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[wpimath] Move PIDController from frc2 to frc namespace (#5640)

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The old PIDController class in the frc namespace was removed for the
2023 season.
This commit is contained in:
Tyler Veness
2023-09-15 19:57:31 -07:00
committed by GitHub
parent 494cfd78c1
commit 4bac4dd0f4
50 changed files with 189 additions and 193 deletions
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12
wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp
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@@ -16,7 +16,7 @@ RamseteCommand::RamseteCommand(
frc::SimpleMotorFeedforward<units::meters> feedforward,
frc::DifferentialDriveKinematics kinematics,
std::function<frc::DifferentialDriveWheelSpeeds()> wheelSpeeds,
frc2::PIDController leftController, frc2::PIDController rightController,
frc::PIDController leftController, frc::PIDController rightController,
std::function<void(units::volt_t, units::volt_t)> output,
std::initializer_list<Subsystem*> requirements)
: m_trajectory(std::move(trajectory)),
@@ -25,8 +25,8 @@ RamseteCommand::RamseteCommand(
m_feedforward(feedforward),
m_kinematics(std::move(kinematics)),
m_speeds(std::move(wheelSpeeds)),
m_leftController(std::make_unique<frc2::PIDController>(leftController)),
m_rightController(std::make_unique<frc2::PIDController>(rightController)),
m_leftController(std::make_unique<frc::PIDController>(leftController)),
m_rightController(std::make_unique<frc::PIDController>(rightController)),
m_outputVolts(std::move(output)),
m_usePID(true) {
AddRequirements(requirements);
@@ -38,7 +38,7 @@ RamseteCommand::RamseteCommand(
frc::SimpleMotorFeedforward<units::meters> feedforward,
frc::DifferentialDriveKinematics kinematics,
std::function<frc::DifferentialDriveWheelSpeeds()> wheelSpeeds,
frc2::PIDController leftController, frc2::PIDController rightController,
frc::PIDController leftController, frc::PIDController rightController,
std::function<void(units::volt_t, units::volt_t)> output,
std::span<Subsystem* const> requirements)
: m_trajectory(std::move(trajectory)),
@@ -47,8 +47,8 @@ RamseteCommand::RamseteCommand(
m_feedforward(feedforward),
m_kinematics(std::move(kinematics)),
m_speeds(std::move(wheelSpeeds)),
m_leftController(std::make_unique<frc2::PIDController>(leftController)),
m_rightController(std::make_unique<frc2::PIDController>(rightController)),
m_leftController(std::make_unique<frc::PIDController>(leftController)),
m_rightController(std::make_unique<frc::PIDController>(rightController)),
m_outputVolts(std::move(output)),
m_usePID(true) {
AddRequirements(requirements);