SCRIPT Move cc files

wpilibcExamples/src/main/cpp/examples/PotentiometerPID/include/Robot.hpp

@@ -0,0 +1,55 @@
+// 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 <array>
+
+#include <frc/AnalogPotentiometer.h>
+#include <frc/Joystick.h>
+#include <frc/TimedRobot.h>
+#include <frc/controller/PIDController.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
+#include <units/length.h>
+
+/**
+ * This is a sample program to demonstrate how to use a soft potentiometer and a
+ * PID controller to reach and maintain position setpoints on an elevator
+ * mechanism.
+ */
+class Robot : public frc::TimedRobot {
+ public:
+  void TeleopInit() override;
+  void TeleopPeriodic() override;
+
+  static constexpr int kPotChannel = 1;
+  static constexpr int kMotorChannel = 7;
+  static constexpr int kJoystickChannel = 3;
+
+  // The elevator can move 1.5 meters from top to bottom
+  static constexpr units::meter_t kFullHeight = 1.5_m;
+
+  // Bottom, middle, and top elevator setpoints
+  static constexpr std::array<units::meter_t, 3> kSetpoints = {
+      {0.2_m, 0.8_m, 1.4_m}};
+
+ private:
+  // proportional speed constant
+  // negative because applying positive voltage will bring us closer to the
+  // target
+  static constexpr double kP = 0.7;
+  // integral speed constant
+  static constexpr double kI = 0.35;
+  // derivative speed constant
+  static constexpr double kD = 0.25;
+
+  // Scaling is handled internally
+  frc::AnalogPotentiometer m_potentiometer{kPotChannel, kFullHeight.value()};
+
+  frc::PWMSparkMax m_elevatorMotor{kMotorChannel};
+  frc::PIDController m_pidController{kP, kI, kD};
+  frc::Joystick m_joystick{kJoystickChannel};
+
+  size_t m_index;
+};