();
std::shared_ptr<Collector> Robot::collector = std::make_shared<Collector>();
std::shared_ptr<Shooter> Robot::shooter = std::make_shared<Shooter>();
std::shared_ptr<Pneumatics> Robot::pneumatics = std::make_shared<Pneumatics>();
std::unique_ptr<OI> Robot::oi = std::make_unique<OI>();
DriveTrain Robot::drivetrain;
Pivot Robot::pivot;
Collector Robot::collector;
Shooter Robot::shooter;
Pneumatics Robot::pneumatics;
OI Robot::oi;
void Robot::RobotInit() {
// Show what command your subsystem is running on the SmartDashboard
frc::SmartDashboard::PutData(drivetrain.get());
frc::SmartDashboard::PutData(pivot.get());
frc::SmartDashboard::PutData(collector.get());
frc::SmartDashboard::PutData(shooter.get());
frc::SmartDashboard::PutData(pneumatics.get());
frc::SmartDashboard::PutData(&drivetrain);
frc::SmartDashboard::PutData(&pivot);
frc::SmartDashboard::PutData(&collector);
frc::SmartDashboard::PutData(&shooter);
frc::SmartDashboard::PutData(&pneumatics);
// instantiate the command used for the autonomous period
autoChooser.AddDefault("Drive and Shoot", driveAndShootAuto.get());
autoChooser.AddObject("Drive Forward", driveForwardAuto.get());
frc::SmartDashboard::PutData("Auto Mode", &autoChooser);
m_autoChooser.AddDefault("Drive and Shoot", &m_driveAndShootAuto);
m_autoChooser.AddObject("Drive Forward", &m_driveForwardAuto);
frc::SmartDashboard::PutData("Auto Mode", &m_autoChooser);
pneumatics->Start(); // Pressurize the pneumatics.
pneumatics.Start(); // Pressurize the pneumatics.
}
void Robot::AutonomousInit() {
autonomousCommand = autoChooser.GetSelected();
autonomousCommand->Start();
m_autonomousCommand = m_autoChooser.GetSelected();
m_autonomousCommand->Start();
}
void Robot::AutonomousPeriodic() {
@@ -49,8 +49,8 @@ void Robot::TeleopInit() {
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
if (autonomousCommand != nullptr) {
autonomousCommand->Cancel();
if (m_autonomousCommand != nullptr) {
m_autonomousCommand->Cancel();
}
std::cout << "Starting Teleop" << std::endl;
}
@@ -65,7 +65,7 @@ void Robot::TestPeriodic() {
}
void Robot::DisabledInit() {
shooter->Unlatch();
shooter.Unlatch();
}
void Robot::DisabledPeriodic() {
@@ -76,12 +76,12 @@ void Robot::DisabledPeriodic() {
* Log interesting values to the SmartDashboard.
*/
void Robot::Log() {
Robot::pneumatics->WritePressure();
frc::SmartDashboard::PutNumber("Pivot Pot Value", pivot->GetAngle());
Robot::pneumatics.WritePressure();
frc::SmartDashboard::PutNumber("Pivot Pot Value", pivot.GetAngle());
frc::SmartDashboard::PutNumber("Left Distance",
drivetrain->GetLeftEncoder()->GetDistance());
drivetrain.GetLeftEncoder().GetDistance());
frc::SmartDashboard::PutNumber("Right Distance",
drivetrain->GetRightEncoder()->GetDistance());
drivetrain.GetRightEncoder().GetDistance());
}
START_ROBOT_CLASS(Robot)

23
wpilibcExamples/src/main/cpp/examples/PacGoat/src/Robot.h
View File

@@ -7,8 +7,6 @@
#pragma once
#include <memory>
#include <Commands/Command.h>
#include <IterativeRobot.h>
#include <SmartDashboard/SendableChooser.h>
@@ -24,19 +22,18 @@
class Robot : public IterativeRobot {
public:
static std::shared_ptr<DriveTrain> drivetrain;
static std::shared_ptr<Pivot> pivot;
static std::shared_ptr<Collector> collector;
static std::shared_ptr<Shooter> shooter;
static std::shared_ptr<Pneumatics> pneumatics;
static std::unique_ptr<OI> oi;
static DriveTrain drivetrain;
static Pivot pivot;
static Collector collector;
static Shooter shooter;
static Pneumatics pneumatics;
static OI oi;
private:
frc::Command* autonomousCommand = nullptr;
std::unique_ptr<frc::Command> driveAndShootAuto{
new DriveAndShootAutonomous()};
std::unique_ptr<frc::Command> driveForwardAuto{new DriveForward()};
SendableChooser<frc::Command*> autoChooser;
frc::Command* m_autonomousCommand = nullptr;
DriveAndShootAutonomous m_driveAndShootAuto;
DriveForward m_driveForwardAuto;
SendableChooser<frc::Command*> m_autoChooser;
void RobotInit() override;
void AutonomousInit() override;

21
wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/Collector.cpp
View File

