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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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2
wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/subsystems/Arm.h
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@@ -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};

4
wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
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@@ -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};

4
wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
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@@ -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};

2
wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/subsystems/ShooterSubsystem.cpp
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@@ -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]),

2
wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/DriveStraight.cpp
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@@ -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); },

2
wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetDistanceToBox.cpp
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@@ -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); },

2
wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Elevator.cpp
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@@ -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

2
wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Wrist.cpp
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@@ -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");

4
wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp
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@@ -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

2
wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/commands/TurnToAngle.cpp
View File

@@ -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

8
wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h
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@@ -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};

12
wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp
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@@ -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) {

2
wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp
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@@ -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,

8
wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h
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@@ -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};

2
wpilibcExamples/src/main/cpp/examples/PotentiometerPID/include/Robot.h
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@@ -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;

4
wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
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@@ -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})};

4
wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h
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@@ -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};

4
wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h
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@@ -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};

4
wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp
View File

@@ -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});

2
wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h
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@@ -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,

4
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
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@@ -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); },

2
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/SwerveModule.h
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@@ -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,

2
wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h
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@@ -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,

2
wpilibcExamples/src/main/cpp/examples/UltrasonicPID/include/Robot.h
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@@ -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};
};