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[examples] Make Romi/XRP Examples use appropriate vendordeps (#5665)

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This commit is contained in:
Zhiquan Yeo
2023-09-18 22:42:10 -04:00
committed by GitHub
parent daf7702007
commit 51dcb8b55a
33 changed files with 74 additions and 1693 deletions
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79
wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/sensors/RomiGyro.cpp
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@@ -1,79 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "sensors/RomiGyro.h"
RomiGyro::RomiGyro() : m_simDevice("Gyro:RomiGyro") {
if (m_simDevice) {
m_simDevice.CreateBoolean("init", hal::SimDevice::kOutput, true);
m_simRateX =
m_simDevice.CreateDouble("rate_x", hal::SimDevice::kInput, 0.0);
m_simRateY =
m_simDevice.CreateDouble("rate_y", hal::SimDevice::kInput, 0.0);
m_simRateZ =
m_simDevice.CreateDouble("rate_z", hal::SimDevice::kInput, 0.0);
m_simAngleX =
m_simDevice.CreateDouble("angle_x", hal::SimDevice::kInput, 0.0);
m_simAngleY =
m_simDevice.CreateDouble("angle_y", hal::SimDevice::kInput, 0.0);
m_simAngleZ =
m_simDevice.CreateDouble("angle_z", hal::SimDevice::kInput, 0.0);
}
}
double RomiGyro::GetRateX() {
if (m_simRateX) {
return m_simRateX.Get();
}
return 0.0;
}
double RomiGyro::GetRateY() {
if (m_simRateY) {
return m_simRateY.Get();
}
return 0.0;
}
double RomiGyro::GetRateZ() {
if (m_simRateZ) {
return m_simRateZ.Get();
}
return 0.0;
}
double RomiGyro::GetAngleX() {
if (m_simAngleX) {
return m_simAngleX.Get() - m_angleXOffset;
}
return 0.0;
}
double RomiGyro::GetAngleY() {
if (m_simAngleY) {
return m_simAngleY.Get() - m_angleYOffset;
}
return 0.0;
}
double RomiGyro::GetAngleZ() {
if (m_simAngleZ) {
return m_simAngleZ.Get() - m_angleZOffset;
}
return 0.0;
}
void RomiGyro::Reset() {
if (m_simAngleX) {
m_angleXOffset = m_simAngleX.Get();
m_angleYOffset = m_simAngleY.Get();
m_angleZOffset = m_simAngleZ.Get();
}
}

81
wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/OnBoardIO.cpp
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@@ -1,81 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "subsystems/OnBoardIO.h"
#include <frc/DigitalInput.h>
#include <frc/DigitalOutput.h>
#include <frc/Errors.h>
#include <frc/Timer.h>
OnBoardIO::OnBoardIO(OnBoardIO::ChannelMode dio1, OnBoardIO::ChannelMode dio2) {
if (dio1 == ChannelMode::INPUT) {
m_buttonB = std::make_unique<frc::DigitalInput>(1);
} else {
m_greenLed = std::make_unique<frc::DigitalOutput>(1);
}
if (dio2 == ChannelMode::INPUT) {
m_buttonC = std::make_unique<frc::DigitalInput>(2);
} else {
m_redLed = std::make_unique<frc::DigitalOutput>(2);
}
}
bool OnBoardIO::GetButtonAPressed() {
return m_buttonA.Get();
}
bool OnBoardIO::GetButtonBPressed() {
if (m_buttonB) {
return m_buttonB->Get();
}
auto currentTime = frc::Timer::GetFPGATimestamp();
if (currentTime > m_nextMessageTime) {
FRC_ReportError(frc::err::Error, "Button {} was not configured", "B");
m_nextMessageTime = currentTime + kMessageInterval;
}
return false;
}
bool OnBoardIO::GetButtonCPressed() {
if (m_buttonC) {
return m_buttonC->Get();
}
auto currentTime = frc::Timer::GetFPGATimestamp();
if (currentTime > m_nextMessageTime) {
FRC_ReportError(frc::err::Error, "Button {} was not configured", "C");
m_nextMessageTime = currentTime + kMessageInterval;
}
return false;
}
void OnBoardIO::SetGreenLed(bool value) {
if (m_greenLed) {
m_greenLed->Set(value);
} else {
auto currentTime = frc::Timer::GetFPGATimestamp();
if (currentTime > m_nextMessageTime) {
FRC_ReportError(frc::err::Error, "{} LED was not configured", "Green");
m_nextMessageTime = currentTime + kMessageInterval;
}
}
}
void OnBoardIO::SetRedLed(bool value) {
if (m_redLed) {
m_redLed->Set(value);
} else {
auto currentTime = frc::Timer::GetFPGATimestamp();
if (currentTime > m_nextMessageTime) {
FRC_ReportError(frc::err::Error, "{} LED was not configured", "Red");
m_nextMessageTime = currentTime + kMessageInterval;
}
}
}
void OnBoardIO::SetYellowLed(bool value) {
m_yellowLed.Set(value);
}