@@ -13,36 +13,37 @@ Collector::Collector()
: frc::Subsystem("Collector") {
// Put everything to the LiveWindow for testing.
// XXX: LiveWindow::GetInstance()->AddActuator("Collector", "Roller
// Motor", &rollerMotor);
// Motor", &m_rollerMotor);
LiveWindow::GetInstance()->AddSensor(
"Collector", "Ball Detector", &ballDetector);
"Collector", "Ball Detector", &m_ballDetector);
LiveWindow::GetInstance()->AddSensor(
"Collector", "Claw Open Detector", &openDetector);
LiveWindow::GetInstance()->AddActuator("Collector", "Piston", &piston);
"Collector", "Claw Open Detector", &m_openDetector);
LiveWindow::GetInstance()->AddActuator(
"Collector", "Piston", &m_piston);
}
bool Collector::HasBall() {
return ballDetector.Get(); // TODO: prepend ! to reflect real robot
return m_ballDetector.Get(); // TODO: prepend ! to reflect real robot
}
void Collector::SetSpeed(double speed) {
rollerMotor.Set(-speed);
m_rollerMotor.Set(-speed);
}
void Collector::Stop() {
rollerMotor.Set(0);
m_rollerMotor.Set(0);
}
bool Collector::IsOpen() {
return openDetector.Get(); // TODO: prepend ! to reflect real robot
return m_openDetector.Get(); // TODO: prepend ! to reflect real robot
}
void Collector::Open() {
piston.Set(true);
m_piston.Set(true);
}
void Collector::Close() {
piston.Set(false);
m_piston.Set(false);
}
void Collector::InitDefaultCommand() {}

10
wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/Collector.h
View File

@@ -10,7 +10,7 @@
#include <Commands/Subsystem.h>
#include <DigitalInput.h>
#include <Solenoid.h>
#include <Victor.h>
#include <Spark.h>
/**
* The Collector subsystem has one motor for the rollers, a limit switch for
@@ -69,8 +69,8 @@ public:
private:
// Subsystem devices
frc::Victor rollerMotor{6};
frc::DigitalInput ballDetector{10};
frc::Solenoid piston{1};
frc::DigitalInput openDetector{6};
frc::Spark m_rollerMotor{6};
frc::DigitalInput m_ballDetector{10};
frc::Solenoid m_piston{1};
frc::DigitalInput m_openDetector{6};
};

59
wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/DriveTrain.cpp
View File

@@ -17,77 +17,70 @@
DriveTrain::DriveTrain()
: frc::Subsystem("DriveTrain") {
// frc::LiveWindow::GetInstance()->AddActuator("DriveTrain", "Front Left
// CIM", &frontLeftCIM);
// CIM", &m_frontLeftCIM);
// frc::LiveWindow::GetInstance()->AddActuator("DriveTrain", "Front
// Right CIM", &frontRightCIM);
// Right CIM", &m_frontRightCIM);
// frc::LiveWindow::GetInstance()->AddActuator("DriveTrain", "Back Left
// CIM", &backLeftCIM);
// CIM", &m_backLeftCIM);
// frc::LiveWindow::GetInstance()->AddActuator("DriveTrain", "Back Right
// CIM", &backRightCIM);
// CIM", &m_backRightCIM);
// Configure the RobotDrive to reflect the fact that all our motors are
// wired backwards and our drivers sensitivity preferences.
drive.SetSafetyEnabled(false);
drive.SetExpiration(0.1);
drive.SetSensitivity(0.5);
drive.SetMaxOutput(1.0);
drive.SetInvertedMotor(RobotDrive::kFrontLeftMotor, true);
drive.SetInvertedMotor(RobotDrive::kRearLeftMotor, true);
drive.SetInvertedMotor(RobotDrive::kFrontRightMotor, true);
drive.SetInvertedMotor(RobotDrive::kRearRightMotor, true);
m_robotDrive.SetSafetyEnabled(false);
m_robotDrive.SetExpiration(0.1);
m_robotDrive.SetMaxOutput(1.0);
m_leftCIMs.SetInverted(true);
m_rightCIMs.SetInverted(true);
// Configure encoders
rightEncoder->SetPIDSourceType(PIDSourceType::kDisplacement);
leftEncoder->SetPIDSourceType(PIDSourceType::kDisplacement);
m_rightEncoder.SetPIDSourceType(PIDSourceType::kDisplacement);
m_leftEncoder.SetPIDSourceType(PIDSourceType::kDisplacement);
#ifndef SIMULATION
// Converts to feet
rightEncoder->SetDistancePerPulse(0.0785398);
leftEncoder->SetDistancePerPulse(0.0785398);
m_rightEncoder.SetDistancePerPulse(0.0785398);
m_leftEncoder.SetDistancePerPulse(0.0785398);
#else
// Convert to feet 4in diameter wheels with 360 tick simulated encoders
rightEncoder->SetDistancePerPulse(
m_rightEncoder.SetDistancePerPulse(
(4.0 /*in*/ * M_PI) / (360.0 * 12.0 /*in/ft*/));
leftEncoder->SetDistancePerPulse(
m_leftEncoder.SetDistancePerPulse(
(4.0 /*in*/ * M_PI) / (360.0 * 12.0 /*in/ft*/));
#endif
LiveWindow::GetInstance()->AddSensor(
"DriveTrain", "Right Encoder", rightEncoder);
"DriveTrain", "Right Encoder", m_rightEncoder);
LiveWindow::GetInstance()->AddSensor(
"DriveTrain", "Left Encoder", leftEncoder);
"DriveTrain", "Left Encoder", m_leftEncoder);
// Configure gyro
#ifndef SIMULATION
gyro.SetSensitivity(0.007); // TODO: Handle more gracefully?
m_gyro.SetSensitivity(0.007); // TODO: Handle more gracefully?
#endif
LiveWindow::GetInstance()->AddSensor("DriveTrain", "Gyro", &gyro);
LiveWindow::GetInstance()->AddSensor("DriveTrain", "Gyro", &m_gyro);
}
void DriveTrain::InitDefaultCommand() {
SetDefaultCommand(new DriveWithJoystick());
}
void DriveTrain::TankDrive(Joystick* joy) {
drive.TankDrive(joy->GetY(), joy->GetRawAxis(4));
}
void DriveTrain::TankDrive(double leftAxis, double rightAxis) {
drive.TankDrive(leftAxis, rightAxis);
m_robotDrive.TankDrive(leftAxis, rightAxis);
}
void DriveTrain::Stop() {
drive.TankDrive(0.0, 0.0);
m_robotDrive.TankDrive(0.0, 0.0);
}
std::shared_ptr<Encoder> DriveTrain::GetLeftEncoder() {
return leftEncoder;
Encoder& DriveTrain::GetLeftEncoder() {
return m_leftEncoder;
}
std::shared_ptr<Encoder> DriveTrain::GetRightEncoder() {
return rightEncoder;
Encoder& DriveTrain::GetRightEncoder() {
return m_rightEncoder;
}
double DriveTrain::GetAngle() {
return gyro.GetAngle();
return m_gyro.GetAngle();
}

