Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

SCRIPT namespace replacements

Browse Source
This commit is contained in:
PJ Reiniger
2025-11-07 20:00:05 -05:00
committed by Peter Johnson
parent ae6c043632
commit 9aca8e0fd6
2622 changed files with 22275 additions and 22275 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Drivetrain.cpp
View File

@@ -4,7 +4,7 @@
#include "Drivetrain.hpp"
void Drivetrain::SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds) {
void Drivetrain::SetSpeeds(const wpi::math::DifferentialDriveWheelSpeeds& speeds) {
const auto leftFeedforward = m_feedforward.Calculate(speeds.left);
const auto rightFeedforward = m_feedforward.Calculate(speeds.right);
const double leftOutput = m_leftPIDController.Calculate(
@@ -12,17 +12,17 @@ void Drivetrain::SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds) {
const double rightOutput = m_rightPIDController.Calculate(
m_rightEncoder.GetRate(), speeds.right.value());
m_leftLeader.SetVoltage(units::volt_t{leftOutput} + leftFeedforward);
m_rightLeader.SetVoltage(units::volt_t{rightOutput} + rightFeedforward);
m_leftLeader.SetVoltage(wpi::units::volt_t{leftOutput} + leftFeedforward);
m_rightLeader.SetVoltage(wpi::units::volt_t{rightOutput} + rightFeedforward);
}
void Drivetrain::Drive(units::meters_per_second_t xSpeed,
units::radians_per_second_t rot) {
void Drivetrain::Drive(wpi::units::meters_per_second_t xSpeed,
wpi::units::radians_per_second_t rot) {
SetSpeeds(m_kinematics.ToWheelSpeeds({xSpeed, 0_mps, rot}));
}
void Drivetrain::UpdateOdometry() {
m_odometry.Update(m_imu.GetRotation2d(),
units::meter_t{m_leftEncoder.GetDistance()},
units::meter_t{m_rightEncoder.GetDistance()});
wpi::units::meter_t{m_leftEncoder.GetDistance()},
wpi::units::meter_t{m_rightEncoder.GetDistance()});
}

10
wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Robot.cpp
View File

@@ -8,7 +8,7 @@
#include "Drivetrain.hpp"
class Robot : public frc::TimedRobot {
class Robot : public wpi::TimedRobot {
public:
void AutonomousPeriodic() override {
TeleopPeriodic();
@@ -32,18 +32,18 @@ class Robot : public frc::TimedRobot {
}
private:
frc::XboxController m_controller{0};
wpi::XboxController m_controller{0};
// Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0
// to 1.
frc::SlewRateLimiter<units::scalar> m_speedLimiter{3 / 1_s};
frc::SlewRateLimiter<units::scalar> m_rotLimiter{3 / 1_s};
wpi::math::SlewRateLimiter<wpi::units::scalar> m_speedLimiter{3 / 1_s};
wpi::math::SlewRateLimiter<wpi::units::scalar> m_rotLimiter{3 / 1_s};
Drivetrain m_drive;
};
#ifndef RUNNING_FRC_TESTS
int main() {
return frc::StartRobot<Robot>();
return wpi::StartRobot<Robot>();
}
#endif

40
wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.hpp
View File

@@ -45,40 +45,40 @@ class Drivetrain {
m_rightEncoder.Reset();
}
static constexpr units::meters_per_second_t kMaxSpeed =
static constexpr wpi::units::meters_per_second_t kMaxSpeed =
3.0_mps; // 3 meters per second
static constexpr units::radians_per_second_t kMaxAngularSpeed{
static constexpr wpi::units::radians_per_second_t kMaxAngularSpeed{
std::numbers::pi}; // 1/2 rotation per second
void SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds);
void Drive(units::meters_per_second_t xSpeed,
units::radians_per_second_t rot);
void SetSpeeds(const wpi::math::DifferentialDriveWheelSpeeds& speeds);
void Drive(wpi::units::meters_per_second_t xSpeed,
wpi::units::radians_per_second_t rot);
void UpdateOdometry();
private:
static constexpr units::meter_t kTrackwidth = 0.381_m * 2;
static constexpr wpi::units::meter_t kTrackwidth = 0.381_m * 2;
static constexpr double kWheelRadius = 0.0508; // meters
static constexpr int kEncoderResolution = 4096;
frc::PWMSparkMax m_leftLeader{1};
frc::PWMSparkMax m_leftFollower{2};
frc::PWMSparkMax m_rightLeader{3};
frc::PWMSparkMax m_rightFollower{4};
wpi::PWMSparkMax m_leftLeader{1};
wpi::PWMSparkMax m_leftFollower{2};
wpi::PWMSparkMax m_rightLeader{3};
wpi::PWMSparkMax m_rightFollower{4};
frc::Encoder m_leftEncoder{0, 1};
frc::Encoder m_rightEncoder{2, 3};
wpi::Encoder m_leftEncoder{0, 1};
wpi::Encoder m_rightEncoder{2, 3};
frc::PIDController m_leftPIDController{1.0, 0.0, 0.0};
frc::PIDController m_rightPIDController{1.0, 0.0, 0.0};
wpi::math::PIDController m_leftPIDController{1.0, 0.0, 0.0};
wpi::math::PIDController m_rightPIDController{1.0, 0.0, 0.0};
frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
frc::DifferentialDriveKinematics m_kinematics{kTrackwidth};
frc::DifferentialDriveOdometry m_odometry{
m_imu.GetRotation2d(), units::meter_t{m_leftEncoder.GetDistance()},
units::meter_t{m_rightEncoder.GetDistance()}};
wpi::math::DifferentialDriveKinematics m_kinematics{kTrackwidth};
wpi::math::DifferentialDriveOdometry m_odometry{
m_imu.GetRotation2d(), wpi::units::meter_t{m_leftEncoder.GetDistance()},
wpi::units::meter_t{m_rightEncoder.GetDistance()}};
// Gains are for example purposes only - must be determined for your own
// robot!
frc::SimpleMotorFeedforward<units::meters> m_feedforward{1_V, 3_V / 1_mps};
wpi::math::SimpleMotorFeedforward<wpi::units::meters> m_feedforward{1_V, 3_V / 1_mps};
};