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[build] Apply spotless for java formatting (#1768)

Browse Source 
Update checkstyle config to be compatible with spotless.

Co-authored-by: Austin Shalit <austinshalit@gmail.com>
This commit is contained in:
Peter Johnson
2020-12-29 22:45:16 -08:00
committed by GitHub
parent e563a0b7db
commit a751fa22d2
883 changed files with 16526 additions and 17751 deletions
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12
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/command/ReplaceMeCommand.java
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@@ -14,13 +14,11 @@ public class ReplaceMeCommand extends Command {
// Called just before this Command runs the first time
@Override
protected void initialize() {
}
protected void initialize() {}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
}
protected void execute() {}
// Make this return true when this Command no longer needs to run execute()
@Override
@@ -30,12 +28,10 @@ public class ReplaceMeCommand extends Command {
// Called once after isFinished returns true
@Override
protected void end() {
}
protected void end() {}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
protected void interrupted() {
}
protected void interrupted() {}
}

13
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/command2/ReplaceMeCommand.java
View File

@@ -7,27 +7,22 @@ package edu.wpi.first.wpilibj.commands.command2;
import edu.wpi.first.wpilibj2.command.CommandBase;
public class ReplaceMeCommand extends CommandBase {
/**
* Creates a new ReplaceMeCommand.
*/
/** Creates a new ReplaceMeCommand. */
public ReplaceMeCommand() {
// Use addRequirements() here to declare subsystem dependencies.
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
}
public void initialize() {}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
}
public void execute() {}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
}
public void end(boolean interrupted) {}
// Returns true when the command should end.
@Override

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/commandgroup/ReplaceMeCommandGroup.java
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@@ -7,9 +7,7 @@ package edu.wpi.first.wpilibj.commands.commandgroup;
import edu.wpi.first.wpilibj.command.CommandGroup;
public class ReplaceMeCommandGroup extends CommandGroup {
/**
* Add your docs here.
*/
/** Add your docs here. */
public ReplaceMeCommandGroup() {
// Add Commands here:
// e.g. addSequential(new Command1());

7
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/emptyclass/ReplaceMeEmptyClass.java
View File

@@ -4,8 +4,5 @@
package edu.wpi.first.wpilibj.commands.emptyclass;
/**
* Add your docs here.
*/
public class ReplaceMeEmptyClass {
}
/** Add your docs here. */
public class ReplaceMeEmptyClass {}

12
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/instant/ReplaceMeInstantCommand.java
View File

@@ -6,13 +6,9 @@ package edu.wpi.first.wpilibj.commands.instant;
import edu.wpi.first.wpilibj.command.InstantCommand;
/**
* Add your docs here.
*/
/** Add your docs here. */
public class ReplaceMeInstantCommand extends InstantCommand {
/**
* Add your docs here.
*/
/** Add your docs here. */
public ReplaceMeInstantCommand() {
super();
// Use requires() here to declare subsystem dependencies
@@ -21,7 +17,5 @@ public class ReplaceMeInstantCommand extends InstantCommand {
// Called once when the command executes
@Override
protected void initialize() {
}
protected void initialize() {}
}

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/instantcommand/ReplaceMeInstantCommand.java
View File

@@ -16,6 +16,5 @@ public class ReplaceMeInstantCommand extends InstantCommand {
// Called when the command is initially scheduled.
@Override
public void initialize() {
}
public void initialize() {}
}

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/parallelcommandgroup/ReplaceMeParallelCommandGroup.java
View File

@@ -10,9 +10,7 @@ import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
// information, see:
// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
public class ReplaceMeParallelCommandGroup extends ParallelCommandGroup {
/**
* Creates a new ReplaceMeParallelCommandGroup.
*/
/** Creates a new ReplaceMeParallelCommandGroup. */
public ReplaceMeParallelCommandGroup() {
// Add your commands in the addCommands() call, e.g.
// addCommands(new FooCommand(), new BarCommand());

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/paralleldeadlinegroup/ReplaceMeParallelDeadlineGroup.java
View File

@@ -11,9 +11,7 @@ import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
// information, see:
// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
public class ReplaceMeParallelDeadlineGroup extends ParallelDeadlineGroup {
/**
* Creates a new ReplaceMeParallelDeadlineGroup.
*/
/** Creates a new ReplaceMeParallelDeadlineGroup. */
public ReplaceMeParallelDeadlineGroup() {
// Add the deadline command in the super() call. Add other commands using
// addCommands().

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/parallelracegroup/ReplaceMeParallelRaceGroup.java
View File

@@ -10,9 +10,7 @@ import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
// information, see:
// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
public class ReplaceMeParallelRaceGroup extends ParallelRaceGroup {
/**
* Creates a new ReplaceMeParallelRaceGroup.
*/
/** Creates a new ReplaceMeParallelRaceGroup. */
public ReplaceMeParallelRaceGroup() {
// Add your commands in the addCommands() call, e.g.
// addCommands(new FooCommand(), new BarCommand());

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidcommand/ReplaceMePIDCommand.java
View File

@@ -11,9 +11,7 @@ import edu.wpi.first.wpilibj2.command.PIDCommand;
// information, see:
// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
public class ReplaceMePIDCommand extends PIDCommand {
/**
* Creates a new ReplaceMePIDCommand.
*/
/** Creates a new ReplaceMePIDCommand. */
public ReplaceMePIDCommand() {
super(
// The controller that the command will use

8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidsubsystem/ReplaceMePIDSubsystem.java
View File