42
wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/DriveTrain.h
View File

@@ -7,13 +7,12 @@
#pragma once
#include <memory>
#include <AnalogGyro.h>
#include <Commands/Subsystem.h>
#include <Drive/DifferentialDrive.h>
#include <Encoder.h>
#include <RobotDrive.h>
#include <Victor.h>
#include <Spark.h>
#include <SpeedControllerGroup.h>
namespace frc {
class Joystick;
@@ -34,11 +33,6 @@ public:
*/
void InitDefaultCommand();
/**
* @param joy PS3 style joystick to use as the input for tank drive.
*/
void TankDrive(frc::Joystick* joy);
/**
* @param leftAxis Left sides value
* @param rightAxis Right sides value
@@ -54,13 +48,13 @@ public:
* @return The encoder getting the distance and speed of left side of
* the drivetrain.
*/
std::shared_ptr<Encoder> GetLeftEncoder();
Encoder& GetLeftEncoder();
/**
* @return The encoder getting the distance and speed of right side of
* the drivetrain.
*/
std::shared_ptr<Encoder> GetRightEncoder();
Encoder& GetRightEncoder();
/**
* @return The current angle of the drivetrain.
@@ -69,17 +63,17 @@ public:
private:
// Subsystem devices
frc::Victor frontLeftCIM{1};
frc::Victor rearLeftCIM{2};
frc::Victor frontRightCIM{3};
frc::Victor rearRightCIM{4};
frc::RobotDrive drive{frontRightCIM, rearLeftCIM, frontRightCIM,
rearRightCIM};
std::shared_ptr<frc::Encoder> rightEncoder =
std::make_shared<frc::Encoder>(
1, 2, true, Encoder::k4X);
std::shared_ptr<frc::Encoder> leftEncoder =
std::make_shared<frc::Encoder>(
3, 4, false, Encoder::k4X);
frc::AnalogGyro gyro{0};
frc::Spark m_frontLeftCIM{1};
frc::Spark m_rearLeftCIM{2};
frc::SpeedControllerGroup m_leftCIMs{m_frontLeftCIM, m_rearLeftCIM};
frc::Spark m_frontRightCIM{3};
frc::Spark m_rearRightCIM{4};
frc::SpeedControllerGroup m_rightCIMs{m_frontRightCIM, m_rearRightCIM};
frc::DifferentialDrive m_robotDrive{m_leftCIMs, m_rightCIMs};
frc::Encoder m_rightEncoder{1, 2, true, Encoder::k4X};
frc::Encoder m_leftEncoder{3, 4, false, Encoder::k4X};
frc::AnalogGyro m_gyro{0};
};

23
wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/Pivot.cpp
View File

@@ -21,12 +21,13 @@ Pivot::Pivot()
// Put everything to the LiveWindow for testing.
frc::LiveWindow::GetInstance()->AddSensor(
"Pivot", "Upper Limit Switch", &upperLimitSwitch);
"Pivot", "Upper Limit Switch", &m_upperLimitSwitch);
frc::LiveWindow::GetInstance()->AddSensor(
"Pivot", "Lower Limit Switch", &lowerLimitSwitch);
// XXX: frc::LiveWindow::GetInstance()->AddSensor("Pivot", "Pot", &pot);
"Pivot", "Lower Limit Switch", &m_lowerLimitSwitch);
// XXX: frc::LiveWindow::GetInstance()->AddSensor("Pivot", "Pot",
// &m_pot);
// XXX: frc::LiveWindow::GetInstance()->AddActuator("Pivot", "Motor",
// &motor);
// &m_motor);
frc::LiveWindow::GetInstance()->AddActuator(
"Pivot", "PIDSubsystem Controller", GetPIDController());
}
@@ -34,23 +35,23 @@ Pivot::Pivot()
void InitDefaultCommand() {}
double Pivot::ReturnPIDInput() {
return pot.Get();
return m_pot.Get();
}
void Pivot::UsePIDOutput(double output) {
motor.PIDWrite(output);
m_motor.PIDWrite(output);
}
bool Pivot::IsAtUpperLimit() {
return upperLimitSwitch.Get(); // TODO: inverted from real robot
// (prefix with !)
return m_upperLimitSwitch.Get(); // TODO: inverted from real robot
// (prefix with !)
}
bool Pivot::IsAtLowerLimit() {
return lowerLimitSwitch.Get(); // TODO: inverted from real robot
// (prefix with !)
return m_lowerLimitSwitch.Get(); // TODO: inverted from real robot
// (prefix with !)
}
double Pivot::GetAngle() {
return pot.Get();
return m_pot.Get();
}

