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

wpilibcExamples/src/main/cpp/examples/RomiReference/include/RobotContainer.h

@@ -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{

wpilibcExamples/src/main/cpp/examples/RomiReference/include/sensors/RomiGyro.h

@@ -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;
-};

wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.h

@@ -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;
 };

wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/OnBoardIO.h

@@ -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;
-};