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Add XboxController examples for arcade and tank drive (#2058)

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This commit is contained in:
CTT
2019-11-10 22:53:17 -08:00
committed by Peter Johnson
parent e3dd1c5d77
commit 486fa9c696
8 changed files with 247 additions and 0 deletions
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37
wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp Normal file
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@@ -0,0 +1,37 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 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 <frc/GenericHID.h>
#include <frc/PWMVictorSPX.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>
#include <frc/drive/DifferentialDrive.h>
/**
* This is a demo program showing the use of the DifferentialDrive class.
* Runs the motors with split arcade steering and an Xbox controller.
*/
class Robot : public frc::TimedRobot {
frc::PWMVictorSPX m_leftMotor{0};
frc::PWMVictorSPX m_rightMotor{1};
frc::DifferentialDrive m_robotDrive{m_leftMotor, m_rightMotor};
frc::XboxController m_driverController{0};
public:
void TeleopPeriodic() {
// Drive with split arcade style
// That means that the Y axis of the left stick moves forward
// and backward, and the X of the right stick turns left and right.
m_robotDrive.ArcadeDrive(
m_driverController.GetY(frc::GenericHID::JoystickHand::kLeftHand),
m_driverController.GetX(frc::GenericHID::JoystickHand::kRightHand));
}
};
#ifndef RUNNING_FRC_TESTS
int main() { return frc::StartRobot<Robot>(); }
#endif

35
wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 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 <frc/GenericHID.h>
#include <frc/PWMVictorSPX.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>
#include <frc/drive/DifferentialDrive.h>
/**
* This is a demo program showing the use of the DifferentialDrive class.
* Runs the motors with tank steering and an Xbox controller.
*/
class Robot : public frc::TimedRobot {
frc::PWMVictorSPX m_leftMotor{0};
frc::PWMVictorSPX m_rightMotor{1};
frc::DifferentialDrive m_robotDrive{m_leftMotor, m_rightMotor};
frc::XboxController m_driverController{0};
public:
void TeleopPeriodic() {
// Drive with tank style
m_robotDrive.TankDrive(
m_driverController.GetY(frc::GenericHID::JoystickHand::kLeftHand),
m_driverController.GetY(frc::GenericHID::JoystickHand::kRightHand));
}
};
#ifndef RUNNING_FRC_TESTS
int main() { return frc::StartRobot<Robot>(); }
#endif

26
wpilibcExamples/src/main/cpp/examples/examples.json
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@@ -402,5 +402,31 @@
"foldername": "RamseteCommand",
"gradlebase": "cpp",
"commandversion": 2
},
{
"name": "Arcade Drive Xbox Controller",
"description": "An example program which demonstrates the use of Arcade Drive with the DifferentialDrive class and an Xbox Controller.",
"tags": [
"Getting Started with C++",
"Robot and Motor",
"XboxController",
"Complete List"
],
"foldername": "ArcadeDriveXboxController",
"gradlebase": "cpp",
"commandversion": 1
},
{
"name": "Tank Drive Xbox Controller",
"description": "An example program which demonstrates the use of Tank Drive with the DifferentialDrive class and an Xbox Controller.",
"tags": [
"Getting Started with C++",
"Robot and Motor",
"XboxController",
"Complete List"
],
"foldername": "TankDriveXboxController",
"gradlebase": "cpp",
"commandversion": 1
}
]