10
wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/Pivot.h
View File

@@ -10,7 +10,7 @@
#include <AnalogPotentiometer.h>
#include <Commands/PIDSubsystem.h>
#include <DigitalInput.h>
#include <Victor.h>
#include <Spark.h>
/**
* The Pivot subsystem contains the Van-door motor and the pot for PID control
@@ -61,14 +61,14 @@ private:
// Subsystem devices
// Sensors for measuring the position of the pivot
frc::DigitalInput upperLimitSwitch{13};
frc::DigitalInput lowerLimitSwitch{12};
frc::DigitalInput m_upperLimitSwitch{13};
frc::DigitalInput m_lowerLimitSwitch{12};
/* 0 degrees is vertical facing up.
* Angle increases the more forward the pivot goes.
*/
frc::AnalogPotentiometer pot{1};
frc::AnalogPotentiometer m_pot{1};
// Motor to move the pivot
frc::Victor motor{5};
frc::Spark m_motor{5};
};

9
wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/Pneumatics.cpp
View File

@@ -12,7 +12,7 @@
Pneumatics::Pneumatics()
: frc::Subsystem("Pneumatics") {
frc::LiveWindow::GetInstance()->AddSensor(
"Pneumatics", "Pressure Sensor", pressureSensor);
"Pneumatics", "Pressure Sensor", m_pressureSensor);
}
/**
@@ -26,7 +26,7 @@ void Pneumatics::InitDefaultCommand() {}
*/
void Pneumatics::Start() {
#ifndef SIMULATION
compressor.Start();
m_compressor.Start();
#endif
}
@@ -35,7 +35,7 @@ void Pneumatics::Start() {
*/
bool Pneumatics::IsPressurized() {
#ifndef SIMULATION
return kMaxPressure <= pressureSensor.GetVoltage();
return kMaxPressure <= m_pressureSensor.GetVoltage();
#else
return true; // NOTE: Simulation always has full pressure
#endif
@@ -45,5 +45,6 @@ bool Pneumatics::IsPressurized() {
* Puts the pressure on the SmartDashboard.
*/
void Pneumatics::WritePressure() {
frc::SmartDashboard::PutNumber("Pressure", pressureSensor.GetVoltage());
frc::SmartDashboard::PutNumber(
"Pressure", m_pressureSensor.GetVoltage());
}

4
wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/Pneumatics.h
View File

@@ -43,10 +43,10 @@ public:
void WritePressure();
private:
frc::AnalogInput pressureSensor{3};
frc::AnalogInput m_pressureSensor{3};
#ifndef SIMULATION
frc::Compressor compressor{1}; // TODO: (1, 14, 1, 8);
frc::Compressor m_compressor{1}; // TODO: (1, 14, 1, 8);
#endif
static constexpr double kMaxPressure = 2.55;

45
wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/Shooter.cpp
View File

@@ -13,13 +13,14 @@ Shooter::Shooter()
: Subsystem("Shooter") {
// Put everything to the LiveWindow for testing.
frc::LiveWindow::GetInstance()->AddSensor(
"Shooter", "Hot Goal Sensor", &hotGoalSensor);
"Shooter", "Hot Goal Sensor", &m_hotGoalSensor);
frc::LiveWindow::GetInstance()->AddSensor("Shooter",
"Piston1 Reed Switch Front ", &piston1ReedSwitchFront);
"Piston1 Reed Switch Front ",
&m_piston1ReedSwitchFront);
frc::LiveWindow::GetInstance()->AddSensor("Shooter",
"Piston1 Reed Switch Back ", &piston1ReedSwitchBack);
"Piston1 Reed Switch Back ", &m_piston1ReedSwitchBack);
frc::LiveWindow::GetInstance()->AddActuator(
"Shooter", "Latch Piston", &latchPiston);
"Shooter", "Latch Piston", &m_latchPiston);
}
void Shooter::InitDefaultCommand() {
@@ -28,64 +29,64 @@ void Shooter::InitDefaultCommand() {
}
void Shooter::ExtendBoth() {
piston1.Set(frc::DoubleSolenoid::kForward);
piston2.Set(frc::DoubleSolenoid::kForward);
m_piston1.Set(frc::DoubleSolenoid::kForward);
m_piston2.Set(frc::DoubleSolenoid::kForward);
}
void Shooter::RetractBoth() {
piston1.Set(frc::DoubleSolenoid::kReverse);
piston2.Set(frc::DoubleSolenoid::kReverse);
m_piston1.Set(frc::DoubleSolenoid::kReverse);
m_piston2.Set(frc::DoubleSolenoid::kReverse);
}
void Shooter::Extend1() {
piston1.Set(frc::DoubleSolenoid::kForward);
m_piston1.Set(frc::DoubleSolenoid::kForward);
}
void Shooter::Retract1() {
piston1.Set(frc::DoubleSolenoid::kReverse);
m_piston1.Set(frc::DoubleSolenoid::kReverse);
}
void Shooter::Extend2() {
piston2.Set(frc::DoubleSolenoid::kReverse);
m_piston2.Set(frc::DoubleSolenoid::kReverse);
}
void Shooter::Retract2() {
piston2.Set(frc::DoubleSolenoid::kForward);
m_piston2.Set(frc::DoubleSolenoid::kForward);
}
void Shooter::Off1() {
piston1.Set(frc::DoubleSolenoid::kOff);
m_piston1.Set(frc::DoubleSolenoid::kOff);
}
void Shooter::Off2() {
piston2.Set(frc::DoubleSolenoid::kOff);
m_piston2.Set(frc::DoubleSolenoid::kOff);
}
void Shooter::Unlatch() {
latchPiston.Set(true);
m_latchPiston.Set(true);
}
void Shooter::Latch() {
latchPiston.Set(false);
m_latchPiston.Set(false);
}
void Shooter::ToggleLatchPosition() {
latchPiston.Set(!latchPiston.Get());
m_latchPiston.Set(!m_latchPiston.Get());
}
bool Shooter::Piston1IsExtended() {
return !piston1ReedSwitchFront.Get();
return !m_piston1ReedSwitchFront.Get();
}
bool Shooter::Piston1IsRetracted() {
return !piston1ReedSwitchBack.Get();
return !m_piston1ReedSwitchBack.Get();
}
void Shooter::OffBoth() {
piston1.Set(frc::DoubleSolenoid::kOff);
piston2.Set(frc::DoubleSolenoid::kOff);
m_piston1.Set(frc::DoubleSolenoid::kOff);
m_piston2.Set(frc::DoubleSolenoid::kOff);
}
bool Shooter::GoalIsHot() {
return hotGoalSensor.Get();
return m_hotGoalSensor.Get();
}

