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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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55
wpilibcExamples/src/main/cpp/examples/Ultrasonic/src/Robot.cpp
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@@ -15,40 +15,39 @@
* proportional control to maintain a set distance from an object.
*/
class Robot : public frc::IterativeRobot {
public:
/**
* Tells the robot to drive to a set distance (in inches) from an object
* using proportional control.
*/
void TeleopPeriodic() override {
// sensor returns a value from 0-4095 that is scaled to inches
double currentDistance =
m_ultrasonic.GetValue() * kValueToInches;
// convert distance error to a motor speed
double currentSpeed = (kHoldDistance - currentDistance) * kP;
// drive robot
m_robotDrive.ArcadeDrive(currentSpeed, 0);
}
public:
/**
* Tells the robot to drive to a set distance (in inches) from an object using
* proportional control.
*/
void TeleopPeriodic() override {
// Sensor returns a value from 0-4095 that is scaled to inches
double currentDistance = m_ultrasonic.GetValue() * kValueToInches;
// Convert distance error to a motor speed
double currentSpeed = (kHoldDistance - currentDistance) * kP;
// Drive robot
m_robotDrive.ArcadeDrive(currentSpeed, 0);
}
private:
// Distance in inches the robot wants to stay from an object
static constexpr int kHoldDistance = 12;
private:
// Distance in inches the robot wants to stay from an object
static constexpr int kHoldDistance = 12;
// Factor to convert sensor values to a distance in inches
static constexpr double kValueToInches = 0.125;
// Factor to convert sensor values to a distance in inches
static constexpr double kValueToInches = 0.125;
// Proportional speed constant
static constexpr double kP = 0.05;
// Proportional speed constant
static constexpr double kP = 0.05;
static constexpr int kLeftMotorPort = 0;
static constexpr int kRightMotorPort = 1;
static constexpr int kUltrasonicPort = 0;
static constexpr int kLeftMotorPort = 0;
static constexpr int kRightMotorPort = 1;
static constexpr int kUltrasonicPort = 0;
frc::AnalogInput m_ultrasonic{kUltrasonicPort};
frc::AnalogInput m_ultrasonic{kUltrasonicPort};
frc::Spark m_left{kLeftMotorPort};
frc::Spark m_right{kRightMotorPort};
frc::DifferentialDrive m_robotDrive{m_left, m_right};
frc::Spark m_left{kLeftMotorPort};
frc::Spark m_right{kRightMotorPort};
frc::DifferentialDrive m_robotDrive{m_left, m_right};
};
START_ROBOT_CLASS(Robot)