@@ -6,13 +6,9 @@ package edu.wpi.first.wpilibj.commands.pidsubsystem;
import edu.wpi.first.wpilibj.command.PIDSubsystem;
/**
* Add your docs here.
*/
/** Add your docs here. */
public class ReplaceMePIDSubsystem extends PIDSubsystem {
/**
* Add your docs here.
*/
/** Add your docs here. */
public ReplaceMePIDSubsystem() {
// Intert a subsystem name and PID values here
super("SubsystemName", 1, 2, 3);

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidsubsystem2/ReplaceMePIDSubsystem.java
View File

@@ -8,9 +8,7 @@ import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj2.command.PIDSubsystem;
public class ReplaceMePIDSubsystem extends PIDSubsystem {
/**
* Creates a new ReplaceMePIDSubsystem.
*/
/** Creates a new ReplaceMePIDSubsystem. */
public ReplaceMePIDSubsystem() {
super(
// The PIDController used by the subsystem

8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.java
View File

@@ -12,15 +12,15 @@ import edu.wpi.first.wpilibj2.command.ProfiledPIDCommand;
// information, see:
// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
public class ReplaceMeProfiledPIDCommand extends ProfiledPIDCommand {
/**
* Creates a new ReplaceMeProfiledPIDCommand.
*/
/** Creates a new ReplaceMeProfiledPIDCommand. */
public ReplaceMeProfiledPIDCommand() {
super(
// The ProfiledPIDController used by the command
new ProfiledPIDController(
// The PID gains
0, 0, 0,
0,
0,
0,
// The motion profile constraints
new TrapezoidProfile.Constraints(0, 0)),
// This should return the measurement

13
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.java
View File

@@ -9,15 +9,16 @@ import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.ProfiledPIDSubsystem;
public class ReplaceMeProfiledPIDSubsystem extends ProfiledPIDSubsystem {
/**
* Creates a new ReplaceMeProfiledPIDSubsystem.
*/
/** Creates a new ReplaceMeProfiledPIDSubsystem. */
public ReplaceMeProfiledPIDSubsystem() {
super(
// The ProfiledPIDController used by the subsystem
new ProfiledPIDController(0, 0, 0,
// The motion profile constraints
new TrapezoidProfile.Constraints(0, 0)));
new ProfiledPIDController(
0,
0,
0,
// The motion profile constraints
new TrapezoidProfile.Constraints(0, 0)));
}
@Override

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/sequentialcommandgroup/ReplaceMeSequentialCommandGroup.java
View File

@@ -10,9 +10,7 @@ import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
// information, see:
// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
public class ReplaceMeSequentialCommandGroup extends SequentialCommandGroup {
/**
* Creates a new ReplaceMeSequentialCommandGroup.
*/
/** Creates a new ReplaceMeSequentialCommandGroup. */
public ReplaceMeSequentialCommandGroup() {
// Add your commands in the addCommands() call, e.g.
// addCommands(new FooCommand(), new BarCommand());

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/subsystem/ReplaceMeSubsystem.java
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@@ -6,9 +6,7 @@ package edu.wpi.first.wpilibj.commands.subsystem;
import edu.wpi.first.wpilibj.command.Subsystem;
/**
* Add your docs here.
*/
/** Add your docs here. */
public class ReplaceMeSubsystem extends Subsystem {
// Put methods for controlling this subsystem
// here. Call these from Commands.

8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/subsystem2/ReplaceMeSubsystem.java
View File

@@ -7,12 +7,8 @@ package edu.wpi.first.wpilibj.commands.subsystem2;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class ReplaceMeSubsystem extends SubsystemBase {
/**
* Creates a new ReplaceMeSubsystem.
*/
public ReplaceMeSubsystem() {
}
/** Creates a new ReplaceMeSubsystem. */
public ReplaceMeSubsystem() {}
@Override
public void periodic() {

20
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/timed/ReplaceMeTimedCommand.java
View File

@@ -6,13 +6,9 @@ package edu.wpi.first.wpilibj.commands.timed;
import edu.wpi.first.wpilibj.command.TimedCommand;
/**
* Add your docs here.
*/
/** Add your docs here. */
public class ReplaceMeTimedCommand extends TimedCommand {
/**
* Add your docs here.
*/
/** Add your docs here. */
public ReplaceMeTimedCommand(double timeout) {
super(timeout);
// Use requires() here to declare subsystem dependencies
@@ -21,22 +17,18 @@ public class ReplaceMeTimedCommand extends TimedCommand {
// Called just before this Command runs the first time
@Override
protected void initialize() {
}
protected void initialize() {}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
}
protected void execute() {}
// Called once after timeout
@Override
protected void end() {
}
protected void end() {}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
protected void interrupted() {
}
protected void interrupted() {}
}

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trapezoidprofilecommand/ReplaceMeTrapezoidProfileCommand.java
View File

@@ -11,9 +11,7 @@ import edu.wpi.first.wpilibj2.command.TrapezoidProfileCommand;
// information, see:
// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
public class ReplaceMeTrapezoidProfileCommand extends TrapezoidProfileCommand {
/**
* Creates a new ReplaceMeTrapezoidProfileCommand.
*/
/** Creates a new ReplaceMeTrapezoidProfileCommand. */
public ReplaceMeTrapezoidProfileCommand() {
super(
// The motion profile to be executed

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trapezoidprofilesubsystem/ReplaceMeTrapezoidProfileSubsystem.java
View File

