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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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28
wpilibcExamples/src/main/cpp/examples/PotentiometerPID/src/Robot.cpp
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@@ -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;