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Run wpiformat on merged repo (#1021)

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This commit is contained in:
Tyler Veness
2018-05-13 17:09:56 -07:00
committed by Peter Johnson
parent 0babbf317c
commit 6729a7d6b1
481 changed files with 9581 additions and 6828 deletions
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88
wpilibcExamples/src/main/cpp/examples/PotentiometerPID/src/Robot.cpp
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@@ -19,62 +19,56 @@
* mechanism.
*/
class Robot : public frc::IterativeRobot {
public:
void RobotInit() override { m_pidController.SetInputRange(0, 5); }
public:
void RobotInit() override { m_pidController.SetInputRange(0, 5); }
void TeleopInit() override { m_pidController.Enable(); }
void TeleopInit() override { m_pidController.Enable(); }
void TeleopPeriodic() override {
// when the button is pressed once, the selected elevator
// setpoint
// is incremented
bool currentButtonValue = m_joystick.GetTrigger();
if (currentButtonValue && !m_previousButtonValue) {
// index of the elevator setpoint wraps around.
m_index = (m_index + 1) % (sizeof(kSetPoints) / 8);
}
m_previousButtonValue = currentButtonValue;
void TeleopPeriodic() override {
// When the button is pressed once, the selected elevator setpoint is
// incremented.
bool currentButtonValue = m_joystick.GetTrigger();
if (currentButtonValue && !m_previousButtonValue) {
// Index of the elevator setpoint wraps around
m_index = (m_index + 1) % (sizeof(kSetPoints) / 8);
}
m_previousButtonValue = currentButtonValue;
m_pidController.SetSetpoint(kSetPoints[m_index]);
}
m_pidController.SetSetpoint(kSetPoints[m_index]);
}
private:
static constexpr int kPotChannel = 1;
static constexpr int kMotorChannel = 7;
static constexpr int kJoystickChannel = 0;
private:
static constexpr int kPotChannel = 1;
static constexpr int kMotorChannel = 7;
static constexpr int kJoystickChannel = 0;
// Bottom, middle, and top elevator setpoints
static constexpr std::array<double, 3> kSetPoints = {{1.0, 2.6, 4.3}};
// Bottom, middle, and top elevator setpoints
static constexpr std::array<double, 3> kSetPoints = {{1.0, 2.6, 4.3}};
/* proportional, integral, and derivative speed constants; motor
* inverted
* DANGER: when tuning PID constants, high/inappropriate values for
* pGain,
* iGain, and dGain may cause dangerous, uncontrollable, or
* undesired behavior!
*
* These may need to be positive for a non-inverted motor
*/
static constexpr double kP = -5.0;
static constexpr double kI = -0.02;
static constexpr double kD = -2.0;
/* Proportional, integral, and derivative speed constants; motor inverted.
*
* DANGER: When tuning PID constants, high/inappropriate values for pGain,
* iGain, and dGain may cause dangerous, uncontrollable, or undesired
* behavior!
*
* These may need to be positive for a non-inverted motor.
*/
static constexpr double kP = -5.0;
static constexpr double kI = -0.02;
static constexpr double kD = -2.0;
int m_index = 0;
bool m_previousButtonValue = false;
int m_index = 0;
bool m_previousButtonValue = false;
frc::AnalogInput m_potentiometer{kPotChannel};
frc::Joystick m_joystick{kJoystickChannel};
frc::Spark m_elevatorMotor{kMotorChannel};
frc::AnalogInput m_potentiometer{kPotChannel};
frc::Joystick m_joystick{kJoystickChannel};
frc::Spark m_elevatorMotor{kMotorChannel};
/* potentiometer (AnalogInput) and elevatorMotor (Victor) can be used as
* a
* PIDSource and PIDOutput respectively. The PIDController takes
* pointers
* to the PIDSource and PIDOutput, so you must use &potentiometer and
* &elevatorMotor to get their pointers.
*/
frc::PIDController m_pidController{
kP, kI, kD, &m_potentiometer, &m_elevatorMotor};
/* Potentiometer (AnalogInput) and elevatorMotor (Victor) can be used as a
* PIDSource and PIDOutput respectively.
*/
frc::PIDController m_pidController{kP, kI, kD, m_potentiometer,
m_elevatorMotor};
};
constexpr std::array<double, 3> Robot::kSetPoints;