@@ -8,9 +8,7 @@ import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.TrapezoidProfileSubsystem;
public class ReplaceMeTrapezoidProfileSubsystem extends TrapezoidProfileSubsystem {
/**
* Creates a new ReplaceMeTrapezoidProfileSubsystem.
*/
/** Creates a new ReplaceMeTrapezoidProfileSubsystem. */
public ReplaceMeTrapezoidProfileSubsystem() {
super(
// The constraints for the generated profiles

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trigger/ReplaceMeTrigger.java
View File

@@ -6,9 +6,7 @@ package edu.wpi.first.wpilibj.commands.trigger;
import edu.wpi.first.wpilibj.buttons.Trigger;
/**
* Add your docs here.
*/
/** Add your docs here. */
public class ReplaceMeTrigger extends Trigger {
@Override
public boolean get() {

9
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled/Main.java
View File

@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.addressableled;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all.
* Unless you know what you are doing, do not modify this file except to
* change the parameter class to the startRobot call.
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {
}
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.

9
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Main.java
View File

@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.arcadedrive;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all.
* Unless you know what you are doing, do not modify this file except to
* change the parameter class to the startRobot call.
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {
}
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java
View File

@@ -10,8 +10,8 @@ import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
/**
* This is a demo program showing the use of the DifferentialDrive class.
* Runs the motors with arcade steering.
* This is a demo program showing the use of the DifferentialDrive class. Runs the motors with
* arcade steering.
*/
public class Robot extends TimedRobot {
private final PWMVictorSPX m_leftMotor = new PWMVictorSPX(0);

9
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Main.java
View File

@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.arcadedrivexboxcontroller;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all.
* Unless you know what you are doing, do not modify this file except to
* change the parameter class to the startRobot call.
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {
}
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.

8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java
View File

@@ -11,8 +11,8 @@ import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
/**
* This is a demo program showing the use of the DifferentialDrive class.
* Runs the motors with split arcade steering and an Xbox controller.
* This is a demo program showing the use of the DifferentialDrive class. Runs the motors with split
* arcade steering and an Xbox controller.
*/
public class Robot extends TimedRobot {
private final PWMVictorSPX m_leftMotor = new PWMVictorSPX(0);
@@ -25,7 +25,7 @@ public class Robot extends TimedRobot {
// Drive with split arcade drive.
// That means that the Y axis of the left stick moves forward
// and backward, and the X of the right stick turns left and right.
m_robotDrive.arcadeDrive(m_driverController.getY(Hand.kLeft),
m_driverController.getX(Hand.kRight));
m_robotDrive.arcadeDrive(
m_driverController.getY(Hand.kLeft), m_driverController.getX(Hand.kRight));
}
}

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Constants.java
View File

@@ -6,8 +6,8 @@ package edu.wpi.first.wpilibj.examples.armbot;
/**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
* constants. This class should not be used for any other purpose. All constants should be
* declared globally (i.e. public static). Do not put anything functional in this class.
* constants. This class should not be used for any other purpose. All constants should be declared
* globally (i.e. public static). Do not put anything functional in this class.
*
* <p>It is advised to statically import this class (or one of its inner classes) wherever the
* constants are needed, to reduce verbosity.
@@ -19,8 +19,8 @@ public final class Constants {
public static final int kRightMotor1Port = 2;
public static final int kRightMotor2Port = 3;
public static final int[] kLeftEncoderPorts = new int[]{0, 1};
public static final int[] kRightEncoderPorts = new int[]{2, 3};
public static final int[] kLeftEncoderPorts = new int[] {0, 1};
public static final int[] kRightEncoderPorts = new int[] {2, 3};
public static final boolean kLeftEncoderReversed = false;
public static final boolean kRightEncoderReversed = true;
@@ -45,7 +45,7 @@ public final class Constants {
public static final double kMaxVelocityRadPerSecond = 3;
public static final double kMaxAccelerationRadPerSecSquared = 10;
public static final int[] kEncoderPorts = new int[]{4, 5};
public static final int[] kEncoderPorts = new int[] {4, 5};
public static final int kEncoderPPR = 256;
public static final double kEncoderDistancePerPulse = 2.0 * Math.PI / kEncoderPPR;

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Main.java
View File

@@ -12,8 +12,7 @@ import edu.wpi.first.wpilibj.RobotBase;
* call.
*/
public final class Main {
private Main() {
}
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.

37
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Robot.java
View File

@@ -34,8 +34,8 @@ public class Robot extends TimedRobot {
* This function is called every robot packet, no matter the mode. Use this for items like
* diagnostics that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before
* LiveWindow and SmartDashboard integrated updating.
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
*/
@Override
public void robotPeriodic() {
@@ -46,21 +46,16 @@ public class Robot extends TimedRobot {
CommandScheduler.getInstance().run();
}
/**
* This function is called once each time the robot enters Disabled mode.
*/
/** This function is called once each time the robot enters Disabled mode. */
@Override
public void disabledInit() {
m_robotContainer.disablePIDSubsystems();
}
@Override
public void disabledPeriodic() {
}
public void disabledPeriodic() {}
/**
* This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
*/
/** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
@Override
public void autonomousInit() {
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
@@ -78,12 +73,9 @@ public class Robot extends TimedRobot {
}
}
/**
* This function is called periodically during autonomous.
*/
/** This function is called periodically during autonomous. */
@Override
public void autonomousPeriodic() {
}
public void autonomousPeriodic() {}
@Override
public void teleopInit() {
@@ -96,13 +88,9 @@ public class Robot extends TimedRobot {
}
}
/**
* This function is called periodically during operator control.
*/
/** This function is called periodically during operator control. */
@Override
public void teleopPeriodic() {
}
public void teleopPeriodic() {}
@Override
public void testInit() {
@@ -110,10 +98,7 @@ public class Robot extends TimedRobot {
CommandScheduler.getInstance().cancelAll();
}
/**
* This function is called periodically during test mode.
*/
/** This function is called periodically during test mode. */
@Override
public void testPeriodic() {
}
public void testPeriodic() {}
}