12
wpilibcExamples/src/main/cpp/examples/PacGoat/src/Subsystems/Shooter.h
View File

@@ -117,11 +117,11 @@ public:
private:
// Devices
frc::DoubleSolenoid piston1{3, 4};
frc::DoubleSolenoid piston2{5, 6};
frc::Solenoid latchPiston{1, 2};
frc::DigitalInput piston1ReedSwitchFront{9};
frc::DigitalInput piston1ReedSwitchBack{11};
frc::DigitalInput hotGoalSensor{
frc::DoubleSolenoid m_piston1{3, 4};
frc::DoubleSolenoid m_piston2{5, 6};
frc::Solenoid m_latchPiston{1, 2};
frc::DigitalInput m_piston1ReedSwitchFront{9};
frc::DigitalInput m_piston1ReedSwitchBack{11};
frc::DigitalInput m_hotGoalSensor{
7}; // NOTE: Currently ignored in simulation
};

10
wpilibcExamples/src/main/cpp/examples/PacGoat/src/Triggers/DoubleButton.cpp
View File

@@ -9,12 +9,12 @@
#include <Joystick.h>
DoubleButton::DoubleButton(frc::Joystick* joy, int button1, int button2) {
this->joy = joy;
this->button1 = button1;
this->button2 = button2;
DoubleButton::DoubleButton(frc::Joystick* joy, int button1, int button2)
: m_joy(*joy) {
m_button1 = button1;
m_button2 = button2;
}
bool DoubleButton::Get() {
return joy->GetRawButton(button1) && joy->GetRawButton(button2);
return m_joy.GetRawButton(m_button1) && m_joy.GetRawButton(m_button2);
}

6
wpilibcExamples/src/main/cpp/examples/PacGoat/src/Triggers/DoubleButton.h
View File

@@ -20,7 +20,7 @@ public:
bool Get();
private:
frc::Joystick* joy;
int button1;
int button2;
frc::Joystick& m_joy;
int m_button1;
int m_button2;
};

28
wpilibcExamples/src/main/cpp/examples/PotentiometerPID/src/Robot.cpp
View File

@@ -20,22 +20,22 @@
*/
class Robot : public frc::IterativeRobot {
public:
void RobotInit() override { pidController.SetInputRange(0, 5); }
void RobotInit() override { m_pidController.SetInputRange(0, 5); }
void TeleopInit() override { pidController.Enable(); }
void TeleopInit() override { m_pidController.Enable(); }
void TeleopPeriodic() override {
// when the button is pressed once, the selected elevator
// setpoint
// is incremented
bool currentButtonValue = joystick.GetTrigger();
if (currentButtonValue && !previousButtonValue) {
bool currentButtonValue = m_joystick.GetTrigger();
if (currentButtonValue && !m_previousButtonValue) {
// index of the elevator setpoint wraps around.
index = (index + 1) % (sizeof(kSetPoints) / 8);
m_index = (m_index + 1) % (sizeof(kSetPoints) / 8);
}
previousButtonValue = currentButtonValue;
m_previousButtonValue = currentButtonValue;
pidController.SetSetpoint(kSetPoints[index]);
m_pidController.SetSetpoint(kSetPoints[m_index]);
}
private:
@@ -59,12 +59,12 @@ private:
static constexpr double kI = -0.02;
static constexpr double kD = -2.0;
int index = 0;
bool previousButtonValue = false;
int m_index = 0;
bool m_previousButtonValue = false;
frc::AnalogInput potentiometer{kPotChannel};
frc::Joystick joystick{kJoystickChannel};
frc::Spark elevatorMotor{kMotorChannel};
frc::AnalogInput m_potentiometer{kPotChannel};
frc::Joystick m_joystick{kJoystickChannel};
frc::Spark m_elevatorMotor{kMotorChannel};
/* potentiometer (AnalogInput) and elevatorMotor (Victor) can be used as
* a
@@ -73,8 +73,8 @@ private:
* to the PIDSource and PIDOutput, so you must use &potentiometer and
* &elevatorMotor to get their pointers.
*/
frc::PIDController pidController{
kP, kI, kD, &potentiometer, &elevatorMotor};
frc::PIDController m_pidController{
kP, kI, kD, &m_potentiometer, &m_elevatorMotor};
};
constexpr std::array<double, 3> Robot::kSetPoints;

