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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
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2
wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/cpp/Robot.cpp
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@@ -39,6 +39,6 @@ void Robot::DisabledInit() {
#ifndef RUNNING_FRC_TESTS
int main() {
return frc::StartRobot<Robot>();
return wpi::StartRobot<Robot>();
}
#endif

16
wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/cpp/subsystems/Elevator.cpp
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@@ -14,14 +14,14 @@ Elevator::Elevator() {
// Put Mechanism 2d to SmartDashboard
// To view the Elevator visualization, select Network Tables -> SmartDashboard
// -> Elevator Sim
frc::SmartDashboard::PutData("Elevator Sim", &m_mech2d);
wpi::SmartDashboard::PutData("Elevator Sim", &m_mech2d);
}
void Elevator::SimulationPeriodic() {
// In this method, we update our simulation of what our elevator is doing
// First, we set our "inputs" (voltages)
m_elevatorSim.SetInput(frc::Vectord<1>{
m_motorSim.GetSpeed() * frc::RobotController::GetInputVoltage()});
m_elevatorSim.SetInput(wpi::math::Vectord<1>{
m_motorSim.GetSpeed() * wpi::RobotController::GetInputVoltage()});
// Next, we update it. The standard loop time is 20ms.
m_elevatorSim.Update(20_ms);
@@ -30,8 +30,8 @@ void Elevator::SimulationPeriodic() {
// voltage
m_encoderSim.SetDistance(m_elevatorSim.GetPosition().value());
// SimBattery estimates loaded battery voltages
frc::sim::RoboRioSim::SetVInVoltage(
frc::sim::BatterySim::Calculate({m_elevatorSim.GetCurrentDraw()}));
wpi::sim::RoboRioSim::SetVInVoltage(
wpi::sim::BatterySim::Calculate({m_elevatorSim.GetCurrentDraw()}));
}
void Elevator::UpdateTelemetry() {
@@ -39,8 +39,8 @@ void Elevator::UpdateTelemetry() {
m_elevatorMech2d->SetLength(m_encoder.GetDistance());
}
void Elevator::ReachGoal(units::meter_t goal) {
frc::ExponentialProfile<units::meters, units::volts>::State goalState{goal,
void Elevator::ReachGoal(wpi::units::meter_t goal) {
wpi::math::ExponentialProfile<wpi::units::meters, wpi::units::volts>::State goalState{goal,
0_mps};
auto next = m_profile.Calculate(20_ms, m_setpoint, goalState);
@@ -50,7 +50,7 @@ void Elevator::ReachGoal(units::meter_t goal) {
auto feedforwardOutput =
m_feedforward.Calculate(m_setpoint.velocity, next.velocity);
m_motor.SetVoltage(units::volt_t{pidOutput} + feedforwardOutput);
m_motor.SetVoltage(wpi::units::volt_t{pidOutput} + feedforwardOutput);
m_setpoint = next;
}

18
wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/Constants.hpp
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@@ -34,20 +34,20 @@ inline constexpr double kElevatorKp = 0.75;
inline constexpr double kElevatorKi = 0.0;
inline constexpr double kElevatorKd = 0.0;
inline constexpr units::volt_t kElevatorMaxV = 10_V;
inline constexpr units::volt_t kElevatorkS = 0.0_V;
inline constexpr units::volt_t kElevatorkG = 0.62_V;
inline constexpr wpi::units::volt_t kElevatorMaxV = 10_V;
inline constexpr wpi::units::volt_t kElevatorkS = 0.0_V;
inline constexpr wpi::units::volt_t kElevatorkG = 0.62_V;
inline constexpr auto kElevatorkV = 3.9_V / 1_mps;
inline constexpr auto kElevatorkA = 0.06_V / 1_mps_sq;
inline constexpr double kElevatorGearing = 5.0;
inline constexpr units::meter_t kElevatorDrumRadius = 1_in;
inline constexpr units::kilogram_t kCarriageMass = 12_lb;
inline constexpr wpi::units::meter_t kElevatorDrumRadius = 1_in;
inline constexpr wpi::units::kilogram_t kCarriageMass = 12_lb;
inline constexpr units::meter_t kSetpoint = 42.875_in;
inline constexpr units::meter_t kLowerSetpoint = 15_in;
inline constexpr units::meter_t kMinElevatorHeight = 0_cm;
inline constexpr units::meter_t kMaxElevatorHeight = 50_in;
inline constexpr wpi::units::meter_t kSetpoint = 42.875_in;
inline constexpr wpi::units::meter_t kLowerSetpoint = 15_in;
inline constexpr wpi::units::meter_t kMinElevatorHeight = 0_cm;
inline constexpr wpi::units::meter_t kMaxElevatorHeight = 50_in;
// distance per pulse = (distance per revolution) / (pulses per revolution)
// = (Pi * D) / ppr