64
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java
View File

@@ -4,24 +4,23 @@
package edu.wpi.first.wpilibj.examples.armbot;
import static edu.wpi.first.wpilibj.XboxController.Button;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.examples.armbot.Constants.OIConstants;
import edu.wpi.first.wpilibj.examples.armbot.subsystems.ArmSubsystem;
import edu.wpi.first.wpilibj.examples.armbot.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import edu.wpi.first.wpilibj.examples.armbot.Constants.OIConstants;
import edu.wpi.first.wpilibj.examples.armbot.subsystems.ArmSubsystem;
import edu.wpi.first.wpilibj.examples.armbot.subsystems.DriveSubsystem;
import static edu.wpi.first.wpilibj.XboxController.Button;
/**
* This class is where the bulk of the robot should be declared. Since Command-based is a
* This class is where the bulk of the robot should be declared. Since Command-based is a
* "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
* periodic methods (other than the scheduler calls). Instead, the structure of the robot
* (including subsystems, commands, and button mappings) should be declared here.
* periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
* subsystems, commands, and button mappings) should be declared here.
*/
public class RobotContainer {
// The robot's subsystems
@@ -31,9 +30,7 @@ public class RobotContainer {
// The driver's controller
XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
/** The container for the robot. Contains subsystems, OI devices, and commands. */
public RobotContainer() {
// Configure the button bindings
configureButtonBindings();
@@ -43,37 +40,42 @@ public class RobotContainer {
m_robotDrive.setDefaultCommand(
// A split-stick arcade command, with forward/backward controlled by the left
// hand, and turning controlled by the right.
new RunCommand(() -> m_robotDrive
.arcadeDrive(m_driverController.getY(GenericHID.Hand.kLeft),
m_driverController.getX(GenericHID.Hand.kRight)), m_robotDrive));
new RunCommand(
() ->
m_robotDrive.arcadeDrive(
m_driverController.getY(GenericHID.Hand.kLeft),
m_driverController.getX(GenericHID.Hand.kRight)),
m_robotDrive));
}
/**
* Use this method to define your button->command mappings. Buttons can be created by
* Use this method to define your button->command mappings. Buttons can be created by
* instantiating a {@link GenericHID} or one of its subclasses ({@link
* edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
* {@link JoystickButton}.
* edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
* JoystickButton}.
*/
private void configureButtonBindings() {
// Move the arm to 2 radians above horizontal when the 'A' button is pressed.
new JoystickButton(m_driverController, Button.kA.value)
.whenPressed(() -> {
m_robotArm.setGoal(2);
m_robotArm.enable();
}, m_robotArm);
.whenPressed(
() -> {
m_robotArm.setGoal(2);
m_robotArm.enable();
},
m_robotArm);
// Move the arm to neutral position when the 'B' button is pressed.
new JoystickButton(m_driverController, Button.kB.value)
.whenPressed(() -> {
m_robotArm.setGoal(Constants.ArmConstants.kArmOffsetRads);
m_robotArm.enable();
}, m_robotArm);
.whenPressed(
() -> {
m_robotArm.setGoal(Constants.ArmConstants.kArmOffsetRads);
m_robotArm.enable();
},
m_robotArm);
// Disable the arm controller when Y is pressed.
new JoystickButton(m_driverController, Button.kY.value)
.whenPressed(m_robotArm::disable);
new JoystickButton(m_driverController, Button.kY.value).whenPressed(m_robotArm::disable);
// Drive at half speed when the bumper is held
new JoystickButton(m_driverController, Button.kBumperRight.value)
@@ -82,8 +84,8 @@ public class RobotContainer {
}
/**
* Disables all ProfiledPIDSubsystem and PIDSubsystem instances. This
* should be called on robot disable to prevent integral windup.
* Disables all ProfiledPIDSubsystem and PIDSubsystem instances. This should be called on robot
* disable to prevent integral windup.
*/
public void disablePIDSubsystems() {
m_robotArm.disable();

