[wpilib] Move Field2d to SmartDashboard

wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp

@@ -12,6 +12,7 @@
 #include <frc/geometry/Rotation2d.h>
 #include <frc/kinematics/DifferentialDriveWheelSpeeds.h>
 #include <frc/simulation/SimDeviceSim.h>
+#include <frc/smartdashboard/SmartDashboard.h>
 
 using namespace DriveConstants;
 
@@ -53,6 +54,7 @@ void DriveSubsystem::SimulationPeriodic() {
       -m_drivetrainSimulator.GetHeading().Degrees().to<double>());
 
   m_fieldSim.SetRobotPose(m_odometry.GetPose());
+  frc::SmartDashboard::PutData("Field", &m_fieldSim);
 }
 
 units::ampere_t DriveSubsystem::GetCurrentDraw() const {

wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h

@@ -17,7 +17,7 @@
 #include <frc/simulation/AnalogGyroSim.h>
 #include <frc/simulation/DifferentialDrivetrainSim.h>
 #include <frc/simulation/EncoderSim.h>
-#include <frc/simulation/Field2d.h>
+#include <frc/smartdashboard/Field2d.h>
 #include <frc2/command/SubsystemBase.h>
 #include <units/voltage.h>
 
@@ -169,7 +169,6 @@ class DriveSubsystem : public frc2::SubsystemBase {
   frc::sim::EncoderSim m_rightEncoderSim{m_rightEncoder};
   frc::sim::AnalogGyroSim m_gyroAngleSim{m_gyro};
 
-  // The Field2d class simulates the field in the sim GUI. Note that we can have
-  // only one instance!
+  // The Field2d class shows the field in the sim GUI.
   frc::Field2d m_fieldSim;
 };