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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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31
wpilibcExamples/src/main/cpp/examples/GyroMecanum/src/Robot.cpp
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@@ -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)