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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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15
wpilibcExamples/src/main/cpp/examples/Ultrasonic/src/Robot.cpp
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@@ -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)