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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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14
wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/Constants.hpp
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@@ -34,18 +34,18 @@ inline constexpr double kElevatorKp = 5.0;
inline constexpr double kElevatorKi = 0.0;
inline constexpr double kElevatorKd = 0.0;
inline constexpr units::volt_t kElevatorkS = 0.0_V;
inline constexpr units::volt_t kElevatorkG = 0.762_V;
inline constexpr wpi::units::volt_t kElevatorkS = 0.0_V;
inline constexpr wpi::units::volt_t kElevatorkG = 0.762_V;
inline constexpr auto kElevatorkV = 0.762_V / 1_mps;
inline constexpr auto kElevatorkA = 0.0_V / 1_mps_sq;
inline constexpr double kElevatorGearing = 10.0;
inline constexpr units::meter_t kElevatorDrumRadius = 2_in;
inline constexpr units::kilogram_t kCarriageMass = 4.0_kg;
inline constexpr wpi::units::meter_t kElevatorDrumRadius = 2_in;
inline constexpr wpi::units::kilogram_t kCarriageMass = 4.0_kg;
inline constexpr units::meter_t kSetpoint = 75_cm;
inline constexpr units::meter_t kMinElevatorHeight = 0_cm;
inline constexpr units::meter_t kMaxElevatorHeight = 1.25_m;
inline constexpr wpi::units::meter_t kSetpoint = 75_cm;
inline constexpr wpi::units::meter_t kMinElevatorHeight = 0_cm;
inline constexpr wpi::units::meter_t kMaxElevatorHeight = 1.25_m;
// distance per pulse = (distance per revolution) / (pulses per revolution)
// = (Pi * D) / ppr

4
wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/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;
@@ -21,6 +21,6 @@ class Robot : public frc::TimedRobot {
void DisabledInit() override;
private:
frc::Joystick m_joystick{Constants::kJoystickPort};
wpi::Joystick m_joystick{Constants::kJoystickPort};
Elevator m_elevator;
};

28
wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/subsystems/Elevator.hpp
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@@ -26,30 +26,30 @@ class Elevator {
Elevator();
void SimulationPeriodic();
void UpdateTelemetry();
void ReachGoal(units::meter_t goal);
void ReachGoal(wpi::units::meter_t goal);
void Stop();
private:
// This gearbox represents a gearbox containing 4 Vex 775pro motors.
frc::DCMotor m_elevatorGearbox = frc::DCMotor::Vex775Pro(4);
wpi::math::DCMotor m_elevatorGearbox = wpi::math::DCMotor::Vex775Pro(4);
// Standard classes for controlling our elevator
frc::TrapezoidProfile<units::meters>::Constraints m_constraints{2.45_mps,
wpi::math::TrapezoidProfile<wpi::units::meters>::Constraints m_constraints{2.45_mps,
2.45_mps_sq};
frc::ProfiledPIDController<units::meters> m_controller{
wpi::math::ProfiledPIDController<wpi::units::meters> m_controller{
Constants::kElevatorKp, Constants::kElevatorKi, Constants::kElevatorKd,
m_constraints};
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,
@@ -58,13 +58,13 @@ class Elevator {
true,
0_m,
{0.01}};
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{20, 50};
frc::MechanismRoot2d* m_elevatorRoot =
wpi::Mechanism2d m_mech2d{20, 50};
wpi::MechanismRoot2d* m_elevatorRoot =
m_mech2d.GetRoot("Elevator Root", 10, 0);
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);
};