Cleaned up C++ examples (#672)

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/Autonomous.cpp

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

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/CloseClaw.cpp

@@ -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
 }

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/DriveStraight.cpp

@@ -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);
 }

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/DriveStraight.h

@@ -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};
 };

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/OpenClaw.cpp

@@ -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();
 }

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/SetDistanceToBox.cpp

@@ -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);
 }

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/SetDistanceToBox.h

@@ -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};
 };

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/SetElevatorSetpoint.cpp

@@ -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();
 }

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/SetElevatorSetpoint.h

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

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/SetWristSetpoint.cpp

@@ -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();
 }

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/SetWristSetpoint.h

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

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Commands/TankDriveWithJoystick.cpp

@@ -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);
 }

wpilibcExamples/src/main/cpp/examples/GearsBot/src/OI.cpp

@@ -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;
 }

wpilibcExamples/src/main/cpp/examples/GearsBot/src/OI.h

@@ -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};
 };

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Robot.cpp

@@ -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)

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Robot.h

@@ -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;

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Subsystems/Claw.cpp

@@ -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() {}

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Subsystems/Claw.h

@@ -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};
 };

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Subsystems/DriveTrain.cpp

@@ -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();
 }

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Subsystems/DriveTrain.h

@@ -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};
 };

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Subsystems/Elevator.cpp

@@ -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);
 }

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Subsystems/Elevator.h

@@ -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;

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Subsystems/Wrist.cpp

@@ -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);
 }

wpilibcExamples/src/main/cpp/examples/GearsBot/src/Subsystems/Wrist.h

@@ -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;