6
wpilibcExamples/src/main/cpp/examples/RomiReference/include/RobotContainer.h
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@@ -5,6 +5,7 @@
#pragma once
#include <frc/Joystick.h>
#include <frc/romi/OnBoardIO.h>
#include <frc/smartdashboard/SendableChooser.h>
#include <frc2/command/Command.h>
#include <frc2/command/CommandPtr.h>
@@ -14,7 +15,6 @@
#include "commands/AutonomousDistance.h"
#include "commands/AutonomousTime.h"
#include "subsystems/Drivetrain.h"
#include "subsystems/OnBoardIO.h"
/**
* This class is where the bulk of the robot should be declared. Since
@@ -47,8 +47,8 @@ class RobotContainer {
// The robot's subsystems
Drivetrain m_drive;
OnBoardIO m_onboardIO{OnBoardIO::ChannelMode::INPUT,
OnBoardIO::ChannelMode::INPUT};
frc::OnBoardIO m_onboardIO{frc::OnBoardIO::ChannelMode::INPUT,
frc::OnBoardIO::ChannelMode::INPUT};
// Example button
frc2::Trigger m_onboardButtonA{

60
wpilibcExamples/src/main/cpp/examples/RomiReference/include/sensors/RomiGyro.h
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@@ -1,60 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <hal/SimDevice.h>
class RomiGyro {
public:
RomiGyro();
/**
* Gets the rate of turn in degrees-per-second around the X-axis
*/
double GetRateX();
/**
* Gets the rate of turn in degrees-per-second around the Y-axis
*/
double GetRateY();
/**
* Gets the rate of turn in degrees-per-second around the Z-axis
*/
double GetRateZ();
/**
* Gets the currently reported angle around the X-axis
*/
double GetAngleX();
/**
* Gets the currently reported angle around the X-axis
*/
double GetAngleY();
/**
* Gets the currently reported angle around the X-axis
*/
double GetAngleZ();
/**
* Resets the gyro
*/
void Reset();
private:
hal::SimDevice m_simDevice;
hal::SimDouble m_simRateX;
hal::SimDouble m_simRateY;
hal::SimDouble m_simRateZ;
hal::SimDouble m_simAngleX;
hal::SimDouble m_simAngleY;
hal::SimDouble m_simAngleZ;
double m_angleXOffset = 0;
double m_angleYOffset = 0;
double m_angleZOffset = 0;
};

5
wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.h
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@@ -8,11 +8,10 @@
#include <frc/Encoder.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc/motorcontrol/Spark.h>
#include <frc/romi/RomiGyro.h>
#include <frc2/command/SubsystemBase.h>
#include <units/length.h>
#include "sensors/RomiGyro.h"
class Drivetrain : public frc2::SubsystemBase {
public:
static constexpr double kCountsPerRevolution = 1440.0;
@@ -117,6 +116,6 @@ class Drivetrain : public frc2::SubsystemBase {
frc::DifferentialDrive m_drive{m_leftMotor, m_rightMotor};
RomiGyro m_gyro;
frc::RomiGyro m_gyro;
frc::BuiltInAccelerometer m_accelerometer;
};

72
wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/OnBoardIO.h
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@@ -1,72 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <memory>
#include <frc/DigitalInput.h>
#include <frc/DigitalOutput.h>
#include <frc2/command/SubsystemBase.h>
/**
* This class represents the onboard IO of the Romi
* reference robot. This includes the pushbuttons and
* LEDs.
*
* <p>DIO 0 - Button A (input only)
* DIO 1 - Button B (input) or Green LED (output)
* DIO 2 - Button C (input) or Red LED (output)
* DIO 3 - Yellow LED (output only)
*/
class OnBoardIO : public frc2::SubsystemBase {
public:
enum ChannelMode { INPUT, OUTPUT };
OnBoardIO(OnBoardIO::ChannelMode dio1, OnBoardIO::ChannelMode dio2);
static constexpr auto kMessageInterval = 1_s;
units::second_t m_nextMessageTime = 0_s;
/**
* Gets if the A button is pressed.
*/
bool GetButtonAPressed();
/**
* Gets if the B button is pressed.
*/
bool GetButtonBPressed();
/**
* Gets if the C button is pressed.
*/
bool GetButtonCPressed();
/**
* Sets the green LED.
*/
void SetGreenLed(bool value);
/**
* Sets the red LED.
*/
void SetRedLed(bool value);
/**
* Sets the yellow LED.
*/
void SetYellowLed(bool value);
private:
frc::DigitalInput m_buttonA{0};
frc::DigitalOutput m_yellowLed{3};
// DIO 1
std::unique_ptr<frc::DigitalInput> m_buttonB;
std::unique_ptr<frc::DigitalOutput> m_greenLed;
// DIO 2
std::unique_ptr<frc::DigitalInput> m_buttonC;
std::unique_ptr<frc::DigitalOutput> m_redLed;
};

5
wpilibcExamples/src/main/cpp/examples/examples.json
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@@ -686,7 +686,10 @@
],
"foldername": "RomiReference",
"gradlebase": "cppromi",
"commandversion": 2
"commandversion": 2,
"extravendordeps": [
"romi"
]
},
{
"name": "StateSpaceFlywheel",

10
wpilibcExamples/src/main/cpp/templates/templates.json
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@@ -82,7 +82,10 @@
],
"foldername": "commandbased",
"gradlebase": "cppromi",
"commandversion": 2
"commandversion": 2,
"extravendordeps": [
"romi"
]
},
{
"name": "Romi - Timed Robot",
@@ -93,6 +96,9 @@
],
"foldername": "timed",
"gradlebase": "cppromi",
"commandversion": 2
"commandversion": 2,
"extravendordeps": [
"romi"
]
}
]