15
wpilibcExamples/src/main/cpp/examples/Ultrasonic/src/Robot.cpp
View File

@@ -6,8 +6,9 @@
/*----------------------------------------------------------------------------*/
#include <AnalogInput.h>
#include <Drive/DifferentialDrive.h>
#include <IterativeRobot.h>
#include <RobotDrive.h>
#include <Spark.h>
/**
* This is a sample program demonstrating how to use an ultrasonic sensor and
@@ -21,11 +22,12 @@ public:
*/
void TeleopPeriodic() override {
// sensor returns a value from 0-4095 that is scaled to inches
double currentDistance = ultrasonic.GetValue() * kValueToInches;
double currentDistance =
m_ultrasonic.GetValue() * kValueToInches;
// convert distance error to a motor speed
double currentSpeed = (kHoldDistance - currentDistance) * kP;
// drive robot
myRobot.Drive(currentSpeed, 0);
m_robotDrive.ArcadeDrive(currentSpeed, 0);
}
private:
@@ -42,8 +44,11 @@ private:
static constexpr int kRightMotorPort = 1;
static constexpr int kUltrasonicPort = 0;
frc::AnalogInput ultrasonic{kUltrasonicPort};
frc::RobotDrive myRobot{kLeftMotorPort, kRightMotorPort};
frc::AnalogInput m_ultrasonic{kUltrasonicPort};
frc::Spark m_left{kLeftMotorPort};
frc::Spark m_right{kRightMotorPort};
frc::DifferentialDrive m_robotDrive{m_left, m_right};
};
START_ROBOT_CLASS(Robot)

39
wpilibcExamples/src/main/cpp/examples/UltrasonicPID/src/Robot.cpp
View File

@@ -6,10 +6,11 @@
/*----------------------------------------------------------------------------*/
#include <AnalogInput.h>
#include <Drive/DifferentialDrive.h>
#include <IterativeRobot.h>
#include <PIDController.h>
#include <PIDOutput.h>
#include <RobotDrive.h>
#include <Spark.h>
/**
* This is a sample program demonstrating how to use an ultrasonic sensor and
@@ -26,29 +27,31 @@ public:
// Set expected range to 0-24 inches; e.g. at 24 inches from
// object go
// full forward, at 0 inches from object go full backward.
pidController.SetInputRange(0, 24 * kValueToInches);
m_pidController.SetInputRange(0, 24 * kValueToInches);
// Set setpoint of the pidController
pidController.SetSetpoint(kHoldDistance * kValueToInches);
pidController.Enable(); // begin PID control
m_pidController.SetSetpoint(kHoldDistance * kValueToInches);
// Begin PID control
m_pidController.Enable();
}
private:
// internal class to write to myRobot (a RobotDrive object) using a
// PIDOutput
// Internal class to write to robot drive using a PIDOutput
class MyPIDOutput : public frc::PIDOutput {
public:
explicit MyPIDOutput(frc::RobotDrive& r)
: rd(r) {
rd.SetSafetyEnabled(false);
explicit MyPIDOutput(frc::DifferentialDrive& r)
: m_rd(r) {
m_rd.SetSafetyEnabled(false);
}
void PIDWrite(double output) override {
rd.Drive(output, 0); // write to myRobot (RobotDrive)
// by reference
// Write to robot drive by reference
m_rd.ArcadeDrive(output, 0);
}
private:
frc::RobotDrive& rd;
frc::DifferentialDrive& m_rd;
};
// Distance in inches the robot wants to stay from an object
@@ -70,10 +73,14 @@ private:
static constexpr int kRightMotorPort = 1;
static constexpr int kUltrasonicPort = 0;
frc::AnalogInput ultrasonic{kUltrasonicPort};
frc::RobotDrive myRobot{kLeftMotorPort, kRightMotorPort};
frc::PIDController pidController{
kP, kI, kD, &ultrasonic, new MyPIDOutput(myRobot)};
frc::AnalogInput m_ultrasonic{kUltrasonicPort};
frc::Spark m_left{kLeftMotorPort};
frc::Spark m_right{kRightMotorPort};
frc::DifferentialDrive m_robotDrive{m_left, m_right};
frc::PIDController m_pidController{kP, kI, kD, &m_ultrasonic,
new MyPIDOutput(m_robotDrive)};
};
START_ROBOT_CLASS(Robot)

2
wpilibcExamples/src/main/cpp/templates/commandbased/Commands/ExampleCommand.cpp
View File

@@ -9,7 +9,7 @@
ExampleCommand::ExampleCommand() {
// Use Requires() here to declare subsystem dependencies
// eg. Requires(Robot::chassis.get());
// eg. Requires(&Robot::chassis);
}
// Called just before this Command runs the first time

31
wpilibcExamples/src/main/cpp/templates/commandbased/Commands/MyAutoCommand.cpp Normal file
View File

@@ -0,0 +1,31 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "MyAutoCommand.h"
MyAutoCommand::MyAutoCommand() {
// Use Requires() here to declare subsystem dependencies
// eg. Requires(&Robot::chassis);
}
// Called just before this Command runs the first time
void MyAutoCommand::Initialize() {}
// Called repeatedly when this Command is scheduled to run
void MyAutoCommand::Execute() {}
// Make this return true when this Command no longer needs to run execute()
bool MyAutoCommand::IsFinished() {
return false;
}
// Called once after isFinished returns true
void MyAutoCommand::End() {}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
void MyAutoCommand::Interrupted() {}

