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

28
wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.hpp
View File

@@ -19,7 +19,7 @@
#include "Constants.hpp"
class Drive : public frc2::SubsystemBase {
class Drive : public wpi::cmd::SubsystemBase {
public:
Drive();
/**
@@ -28,7 +28,7 @@ class Drive : public frc2::SubsystemBase {
* @param fwd the commanded forward movement
* @param rot the commanded rotation
*/
frc2::CommandPtr ArcadeDriveCommand(std::function<double()> fwd,
wpi::cmd::CommandPtr ArcadeDriveCommand(std::function<double()> fwd,
std::function<double()> rot);
/**
@@ -38,7 +38,7 @@ class Drive : public frc2::SubsystemBase {
* @param distance The distance to drive forward in meters
* @param speed The fraction of max speed at which to drive
*/
frc2::CommandPtr DriveDistanceCommand(units::meter_t distance, double speed);
wpi::cmd::CommandPtr DriveDistanceCommand(wpi::units::meter_t distance, double speed);
/**
* Returns a command that turns to robot to the specified angle using a motion
@@ -46,32 +46,32 @@ class Drive : public frc2::SubsystemBase {
*
* @param angle The angle to turn to
*/
frc2::CommandPtr TurnToAngleCommand(units::degree_t angle);
wpi::cmd::CommandPtr TurnToAngleCommand(wpi::units::degree_t angle);
private:
frc::PWMSparkMax m_leftLeader{DriveConstants::kLeftMotor1Port};
frc::PWMSparkMax m_leftFollower{DriveConstants::kLeftMotor2Port};
frc::PWMSparkMax m_rightLeader{DriveConstants::kRightMotor1Port};
frc::PWMSparkMax m_rightFollower{DriveConstants::kRightMotor2Port};
wpi::PWMSparkMax m_leftLeader{DriveConstants::kLeftMotor1Port};
wpi::PWMSparkMax m_leftFollower{DriveConstants::kLeftMotor2Port};
wpi::PWMSparkMax m_rightLeader{DriveConstants::kRightMotor1Port};
wpi::PWMSparkMax m_rightFollower{DriveConstants::kRightMotor2Port};
frc::DifferentialDrive m_drive{
wpi::DifferentialDrive m_drive{
[&](double output) { m_leftLeader.Set(output); },
[&](double output) { m_rightLeader.Set(output); }};
frc::Encoder m_leftEncoder{DriveConstants::kLeftEncoderPorts[0],
wpi::Encoder m_leftEncoder{DriveConstants::kLeftEncoderPorts[0],
DriveConstants::kLeftEncoderPorts[1],
DriveConstants::kLeftEncoderReversed};
frc::Encoder m_rightEncoder{DriveConstants::kRightEncoderPorts[0],
wpi::Encoder m_rightEncoder{DriveConstants::kRightEncoderPorts[0],
DriveConstants::kRightEncoderPorts[1],
DriveConstants::kRightEncoderReversed};
frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
frc::ProfiledPIDController<units::radians> m_controller{
wpi::math::ProfiledPIDController<wpi::units::radians> m_controller{
DriveConstants::kTurnP,
DriveConstants::kTurnI,
DriveConstants::kTurnD,
{DriveConstants::kMaxTurnRate, DriveConstants::kMaxTurnAcceleration}};
frc::SimpleMotorFeedforward<units::radians> m_feedforward{
wpi::math::SimpleMotorFeedforward<wpi::units::radians> m_feedforward{
DriveConstants::ks, DriveConstants::kv, DriveConstants::ka};
};