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

The old PIDController class in the frc namespace was removed for the 2023 season.
2026-06-20 00:51:42 +00:00 · 2023-09-15 19:57:31 -07:00
parent 494cfd78c1
commit 4bac4dd0f4
50 changed files with 189 additions and 193 deletions
--- a/wpilibcExamples/src/main/cpp/commands/pidcommand/ReplaceMePIDCommand.cpp
+++ b/wpilibcExamples/src/main/cpp/commands/pidcommand/ReplaceMePIDCommand.cpp
@@ -8,7 +8,7 @@
 // For more information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 ReplaceMePIDCommand::ReplaceMePIDCommand()
-    : CommandHelper{frc2::PIDController{0, 0, 0},
+    : CommandHelper{frc::PIDController{0, 0, 0},
                    // This should return the measurement
                    [] { return 0; },
                    // This should return the setpoint (can also be a constant)
--- a/wpilibcExamples/src/main/cpp/commands/pidsubsystem2/ReplaceMePIDSubsystem2.cpp
+++ b/wpilibcExamples/src/main/cpp/commands/pidsubsystem2/ReplaceMePIDSubsystem2.cpp
@@ -6,7 +6,7 @@

 ReplaceMePIDSubsystem2::ReplaceMePIDSubsystem2()
    // The PIDController used by the subsystem
-    : PIDSubsystem{frc2::PIDController{0, 0, 0}} {}
+    : PIDSubsystem{frc::PIDController{0, 0, 0}} {}

 void ReplaceMePIDSubsystem2::UseOutput(double output, double setpoint) {
  // Use the output here
--- a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/subsystems/Arm.h
+++ b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/subsystems/Arm.h
@@ -37,7 +37,7 @@ class Arm {
  frc::DCMotor m_armGearbox = frc::DCMotor::Vex775Pro(2);

  // Standard classes for controlling our arm
-  frc2::PIDController m_controller{m_armKp, 0, 0};
+  frc::PIDController m_controller{m_armKp, 0, 0};
  frc::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
  frc::PWMSparkMax m_motor{kMotorPort};

--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
@@ -69,8 +69,8 @@ class Drivetrain {
  frc::Encoder m_leftEncoder{0, 1};
  frc::Encoder m_rightEncoder{2, 3};

-  frc2::PIDController m_leftPIDController{1.0, 0.0, 0.0};
-  frc2::PIDController m_rightPIDController{1.0, 0.0, 0.0};
+  frc::PIDController m_leftPIDController{1.0, 0.0, 0.0};
+  frc::PIDController m_rightPIDController{1.0, 0.0, 0.0};

  frc::AnalogGyro m_gyro{0};

--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
@@ -146,8 +146,8 @@ class Drivetrain {
  frc::Encoder m_leftEncoder{0, 1};
  frc::Encoder m_rightEncoder{2, 3};

-  frc2::PIDController m_leftPIDController{1.0, 0.0, 0.0};
-  frc2::PIDController m_rightPIDController{1.0, 0.0, 0.0};
+  frc::PIDController m_leftPIDController{1.0, 0.0, 0.0};
+  frc::PIDController m_rightPIDController{1.0, 0.0, 0.0};

  frc::AnalogGyro m_gyro{0};

--- a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/subsystems/ShooterSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/subsystems/ShooterSubsystem.cpp
@@ -11,7 +11,7 @@
 using namespace ShooterConstants;

 ShooterSubsystem::ShooterSubsystem()
-    : PIDSubsystem{frc2::PIDController{kP, kI, kD}},
+    : PIDSubsystem{frc::PIDController{kP, kI, kD}},
      m_shooterMotor(kShooterMotorPort),
      m_feederMotor(kFeederMotorPort),
      m_shooterEncoder(kEncoderPorts[0], kEncoderPorts[1]),
--- a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/DriveStraight.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/DriveStraight.cpp
@@ -10,7 +10,7 @@

 DriveStraight::DriveStraight(double distance, Drivetrain& drivetrain)
    : frc2::CommandHelper<frc2::PIDCommand, DriveStraight>{
-          frc2::PIDController{4, 0, 0},
+          frc::PIDController{4, 0, 0},
          [&drivetrain] { return drivetrain.GetDistance(); },
          distance,
          [&drivetrain](double output) { drivetrain.Drive(output, output); },
--- a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetDistanceToBox.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetDistanceToBox.cpp
@@ -10,7 +10,7 @@

