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[wpimath] Move controller from wpilibj to wpimath (#3439)

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This commit is contained in:
Noam Zaks
2021-06-16 17:45:51 +03:00
committed by GitHub
parent 9ce9188ff6
commit 791770cf6e
64 changed files with 106 additions and 91 deletions
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2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidcommand/ReplaceMePIDCommand.java
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@@ -4,7 +4,7 @@
package edu.wpi.first.wpilibj.commands.pidcommand;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.wpilibj2.command.PIDCommand;
// NOTE: Consider using this command inline, rather than writing a subclass. For more

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidsubsystem2/ReplaceMePIDSubsystem.java
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@@ -4,7 +4,7 @@
package edu.wpi.first.wpilibj.commands.pidsubsystem2;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.wpilibj2.command.PIDSubsystem;
public class ReplaceMePIDSubsystem extends PIDSubsystem {

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.java
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@@ -4,8 +4,8 @@
package edu.wpi.first.wpilibj.commands.profiledpidcommand;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj2.command.ProfiledPIDCommand;
// NOTE: Consider using this command inline, rather than writing a subclass. For more

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.java
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@@ -4,8 +4,8 @@
package edu.wpi.first.wpilibj.commands.profiledpidsubsystem;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj2.command.ProfiledPIDSubsystem;
public class ReplaceMeProfiledPIDSubsystem extends ProfiledPIDSubsystem {

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java
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@@ -5,9 +5,9 @@
package edu.wpi.first.wpilibj.examples.armbot.subsystems;
import edu.wpi.first.math.controller.ArmFeedforward;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.examples.armbot.Constants.ArmConstants;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.ProfiledPIDSubsystem;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java
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@@ -5,13 +5,13 @@
package edu.wpi.first.wpilibj.examples.armsimulation;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.simulation.BatterySim;
import edu.wpi.first.wpilibj.simulation.EncoderSim;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java
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@@ -4,6 +4,7 @@
package edu.wpi.first.wpilibj.examples.differentialdrivebot;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
@@ -11,7 +12,6 @@ import edu.wpi.first.math.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
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@@ -5,6 +5,7 @@
package edu.wpi.first.wpilibj.examples.differentialdriveposeestimator;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.estimator.DifferentialDrivePoseEstimator;
import edu.wpi.first.math.geometry.Pose2d;
@@ -15,7 +16,6 @@ import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java
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@@ -4,11 +4,11 @@
package edu.wpi.first.wpilibj.examples.elevatorprofiledpid;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java
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@@ -5,13 +5,13 @@
package edu.wpi.first.wpilibj.examples.elevatorsimulation;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.simulation.BatterySim;
import edu.wpi.first.wpilibj.simulation.ElevatorSim;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java
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@@ -4,9 +4,9 @@
package edu.wpi.first.wpilibj.examples.frisbeebot.subsystems;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.ShooterConstants;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.PIDSubsystem;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/DriveStraight.java
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@@ -4,7 +4,7 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
import edu.wpi.first.wpilibj2.command.PIDCommand;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetDistanceToBox.java
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@@ -4,7 +4,7 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
import edu.wpi.first.wpilibj2.command.PIDCommand;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Elevator.java
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@@ -4,8 +4,8 @@
package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
import edu.wpi.first.wpilibj.motorcontrol.Victor;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java
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@@ -4,8 +4,8 @@
package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
import edu.wpi.first.wpilibj.motorcontrol.Victor;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java
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@@ -6,9 +6,9 @@ package edu.wpi.first.wpilibj.examples.gyrodrivecommands;
import static edu.wpi.first.wpilibj.XboxController.Button;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.OIConstants;
import edu.wpi.first.wpilibj.examples.gyrodrivecommands.commands.TurnToAngle;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngle.java
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@@ -4,7 +4,7 @@
package edu.wpi.first.wpilibj.examples.gyrodrivecommands.commands;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.gyrodrivecommands.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj2.command.PIDCommand;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngleProfiled.java
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@@ -4,8 +4,8 @@
package edu.wpi.first.wpilibj.examples.gyrodrivecommands.commands;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.gyrodrivecommands.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj2.command.ProfiledPIDCommand;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
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@@ -4,6 +4,7 @@
package edu.wpi.first.wpilibj.examples.mecanumbot;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
@@ -12,7 +13,6 @@ import edu.wpi.first.math.kinematics.MecanumDriveOdometry;
import edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java
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@@ -4,6 +4,8 @@
package edu.wpi.first.wpilibj.examples.mecanumcontrollercommand;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
@@ -13,8 +15,6 @@ import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.XboxController.Button;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.AutoConstants;
import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.OIConstants;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
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@@ -5,6 +5,7 @@
package edu.wpi.first.wpilibj.examples.mecanumdriveposeestimator;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.estimator.MecanumDrivePoseEstimator;
import edu.wpi.first.math.geometry.Pose2d;
@@ -16,7 +17,6 @@ import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java
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@@ -4,10 +4,10 @@
package edu.wpi.first.wpilibj.examples.potentiometerpid;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
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@@ -6,6 +6,7 @@ package edu.wpi.first.wpilibj.examples.ramsetecommand;
import static edu.wpi.first.wpilibj.XboxController.Button;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.RamseteController;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Pose2d;
@@ -17,7 +18,6 @@ import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import edu.wpi.first.math.trajectory.constraint.DifferentialDriveVoltageConstraint;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.AutoConstants;
import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.OIConstants;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Drivetrain.java
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@@ -4,6 +4,7 @@
package edu.wpi.first.wpilibj.examples.ramsetecontroller;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
@@ -12,7 +13,6 @@ import edu.wpi.first.math.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
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@@ -4,6 +4,7 @@
package edu.wpi.first.wpilibj.examples.simpledifferentialdrivesimulation;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
@@ -17,7 +18,6 @@ import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.simulation.AnalogGyroSim;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java
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@@ -4,6 +4,7 @@
package edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.RamseteController;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Pose2d;
@@ -16,7 +17,6 @@ import edu.wpi.first.math.trajectory.constraint.DifferentialDriveVoltageConstrai
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.XboxController.Button;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.RamseteCommand;

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
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@@ -4,13 +4,13 @@
package edu.wpi.first.wpilibj.examples.swervebot;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
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@@ -4,6 +4,8 @@
package edu.wpi.first.wpilibj.examples.swervecontrollercommand;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
@@ -12,8 +14,6 @@ import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.AutoConstants;
import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.OIConstants;

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
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@@ -4,12 +4,12 @@
package edu.wpi.first.wpilibj.examples.swervecontrollercommand.subsystems;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.ModuleConstants;
import edu.wpi.first.wpilibj.motorcontrol.Spark;

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/SwerveModule.java
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@@ -4,13 +4,13 @@
package edu.wpi.first.wpilibj.examples.swervedriveposeestimator;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
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@@ -4,10 +4,10 @@
package edu.wpi.first.wpilibj.examples.ultrasonicpid;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.filter.MedianFilter;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;