Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

5
wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.h
View File

@@ -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
View File

@@ -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;
};