 SetDistanceToBox::SetDistanceToBox(double distance, Drivetrain& drivetrain)
    : frc2::CommandHelper<frc2::PIDCommand, SetDistanceToBox>{
-          frc2::PIDController{-2, 0, 0},
+          frc::PIDController{-2, 0, 0},
          [&drivetrain] { return drivetrain.GetDistanceToObstacle(); },
          distance,
          [&drivetrain](double output) { drivetrain.Drive(output, output); },
--- a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Elevator.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Elevator.cpp
@@ -9,7 +9,7 @@
 #include <frc/smartdashboard/SmartDashboard.h>

 Elevator::Elevator()
-    : frc2::PIDSubsystem{frc2::PIDController{kP_real, kI_real, 0}} {
+    : frc2::PIDSubsystem{frc::PIDController{kP_real, kI_real, 0}} {
 #ifdef SIMULATION  // Check for simulation and update PID values
  GetPIDController()->SetPID(kP_simulation, kI_simulation, 0, 0);
 #endif
--- a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Wrist.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Wrist.cpp
@@ -7,7 +7,7 @@
 #include <frc/controller/PIDController.h>
 #include <frc/smartdashboard/SmartDashboard.h>

-Wrist::Wrist() : frc2::PIDSubsystem{frc2::PIDController{kP, 0, 0}} {
+Wrist::Wrist() : frc2::PIDSubsystem{frc::PIDController{kP, 0, 0}} {
  m_controller.SetTolerance(2.5);

  SetName("Wrist");
--- a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp
@@ -35,8 +35,8 @@ void RobotContainer::ConfigureButtonBindings() {
  frc2::JoystickButton(&m_driverController, frc::PS4Controller::Button::kL1)
      .WhileTrue(
          frc2::PIDCommand(
-              frc2::PIDController{dc::kStabilizationP, dc::kStabilizationI,
-                                  dc::kStabilizationD},
+              frc::PIDController{dc::kStabilizationP, dc::kStabilizationI,
+                                 dc::kStabilizationD},
              // Close the loop on the turn rate
              [this] { return m_drive.GetTurnRate(); },
              // Setpoint is 0
--- a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/commands/TurnToAngle.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/commands/TurnToAngle.cpp
@@ -9,7 +9,7 @@
 using namespace DriveConstants;

 TurnToAngle::TurnToAngle(units::degree_t target, DriveSubsystem* drive)
-    : CommandHelper{frc2::PIDController{kTurnP, kTurnI, kTurnD},
+    : CommandHelper{frc::PIDController{kTurnP, kTurnI, kTurnD},
                    // Close loop on heading
                    [drive] { return drive->GetHeading().value(); },
                    // Set reference to target
--- a/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h
@@ -59,10 +59,10 @@ class Drivetrain {
  frc::Translation2d m_backLeftLocation{-0.381_m, 0.381_m};
  frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};

-  frc2::PIDController m_frontLeftPIDController{1.0, 0.0, 0.0};
-  frc2::PIDController m_frontRightPIDController{1.0, 0.0, 0.0};
-  frc2::PIDController m_backLeftPIDController{1.0, 0.0, 0.0};
-  frc2::PIDController m_backRightPIDController{1.0, 0.0, 0.0};
+  frc::PIDController m_frontLeftPIDController{1.0, 0.0, 0.0};
+  frc::PIDController m_frontRightPIDController{1.0, 0.0, 0.0};
+  frc::PIDController m_backLeftPIDController{1.0, 0.0, 0.0};
+  frc::PIDController m_backRightPIDController{1.0, 0.0, 0.0};

  frc::AnalogGyro m_gyro{0};

--- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp
@@ -71,8 +71,8 @@ frc2::Command* RobotContainer::GetAutonomousCommand() {
      frc::SimpleMotorFeedforward<units::meters>(ks, kv, ka),
      DriveConstants::kDriveKinematics,