27
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java
View File

@@ -8,28 +8,31 @@ import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.controller.ArmFeedforward;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.examples.armbot.Constants.ArmConstants;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.ProfiledPIDSubsystem;
import edu.wpi.first.wpilibj.examples.armbot.Constants.ArmConstants;
/**
* A robot arm subsystem that moves with a motion profile.
*/
/** A robot arm subsystem that moves with a motion profile. */
public class ArmSubsystem extends ProfiledPIDSubsystem {
private final PWMVictorSPX m_motor = new PWMVictorSPX(ArmConstants.kMotorPort);
private final Encoder m_encoder =
new Encoder(ArmConstants.kEncoderPorts[0], ArmConstants.kEncoderPorts[1]);
private final ArmFeedforward m_feedforward =
new ArmFeedforward(ArmConstants.kSVolts, ArmConstants.kCosVolts,
ArmConstants.kVVoltSecondPerRad, ArmConstants.kAVoltSecondSquaredPerRad);
new ArmFeedforward(
ArmConstants.kSVolts, ArmConstants.kCosVolts,
ArmConstants.kVVoltSecondPerRad, ArmConstants.kAVoltSecondSquaredPerRad);
/**
* Create a new ArmSubsystem.
*/
/** Create a new ArmSubsystem. */
public ArmSubsystem() {
super(new ProfiledPIDController(ArmConstants.kP, 0, 0, new TrapezoidProfile.Constraints(
ArmConstants.kMaxVelocityRadPerSecond, ArmConstants.kMaxAccelerationRadPerSecSquared)), 0);
super(
new ProfiledPIDController(
ArmConstants.kP,
0,
0,
new TrapezoidProfile.Constraints(
ArmConstants.kMaxVelocityRadPerSecond,
ArmConstants.kMaxAccelerationRadPerSecSquared)),
0);
m_encoder.setDistancePerPulse(ArmConstants.kEncoderDistancePerPulse);
// Start arm at rest in neutral position
setGoal(ArmConstants.kArmOffsetRads);

35
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/DriveSubsystem.java
View File

@@ -8,37 +8,40 @@ import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj.examples.armbot.Constants.DriveConstants;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final SpeedControllerGroup m_leftMotors =
new SpeedControllerGroup(new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
new SpeedControllerGroup(
new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
// The motors on the right side of the drive.
private final SpeedControllerGroup m_rightMotors =
new SpeedControllerGroup(new PWMVictorSPX(DriveConstants.kRightMotor1Port),
new PWMVictorSPX(DriveConstants.kRightMotor2Port));
new SpeedControllerGroup(
new PWMVictorSPX(DriveConstants.kRightMotor1Port),
new PWMVictorSPX(DriveConstants.kRightMotor2Port));
// The robot's drive
private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);
// The left-side drive encoder
private final Encoder m_leftEncoder =
new Encoder(DriveConstants.kLeftEncoderPorts[0], DriveConstants.kLeftEncoderPorts[1],
DriveConstants.kLeftEncoderReversed);
new Encoder(
DriveConstants.kLeftEncoderPorts[0],
DriveConstants.kLeftEncoderPorts[1],
DriveConstants.kLeftEncoderReversed);
// The right-side drive encoder
private final Encoder m_rightEncoder =
new Encoder(DriveConstants.kRightEncoderPorts[0], DriveConstants.kRightEncoderPorts[1],
DriveConstants.kRightEncoderReversed);
new Encoder(
DriveConstants.kRightEncoderPorts[0],
DriveConstants.kRightEncoderPorts[1],
DriveConstants.kRightEncoderReversed);
/**
* Creates a new DriveSubsystem.
*/
/** Creates a new DriveSubsystem. */
public DriveSubsystem() {
// Sets the distance per pulse for the encoders
m_leftEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
@@ -55,9 +58,7 @@ public class DriveSubsystem extends SubsystemBase {
m_drive.arcadeDrive(fwd, rot);
}
/**
* Resets the drive encoders to currently read a position of 0.
*/
/** Resets the drive encoders to currently read a position of 0. */
public void resetEncoders() {
m_leftEncoder.reset();
m_rightEncoder.reset();
@@ -91,7 +92,7 @@ public class DriveSubsystem extends SubsystemBase {
}
/**
* Sets the max output of the drive. Useful for scaling the drive to drive more slowly.
* Sets the max output of the drive. Useful for scaling the drive to drive more slowly.
*
* @param maxOutput the maximum output to which the drive will be constrained
*/

8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/Constants.java
View File

@@ -6,8 +6,8 @@ package edu.wpi.first.wpilibj.examples.armbotoffboard;
/**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
* constants. This class should not be used for any other purpose. All constants should be
* declared globally (i.e. public static). Do not put anything functional in this class.
* constants. This class should not be used for any other purpose. All constants should be declared
* globally (i.e. public static). Do not put anything functional in this class.
*
* <p>It is advised to statically import this class (or one of its inner classes) wherever the
* constants are needed, to reduce verbosity.
@@ -19,8 +19,8 @@ public final class Constants {
public static final int kRightMotor1Port = 2;
public static final int kRightMotor2Port = 3;
public static final int[] kLeftEncoderPorts = new int[]{0, 1};
public static final int[] kRightEncoderPorts = new int[]{2, 3};
public static final int[] kLeftEncoderPorts = new int[] {0, 1};
public static final int[] kRightEncoderPorts = new int[] {2, 3};
public static final boolean kLeftEncoderReversed = false;
public static final boolean kRightEncoderReversed = true;

35
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/ExampleSmartMotorController.java
View File