20
wpilibcExamples/src/main/cpp/templates/commandbased/Commands/MyAutoCommand.h Normal file
View File

@@ -0,0 +1,20 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <Commands/Command.h>
class MyAutoCommand : public frc::Command {
public:
MyAutoCommand();
void Initialize() override;
void Execute() override;
bool IsFinished() override;
void End() override;
void Interrupted() override;
};

42
wpilibcExamples/src/main/cpp/templates/commandbased/Robot.cpp
View File

@@ -5,8 +5,6 @@
/* the project. */
/*----------------------------------------------------------------------------*/
#include <memory>
#include <Commands/Command.h>
#include <Commands/Scheduler.h>
#include <IterativeRobot.h>
@@ -15,15 +13,14 @@
#include <SmartDashboard/SmartDashboard.h>
#include "Commands/ExampleCommand.h"
#include "Commands/MyAutoCommand.h"
class Robot : public frc::IterativeRobot {
public:
void RobotInit() override {
defaultAuto.reset(new ExampleCommand());
chooser.AddDefault("Default Auto", defaultAuto.get());
// myAuto.reset(new MyAutoCommand());
// chooser.AddObject("My Auto", myAuto.get());
frc::SmartDashboard::PutData("Auto Modes", &chooser);
m_chooser.AddDefault("Default Auto", &m_defaultAuto);
m_chooser.AddObject("My Auto", &m_myAuto);
frc::SmartDashboard::PutData("Auto Modes", &m_chooser);
}
/**
@@ -54,19 +51,18 @@ public:
* to the if-else structure below with additional strings & commands.
*/
void AutonomousInit() override {
/* std::string autoSelected =
frc::SmartDashboard::GetString("Auto Selector", "Default");
std::string autoSelected = frc::SmartDashboard::GetString(
"Auto Selector", "Default");
if (autoSelected == "My Auto") {
autonomousCommand.reset(new MyAutoCommand());
m_autonomousCommand = &m_myAuto;
} else {
m_autonomousCommand = &m_defaultAuto;
}
else {
autonomousCommand.reset(new ExampleCommand());
} */
autonomousCommand = chooser.GetSelected();
m_autonomousCommand = m_chooser.GetSelected();
if (autonomousCommand != nullptr) {
autonomousCommand->Start();
if (m_autonomousCommand != nullptr) {
m_autonomousCommand->Start();
}
}
@@ -79,9 +75,9 @@ public:
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
if (autonomousCommand != nullptr) {
autonomousCommand->Cancel();
autonomousCommand = nullptr;
if (m_autonomousCommand != nullptr) {
m_autonomousCommand->Cancel();
m_autonomousCommand = nullptr;
}
}
@@ -92,10 +88,10 @@ public:
private:
// Have it null by default so that if testing teleop it
// doesn't have undefined behavior and potentially crash.
frc::Command* autonomousCommand = nullptr;
std::unique_ptr<frc::Command> defaultAuto;
// std::unique_ptr<frc::Command> myAuto;
frc::SendableChooser<frc::Command*> chooser;
frc::Command* m_autonomousCommand = nullptr;
ExampleCommand m_defaultAuto;
MyAutoCommand m_myAuto;
frc::SendableChooser<frc::Command*> m_chooser;
};
START_ROBOT_CLASS(Robot)

8
wpilibcExamples/src/main/cpp/templates/commandbased/RobotMap.h
View File

@@ -16,10 +16,10 @@
// For example to map the left and right motors, you could define the
// following variables to use with your drivetrain subsystem.
// constexpr int LEFTMOTOR = 1;
// constexpr int RIGHTMOTOR = 2;
// constexpr int kLeftMotor = 1;
// constexpr int kRightMotor = 2;
// If you are using multiple modules, make sure to define both the port
// number and the module. For example you with a rangefinder:
// constexpr int RANGE_FINDER_PORT = 1;
// constexpr int RANGE_FINDER_MODULE = 1;
// constexpr int kRangeFinderPort = 1;
// constexpr int kRangeFinderModule = 1;

31
wpilibcExamples/src/main/cpp/templates/iterative/Robot.cpp
View File

@@ -6,7 +6,6 @@
/*----------------------------------------------------------------------------*/
#include <iostream>
#include <memory>
#include <string>
#include <IterativeRobot.h>
@@ -17,9 +16,9 @@
class Robot : public frc::IterativeRobot {
public:
void RobotInit() {
chooser.AddDefault(autoNameDefault, autoNameDefault);
chooser.AddObject(autoNameCustom, autoNameCustom);
frc::SmartDashboard::PutData("Auto Modes", &chooser);
m_chooser.AddDefault(kAutoNameDefault, kAutoNameDefault);
m_chooser.AddObject(kAutoNameCustom, kAutoNameCustom);
frc::SmartDashboard::PutData("Auto Modes", &m_chooser);
}
/*
@@ -37,12 +36,12 @@ public:
* well.
*/
void AutonomousInit() override {
autoSelected = chooser.GetSelected();
// std::string autoSelected = SmartDashboard::GetString("Auto
// Selector", autoNameDefault);
std::cout << "Auto selected: " << autoSelected << std::endl;
m_autoSelected = m_chooser.GetSelected();
// m_autoSelected = SmartDashboard::GetString(
// "Auto Selector", kAutoNameDefault);
std::cout << "Auto selected: " << m_autoSelected << std::endl;
if (autoSelected == autoNameCustom) {
if (m_autoSelected == kAutoNameCustom) {
// Custom Auto goes here
} else {
// Default Auto goes here
@@ -50,7 +49,7 @@ public:
}
void AutonomousPeriodic() {
if (autoSelected == autoNameCustom) {
if (m_autoSelected == kAutoNameCustom) {
// Custom Auto goes here
} else {
// Default Auto goes here
@@ -61,14 +60,14 @@ public:
void TeleopPeriodic() {}
void TestPeriodic() { lw->Run(); }
void TestPeriodic() { m_lw.Run(); }
private:
frc::LiveWindow* lw = LiveWindow::GetInstance();
frc::SendableChooser<std::string> chooser;
const std::string autoNameDefault = "Default";
const std::string autoNameCustom = "My Auto";
std::string autoSelected;
frc::LiveWindow& m_lw = *LiveWindow::GetInstance();
frc::SendableChooser<std::string> m_chooser;
const std::string kAutoNameDefault = "Default";
const std::string kAutoNameCustom = "My Auto";
std::string m_autoSelected;
};
START_ROBOT_CLASS(Robot)