-      frc2::PIDController{AutoConstants::kPXController, 0, 0},
-      frc2::PIDController{AutoConstants::kPYController, 0, 0},
+      frc::PIDController{AutoConstants::kPXController, 0, 0},
+      frc::PIDController{AutoConstants::kPYController, 0, 0},
      frc::ProfiledPIDController<units::radians>(
          AutoConstants::kPThetaController, 0, 0,
          AutoConstants::kThetaControllerConstraints),
@@ -89,10 +89,10 @@ frc2::Command* RobotContainer::GetAutonomousCommand() {
                m_drive.GetRearRightEncoder().GetRate()}};
      },

-      frc2::PIDController{DriveConstants::kPFrontLeftVel, 0, 0},
-      frc2::PIDController{DriveConstants::kPRearLeftVel, 0, 0},
-      frc2::PIDController{DriveConstants::kPFrontRightVel, 0, 0},
-      frc2::PIDController{DriveConstants::kPRearRightVel, 0, 0},
+      frc::PIDController{DriveConstants::kPFrontLeftVel, 0, 0},
+      frc::PIDController{DriveConstants::kPRearLeftVel, 0, 0},
+      frc::PIDController{DriveConstants::kPFrontRightVel, 0, 0},
+      frc::PIDController{DriveConstants::kPRearRightVel, 0, 0},

      [this](units::volt_t frontLeft, units::volt_t rearLeft,
             units::volt_t frontRight, units::volt_t rearRight) {
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp
@@ -24,7 +24,7 @@ frc::MecanumDriveWheelPositions Drivetrain::GetCurrentDistances() const {

 void Drivetrain::SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds) {
  std::function<void(units::meters_per_second_t, const frc::Encoder&,
-                     frc2::PIDController&, frc::PWMSparkMax&)>
+                     frc::PIDController&, frc::PWMSparkMax&)>
      calcAndSetSpeeds = [&m_feedforward = m_feedforward](
                             units::meters_per_second_t speed,
                             const auto& encoder, auto& controller,
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h
@@ -59,10 +59,10 @@ class Drivetrain {
  frc::Translation2d m_backLeftLocation{-0.381_m, 0.381_m};
  frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};

-  frc2::PIDController m_frontLeftPIDController{1.0, 0.0, 0.0};
-  frc2::PIDController m_frontRightPIDController{1.0, 0.0, 0.0};
-  frc2::PIDController m_backLeftPIDController{1.0, 0.0, 0.0};
-  frc2::PIDController m_backRightPIDController{1.0, 0.0, 0.0};
+  frc::PIDController m_frontLeftPIDController{1.0, 0.0, 0.0};
+  frc::PIDController m_frontRightPIDController{1.0, 0.0, 0.0};
+  frc::PIDController m_backLeftPIDController{1.0, 0.0, 0.0};
+  frc::PIDController m_backRightPIDController{1.0, 0.0, 0.0};

  frc::AnalogGyro m_gyro{0};

--- a/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/include/Robot.h
+++ b/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/include/Robot.h
@@ -48,7 +48,7 @@ class Robot : public frc::TimedRobot {
  frc::AnalogPotentiometer m_potentiometer{kPotChannel, kFullHeight.value()};

  frc::PWMSparkMax m_elevatorMotor{kMotorChannel};
-  frc2::PIDController m_pidController{kP, kI, kD};
+  frc::PIDController m_pidController{kP, kI, kD};
  frc::Joystick m_joystick{kJoystickChannel};

  size_t m_index;
--- a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
@@ -76,8 +76,8 @@ frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
          DriveConstants::ks, DriveConstants::kv, DriveConstants::ka},
      DriveConstants::kDriveKinematics,
      [this] { return m_drive.GetWheelSpeeds(); },
-      frc2::PIDController{DriveConstants::kPDriveVel, 0, 0},
-      frc2::PIDController{DriveConstants::kPDriveVel, 0, 0},
+      frc::PIDController{DriveConstants::kPDriveVel, 0, 0},
+      frc::PIDController{DriveConstants::kPDriveVel, 0, 0},
      [this](auto left, auto right) { m_drive.TankDriveVolts(left, right); },
      {&m_drive})};