@@ -24,8 +24,7 @@ public class ExampleSmartMotorController implements SpeedController {
* @param port The port for the controller.
*/
@SuppressWarnings("PMD.UnusedFormalParameter")
public ExampleSmartMotorController(int port) {
}
public ExampleSmartMotorController(int port) {}
/**
* Example method for setting the PID gains of the smart controller.
@@ -34,8 +33,7 @@ public class ExampleSmartMotorController implements SpeedController {
* @param ki The integral gain.
* @param kd The derivative gain.
*/
public void setPID(double kp, double ki, double kd) {
}
public void setPID(double kp, double ki, double kd) {}
/**
* Example method for setting the setpoint of the smart controller in PID mode.
@@ -44,16 +42,14 @@ public class ExampleSmartMotorController implements SpeedController {
* @param setpoint The controller setpoint.
* @param arbFeedforward An arbitrary feedforward output (from -1 to 1).
*/
public void setSetpoint(PIDMode mode, double setpoint, double arbFeedforward) {
}
public void setSetpoint(PIDMode mode, double setpoint, double arbFeedforward) {}
/**
* Places this motor controller in follower mode.
*
* @param leader The leader to follow.
*/
public void follow(ExampleSmartMotorController leader) {
}
public void follow(ExampleSmartMotorController leader) {}
/**
* Returns the encoder distance.
@@ -73,15 +69,11 @@ public class ExampleSmartMotorController implements SpeedController {
return 0;
}
/**
* Resets the encoder to zero distance.
*/
public void resetEncoder() {
}
/** Resets the encoder to zero distance. */
public void resetEncoder() {}
@Override
public void set(double speed) {
}
public void set(double speed) {}
@Override
public double get() {
@@ -89,9 +81,7 @@ public class ExampleSmartMotorController implements SpeedController {
}
@Override
public void setInverted(boolean isInverted) {
}
public void setInverted(boolean isInverted) {}
@Override
public boolean getInverted() {
@@ -99,14 +89,11 @@ public class ExampleSmartMotorController implements SpeedController {
}
@Override
public void disable() {
}
public void disable() {}
@Override
public void stopMotor() {
}
public void stopMotor() {}
@Override
public void pidWrite(double output) {
}
public void pidWrite(double output) {}
}

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/Main.java
View File

@@ -12,8 +12,7 @@ import edu.wpi.first.wpilibj.RobotBase;
* call.
*/
public final class Main {
private Main() {
}
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.

40
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/Robot.java
View File

@@ -34,8 +34,8 @@ public class Robot extends TimedRobot {
* This function is called every robot packet, no matter the mode. Use this for items like
* diagnostics that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before
* LiveWindow and SmartDashboard integrated updating.
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
*/
@Override
public void robotPeriodic() {
@@ -46,20 +46,14 @@ public class Robot extends TimedRobot {
CommandScheduler.getInstance().run();
}
/**
* This function is called once each time the robot enters Disabled mode.
*/
/** This function is called once each time the robot enters Disabled mode. */
@Override
public void disabledInit() {
}
public void disabledInit() {}
@Override
public void disabledPeriodic() {
}
public void disabledPeriodic() {}
/**
* This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
*/
/** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
@Override
public void autonomousInit() {
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
@@ -77,12 +71,9 @@ public class Robot extends TimedRobot {
}
}
/**
* This function is called periodically during autonomous.
*/
/** This function is called periodically during autonomous. */
@Override
public void autonomousPeriodic() {
}
public void autonomousPeriodic() {}
@Override
public void teleopInit() {
@@ -95,13 +86,9 @@ public class Robot extends TimedRobot {
}
}
/**
* This function is called periodically during operator control.
*/
/** This function is called periodically during operator control. */
@Override
public void teleopPeriodic() {
}
public void teleopPeriodic() {}
@Override
public void testInit() {
@@ -109,10 +96,7 @@ public class Robot extends TimedRobot {
CommandScheduler.getInstance().cancelAll();
}
/**
* This function is called periodically during test mode.
*/
/** This function is called periodically during test mode. */
@Override
public void testPeriodic() {
}
public void testPeriodic() {}
}

38
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/RobotContainer.java
View File

@@ -4,24 +4,23 @@
package edu.wpi.first.wpilibj.examples.armbotoffboard;
import static edu.wpi.first.wpilibj.XboxController.Button;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.examples.armbotoffboard.Constants.OIConstants;
import edu.wpi.first.wpilibj.examples.armbotoffboard.subsystems.ArmSubsystem;
import edu.wpi.first.wpilibj.examples.armbotoffboard.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import edu.wpi.first.wpilibj.examples.armbotoffboard.Constants.OIConstants;
import edu.wpi.first.wpilibj.examples.armbotoffboard.subsystems.ArmSubsystem;
import edu.wpi.first.wpilibj.examples.armbotoffboard.subsystems.DriveSubsystem;
import static edu.wpi.first.wpilibj.XboxController.Button;
/**
* This class is where the bulk of the robot should be declared. Since Command-based is a
* This class is where the bulk of the robot should be declared. Since Command-based is a
* "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
* periodic methods (other than the scheduler calls). Instead, the structure of the robot
* (including subsystems, commands, and button mappings) should be declared here.
* periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
* subsystems, commands, and button mappings) should be declared here.
*/
public class RobotContainer {
// The robot's subsystems
@@ -31,9 +30,7 @@ public class RobotContainer {
// The driver's controller
XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
/** The container for the robot. Contains subsystems, OI devices, and commands. */
public RobotContainer() {
// Configure the button bindings
configureButtonBindings();
@@ -43,17 +40,19 @@ public class RobotContainer {
m_robotDrive.setDefaultCommand(
// A split-stick arcade command, with forward/backward controlled by the left
// hand, and turning controlled by the right.
new RunCommand(() -> m_robotDrive
.arcadeDrive(m_driverController.getY(GenericHID.Hand.kLeft),
m_driverController.getX(GenericHID.Hand.kRight)), m_robotDrive));
new RunCommand(
() ->
m_robotDrive.arcadeDrive(
m_driverController.getY(GenericHID.Hand.kLeft),
m_driverController.getX(GenericHID.Hand.kRight)),
m_robotDrive));
}
/**
* Use this method to define your button->command mappings. Buttons can be created by
* Use this method to define your button->command mappings. Buttons can be created by
* instantiating a {@link GenericHID} or one of its subclasses ({@link
* edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
* {@link JoystickButton}.
* edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
* JoystickButton}.
*/
private void configureButtonBindings() {
@@ -71,7 +70,6 @@ public class RobotContainer {
.whenReleased(() -> m_robotDrive.setMaxOutput(1));
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
*