67
wpilibcExamples/src/main/cpp/templates/sample/Robot.cpp
View File

@@ -6,14 +6,14 @@
/*----------------------------------------------------------------------------*/
#include <iostream>
#include <memory>
#include <string>
#include <Drive/DifferentialDrive.h>
#include <Joystick.h>
#include <RobotDrive.h>
#include <SampleRobot.h>
#include <SmartDashboard/SendableChooser.h>
#include <SmartDashboard/SmartDashboard.h>
#include <Spark.h>
#include <Timer.h>
/**
@@ -29,23 +29,17 @@
* instead if you're new.
*/
class Robot : public frc::SampleRobot {
frc::RobotDrive myRobot{0, 1}; // robot drive system
frc::Joystick stick{0}; // only joystick
frc::SendableChooser<std::string> chooser;
const std::string autoNameDefault = "Default";
const std::string autoNameCustom = "My Auto";
public:
Robot() {
// Note SmartDashboard is not initialized here, wait until
// RobotInit to make SmartDashboard calls
myRobot.SetExpiration(0.1);
m_robotDrive.SetExpiration(0.1);
}
void RobotInit() {
chooser.AddDefault(autoNameDefault, autoNameDefault);
chooser.AddObject(autoNameCustom, autoNameCustom);
frc::SmartDashboard::PutData("Auto Modes", &chooser);
m_chooser.AddDefault(kAutoNameDefault, kAutoNameDefault);
m_chooser.AddObject(kAutoNameCustom, kAutoNameCustom);
frc::SmartDashboard::PutData("Auto Modes", &m_chooser);
}
/*
@@ -63,26 +57,32 @@ public:
* well.
*/
void Autonomous() {
auto autoSelected = chooser.GetSelected();
// std::string autoSelected =
// frc::SmartDashboard::GetString("Auto Selector",
// autoNameDefault);
std::string autoSelected = frc::SmartDashboard::GetString(
"Auto Selector", kAutoNameDefault);
std::cout << "Auto selected: " << autoSelected << std::endl;
if (autoSelected == autoNameCustom) {
if (autoSelected == kAutoNameCustom) {
// Custom Auto goes here
std::cout << "Running custom Autonomous" << std::endl;
myRobot.SetSafetyEnabled(false);
myRobot.Drive(-0.5, 1.0); // spin at half speed
frc::Wait(2.0); // for 2 seconds
myRobot.Drive(0.0, 0.0); // stop robot
m_robotDrive.SetSafetyEnabled(false);
// spin at half speed for two seconds
m_robotDrive.ArcadeDrive(0.0, 1.0);
frc::Wait(2.0);
// stop robot
m_robotDrive.ArcadeDrive(0.0, 0.0);
} else {
// Default Auto goes here
std::cout << "Running default Autonomous" << std::endl;
myRobot.SetSafetyEnabled(false);
myRobot.Drive(-0.5, 0.0); // drive forwards half speed
frc::Wait(2.0); // for 2 seconds
myRobot.Drive(0.0, 0.0); // stop robot
m_robotDrive.SetSafetyEnabled(false);
// drive forwards at half speed for two seconds
m_robotDrive.ArcadeDrive(-0.5, 0.0);
frc::Wait(2.0);
// stop robot
m_robotDrive.ArcadeDrive(0.0, 0.0);
}
}
@@ -90,10 +90,11 @@ public:
* Runs the motors with arcade steering.
*/
void OperatorControl() override {
myRobot.SetSafetyEnabled(true);
m_robotDrive.SetSafetyEnabled(true);
while (IsOperatorControl() && IsEnabled()) {
// drive with arcade style (use right stick)
myRobot.ArcadeDrive(stick);
m_robotDrive.ArcadeDrive(
m_stick.GetY(), m_stick.GetX());
// wait for a motor update time
frc::Wait(0.005);
@@ -104,6 +105,18 @@ public:
* Runs during test mode
*/
void Test() override {}
private:
// Robot drive system
frc::Spark m_leftMotor{0};
frc::Spark m_rightMotor{1};
frc::DifferentialDrive m_robotDrive{m_leftMotor, m_rightMotor};
frc::Joystick m_stick{0};
frc::SendableChooser<std::string> m_chooser;
const std::string kAutoNameDefault = "Default";
const std::string kAutoNameCustom = "My Auto";
};
START_ROBOT_CLASS(Robot)