4
wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/Robot.hpp
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@@ -12,7 +12,7 @@
/**
* This is a sample program to demonstrate the use of elevator simulation.
*/
class Robot : public frc::TimedRobot {
class Robot : public wpi::TimedRobot {
public:
Robot() {}
void RobotPeriodic() override;
@@ -22,6 +22,6 @@ class Robot : public frc::TimedRobot {
void DisabledInit() override;
private:
frc::Joystick m_joystick{Constants::kJoystickPort};
wpi::Joystick m_joystick{Constants::kJoystickPort};
Elevator m_elevator;
};

32
wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/subsystems/Elevator.hpp
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@@ -26,34 +26,34 @@ class Elevator {
Elevator();
void SimulationPeriodic();
void UpdateTelemetry();
void ReachGoal(units::meter_t goal);
void ReachGoal(wpi::units::meter_t goal);
void Reset();
void Stop();
private:
// This gearbox represents a gearbox containing 4 Vex 775pro motors.
frc::DCMotor m_elevatorGearbox = frc::DCMotor::NEO(2);
wpi::math::DCMotor m_elevatorGearbox = wpi::math::DCMotor::NEO(2);
// Standard classes for controlling our elevator
frc::ExponentialProfile<units::meters, units::volts>::Constraints
wpi::math::ExponentialProfile<wpi::units::meters, wpi::units::volts>::Constraints
m_constraints{Constants::kElevatorMaxV, Constants::kElevatorkV,
Constants::kElevatorkA};
frc::ExponentialProfile<units::meters, units::volts> m_profile{m_constraints};
frc::ExponentialProfile<units::meters, units::volts>::State m_setpoint;
wpi::math::ExponentialProfile<wpi::units::meters, wpi::units::volts> m_profile{m_constraints};
wpi::math::ExponentialProfile<wpi::units::meters, wpi::units::volts>::State m_setpoint;
frc::PIDController m_controller{
wpi::math::PIDController m_controller{
Constants::kElevatorKp, Constants::kElevatorKi, Constants::kElevatorKd};
frc::ElevatorFeedforward m_feedforward{
wpi::math::ElevatorFeedforward m_feedforward{
Constants::kElevatorkS, Constants::kElevatorkG, Constants::kElevatorkV,
Constants::kElevatorkA};
frc::Encoder m_encoder{Constants::kEncoderAChannel,
wpi::Encoder m_encoder{Constants::kEncoderAChannel,
Constants::kEncoderBChannel};
frc::PWMSparkMax m_motor{Constants::kMotorPort};
frc::sim::PWMMotorControllerSim m_motorSim{m_motor};
wpi::PWMSparkMax m_motor{Constants::kMotorPort};
wpi::sim::PWMMotorControllerSim m_motorSim{m_motor};
// Simulation classes help us simulate what's going on, including gravity.
frc::sim::ElevatorSim m_elevatorSim{m_elevatorGearbox,
wpi::sim::ElevatorSim m_elevatorSim{m_elevatorGearbox,
Constants::kElevatorGearing,
Constants::kCarriageMass,
Constants::kElevatorDrumRadius,
@@ -62,13 +62,13 @@ class Elevator {
true,
0_m,
{0.005}};
frc::sim::EncoderSim m_encoderSim{m_encoder};
wpi::sim::EncoderSim m_encoderSim{m_encoder};
// Create a Mechanism2d display of an elevator
frc::Mechanism2d m_mech2d{10_in / 1_m, 51_in / 1_m};
frc::MechanismRoot2d* m_elevatorRoot =
wpi::Mechanism2d m_mech2d{10_in / 1_m, 51_in / 1_m};
wpi::MechanismRoot2d* m_elevatorRoot =
m_mech2d.GetRoot("Elevator Root", 5_in / 1_m, 0.5_in / 1_m);
frc::MechanismLigament2d* m_elevatorMech2d =
m_elevatorRoot->Append<frc::MechanismLigament2d>(
wpi::MechanismLigament2d* m_elevatorMech2d =
m_elevatorRoot->Append<wpi::MechanismLigament2d>(
"Elevator", m_elevatorSim.GetPosition().value(), 90_deg);
};