29
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/ArmSubsystem.java
View File

@@ -5,29 +5,26 @@
package edu.wpi.first.wpilibj.examples.armbotoffboard.subsystems;
import edu.wpi.first.wpilibj.controller.ArmFeedforward;
import edu.wpi.first.wpilibj.examples.armbotoffboard.Constants.ArmConstants;
import edu.wpi.first.wpilibj.examples.armbotoffboard.ExampleSmartMotorController;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.TrapezoidProfileSubsystem;
import edu.wpi.first.wpilibj.examples.armbotoffboard.Constants.ArmConstants;
import edu.wpi.first.wpilibj.examples.armbotoffboard.ExampleSmartMotorController;
/**
* A robot arm subsystem that moves with a motion profile.
*/
/** A robot arm subsystem that moves with a motion profile. */
public class ArmSubsystem extends TrapezoidProfileSubsystem {
private final ExampleSmartMotorController m_motor =
new ExampleSmartMotorController(ArmConstants.kMotorPort);
private final ArmFeedforward m_feedforward =
new ArmFeedforward(ArmConstants.kSVolts, ArmConstants.kCosVolts,
ArmConstants.kVVoltSecondPerRad, ArmConstants.kAVoltSecondSquaredPerRad);
new ArmFeedforward(
ArmConstants.kSVolts, ArmConstants.kCosVolts,
ArmConstants.kVVoltSecondPerRad, ArmConstants.kAVoltSecondSquaredPerRad);
/**
* Create a new ArmSubsystem.
*/
/** Create a new ArmSubsystem. */
public ArmSubsystem() {
super(new TrapezoidProfile.Constraints(ArmConstants.kMaxVelocityRadPerSecond,
ArmConstants.kMaxAccelerationRadPerSecSquared),
ArmConstants.kArmOffsetRads);
super(
new TrapezoidProfile.Constraints(
ArmConstants.kMaxVelocityRadPerSecond, ArmConstants.kMaxAccelerationRadPerSecSquared),
ArmConstants.kArmOffsetRads);
m_motor.setPID(ArmConstants.kP, 0, 0);
}
@@ -36,7 +33,7 @@ public class ArmSubsystem extends TrapezoidProfileSubsystem {
// Calculate the feedforward from the sepoint
double feedforward = m_feedforward.calculate(setpoint.position, setpoint.velocity);
// Add the feedforward to the PID output to get the motor output
m_motor.setSetpoint(ExampleSmartMotorController.PIDMode.kPosition, setpoint.position,
feedforward / 12.0);
m_motor.setSetpoint(
ExampleSmartMotorController.PIDMode.kPosition, setpoint.position, feedforward / 12.0);
}
}

35
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/DriveSubsystem.java
View File

@@ -8,37 +8,40 @@ import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj.examples.armbotoffboard.Constants.DriveConstants;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final SpeedControllerGroup m_leftMotors =
new SpeedControllerGroup(new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
new SpeedControllerGroup(
new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
// The motors on the right side of the drive.
private final SpeedControllerGroup m_rightMotors =
new SpeedControllerGroup(new PWMVictorSPX(DriveConstants.kRightMotor1Port),
new PWMVictorSPX(DriveConstants.kRightMotor2Port));
new SpeedControllerGroup(
new PWMVictorSPX(DriveConstants.kRightMotor1Port),
new PWMVictorSPX(DriveConstants.kRightMotor2Port));
// The robot's drive
private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);
// The left-side drive encoder
private final Encoder m_leftEncoder =
new Encoder(DriveConstants.kLeftEncoderPorts[0], DriveConstants.kLeftEncoderPorts[1],
DriveConstants.kLeftEncoderReversed);
new Encoder(
DriveConstants.kLeftEncoderPorts[0],
DriveConstants.kLeftEncoderPorts[1],
DriveConstants.kLeftEncoderReversed);
// The right-side drive encoder
private final Encoder m_rightEncoder =
new Encoder(DriveConstants.kRightEncoderPorts[0], DriveConstants.kRightEncoderPorts[1],
DriveConstants.kRightEncoderReversed);
new Encoder(
DriveConstants.kRightEncoderPorts[0],
DriveConstants.kRightEncoderPorts[1],
DriveConstants.kRightEncoderReversed);
/**
* Creates a new DriveSubsystem.
*/
/** Creates a new DriveSubsystem. */
public DriveSubsystem() {
// Sets the distance per pulse for the encoders
m_leftEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
@@ -55,9 +58,7 @@ public class DriveSubsystem extends SubsystemBase {
m_drive.arcadeDrive(fwd, rot);
}
/**
* Resets the drive encoders to currently read a position of 0.
*/
/** Resets the drive encoders to currently read a position of 0. */
public void resetEncoders() {
m_leftEncoder.reset();
m_rightEncoder.reset();
@@ -91,7 +92,7 @@ public class DriveSubsystem extends SubsystemBase {
}
/**
* Sets the max output of the drive. Useful for scaling the drive to drive more slowly.
* Sets the max output of the drive. Useful for scaling the drive to drive more slowly.
*
* @param maxOutput the maximum output to which the drive will be constrained
*/

9
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Main.java
View File

@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.armsimulation;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all.
* Unless you know what you are doing, do not modify this file except to
* change the parameter class to the startRobot call.
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {
}
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.

