Cleaned up C++ examples (#672)

wpilibcExamples/src/main/cpp/templates/commandbased/Commands/ExampleCommand.cpp

@@ -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

wpilibcExamples/src/main/cpp/templates/commandbased/Commands/MyAutoCommand.cpp

@@ -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() {}

wpilibcExamples/src/main/cpp/templates/commandbased/Commands/MyAutoCommand.h

@@ -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;
+};

wpilibcExamples/src/main/cpp/templates/commandbased/Robot.cpp

@@ -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)

wpilibcExamples/src/main/cpp/templates/commandbased/RobotMap.h

@@ -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;

wpilibcExamples/src/main/cpp/templates/iterative/Robot.cpp

@@ -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)

wpilibcExamples/src/main/cpp/templates/sample/Robot.cpp

@@ -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)