--- a/wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h
@@ -70,8 +70,8 @@ class Drivetrain {
  frc::Encoder m_leftEncoder{0, 1};
  frc::Encoder m_rightEncoder{2, 3};

-  frc2::PIDController m_leftPIDController{1.0, 0.0, 0.0};
-  frc2::PIDController m_rightPIDController{1.0, 0.0, 0.0};
+  frc::PIDController m_leftPIDController{1.0, 0.0, 0.0};
+  frc::PIDController m_rightPIDController{1.0, 0.0, 0.0};

  frc::AnalogGyro m_gyro{0};

--- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h
@@ -86,8 +86,8 @@ class Drivetrain {
  frc::Encoder m_leftEncoder{0, 1};
  frc::Encoder m_rightEncoder{2, 3};

-  frc2::PIDController m_leftPIDController{8.5, 0.0, 0.0};
-  frc2::PIDController m_rightPIDController{8.5, 0.0, 0.0};
+  frc::PIDController m_leftPIDController{8.5, 0.0, 0.0};
+  frc::PIDController m_rightPIDController{8.5, 0.0, 0.0};

  frc::AnalogGyro m_gyro{0};

--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp
@@ -91,8 +91,8 @@ frc2::Command* RobotContainer::GetAutonomousCommand() {
          DriveConstants::ks, DriveConstants::kv, DriveConstants::ka),
      DriveConstants::kDriveKinematics,
      [this] { return m_drive.GetWheelSpeeds(); },
-      frc2::PIDController{DriveConstants::kPDriveVel, 0, 0},
-      frc2::PIDController{DriveConstants::kPDriveVel, 0, 0},
+      frc::PIDController{DriveConstants::kPDriveVel, 0, 0},
+      frc::PIDController{DriveConstants::kPDriveVel, 0, 0},
      [this](auto left, auto right) { m_drive.TankDriveVolts(left, right); },
      {&m_drive});

--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h
@@ -42,7 +42,7 @@ class SwerveModule {
  frc::Encoder m_driveEncoder;
  frc::Encoder m_turningEncoder;

-  frc2::PIDController m_drivePIDController{1.0, 0, 0};
+  frc::PIDController m_drivePIDController{1.0, 0, 0};
  frc::ProfiledPIDController<units::radians> m_turningPIDController{
      1.0,
      0.0,
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
@@ -78,8 +78,8 @@ frc2::Command* RobotContainer::GetAutonomousCommand() {

      m_drive.kDriveKinematics,

-      frc2::PIDController{AutoConstants::kPXController, 0, 0},
-      frc2::PIDController{AutoConstants::kPYController, 0, 0}, thetaController,
+      frc::PIDController{AutoConstants::kPXController, 0, 0},
+      frc::PIDController{AutoConstants::kPYController, 0, 0}, thetaController,

      [this](auto moduleStates) { m_drive.SetModuleStates(moduleStates); },

--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/SwerveModule.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/SwerveModule.h
@@ -50,7 +50,7 @@ class SwerveModule {
  bool m_reverseDriveEncoder;
  bool m_reverseTurningEncoder;

-  frc2::PIDController m_drivePIDController{
+  frc::PIDController m_drivePIDController{
      ModuleConstants::kPModuleDriveController, 0, 0};
  frc::ProfiledPIDController<units::radians> m_turningPIDController{
      ModuleConstants::kPModuleTurningController,
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h
@@ -42,7 +42,7 @@ class SwerveModule {
  frc::Encoder m_driveEncoder;
  frc::Encoder m_turningEncoder;

-  frc2::PIDController m_drivePIDController{1.0, 0, 0};
+  frc::PIDController m_drivePIDController{1.0, 0, 0};
  frc::ProfiledPIDController<units::radians> m_turningPIDController{
      1.0,
      0.0,
--- a/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/include/Robot.h
+++ b/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/include/Robot.h
@@ -47,5 +47,5 @@ class Robot : public frc::TimedRobot {
  frc::PWMSparkMax m_left{kLeftMotorPort};
  frc::PWMSparkMax m_right{kRightMotorPort};
  frc::DifferentialDrive m_robotDrive{m_left, m_right};
-  frc2::PIDController m_pidController{kP, kI, kD};
+  frc::PIDController m_pidController{kP, kI, kD};
 };