31
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java
View File

@@ -10,17 +10,15 @@ import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.simulation.BatterySim;
import edu.wpi.first.wpilibj.simulation.EncoderSim;
import edu.wpi.first.wpilibj.simulation.RoboRioSim;
import edu.wpi.first.wpilibj.simulation.BatterySim;
import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.VecBuilder;
/**
* This is a sample program to demonstrate the use of elevator simulation with existing code.
*/
/** This is a sample program to demonstrate the use of elevator simulation with existing code. */
public class Robot extends TimedRobot {
private static final int kMotorPort = 0;
private static final int kEncoderAChannel = 0;
@@ -49,16 +47,18 @@ public class Robot extends TimedRobot {
private static final double m_armLength = Units.inchesToMeters(30);
// This arm sim represents an arm that can travel from -180 degrees (rotated straight backwards)
// to 0 degrees (rotated straight forwards).
private final SingleJointedArmSim m_armSim = new SingleJointedArmSim(m_armGearbox,
m_armReduction,
SingleJointedArmSim.estimateMOI(m_armLength, m_armMass),
m_armLength,
Units.degreesToRadians(-180),
Units.degreesToRadians(0),
m_armMass,
true,
VecBuilder.fill(Units.degreesToRadians(0.5)) // Add noise with a std-dev of 0.5 degrees
);
private final SingleJointedArmSim m_armSim =
new SingleJointedArmSim(
m_armGearbox,
m_armReduction,
SingleJointedArmSim.estimateMOI(m_armLength, m_armMass),
m_armLength,
Units.degreesToRadians(-180),
Units.degreesToRadians(0),
m_armMass,
true,
VecBuilder.fill(Units.degreesToRadians(0.5)) // Add noise with a std-dev of 0.5 degrees
);
private final EncoderSim m_encoderSim = new EncoderSim(m_encoder);
@Override
@@ -78,7 +78,8 @@ public class Robot extends TimedRobot {
// Finally, we set our simulated encoder's readings and simulated battery voltage
m_encoderSim.setDistance(m_armSim.getAngleRads());
// SimBattery estimates loaded battery voltages
RoboRioSim.setVInVoltage(BatterySim.calculateDefaultBatteryLoadedVoltage(m_armSim.getCurrentDrawAmps()));
RoboRioSim.setVInVoltage(
BatterySim.calculateDefaultBatteryLoadedVoltage(m_armSim.getCurrentDrawAmps()));
}
@Override

9
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/axiscamera/Main.java
View File

@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.axiscamera;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all.
* Unless you know what you are doing, do not modify this file except to
* change the parameter class to the startRobot call.
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {
}
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.

80
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/axiscamera/Robot.java
View File

@@ -4,63 +4,61 @@
package edu.wpi.first.wpilibj.examples.axiscamera;
import org.opencv.core.Mat;
import org.opencv.core.Point;
import org.opencv.core.Scalar;
import org.opencv.imgproc.Imgproc;
import edu.wpi.cscore.AxisCamera;
import edu.wpi.cscore.CvSink;
import edu.wpi.cscore.CvSource;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.wpilibj.TimedRobot;
import org.opencv.core.Mat;
import org.opencv.core.Point;
import org.opencv.core.Scalar;
import org.opencv.imgproc.Imgproc;
/**
* This is a demo program showing the use of OpenCV to do vision processing. The
* image is acquired from the Axis camera, then a rectangle is put on the image
* and sent to the dashboard. OpenCV has many methods for different types of
* processing.
* This is a demo program showing the use of OpenCV to do vision processing. The image is acquired
* from the Axis camera, then a rectangle is put on the image and sent to the dashboard. OpenCV has
* many methods for different types of processing.
*/
public class Robot extends TimedRobot {
Thread m_visionThread;
@Override
public void robotInit() {
m_visionThread = new Thread(() -> {
// Get the Axis camera from CameraServer
AxisCamera camera
= CameraServer.getInstance().addAxisCamera("axis-camera.local");
// Set the resolution
camera.setResolution(640, 480);
m_visionThread =
new Thread(
() -> {
// Get the Axis camera from CameraServer
AxisCamera camera = CameraServer.getInstance().addAxisCamera("axis-camera.local");
// Set the resolution
camera.setResolution(640, 480);
// Get a CvSink. This will capture Mats from the camera
CvSink cvSink = CameraServer.getInstance().getVideo();
// Setup a CvSource. This will send images back to the Dashboard
CvSource outputStream
= CameraServer.getInstance().putVideo("Rectangle", 640, 480);
// Get a CvSink. This will capture Mats from the camera
CvSink cvSink = CameraServer.getInstance().getVideo();
// Setup a CvSource. This will send images back to the Dashboard
CvSource outputStream = CameraServer.getInstance().putVideo("Rectangle", 640, 480);
// Mats are very memory expensive. Lets reuse this Mat.
Mat mat = new Mat();
// Mats are very memory expensive. Lets reuse this Mat.
Mat mat = new Mat();
// This cannot be 'true'. The program will never exit if it is. This
// lets the robot stop this thread when restarting robot code or
// deploying.
while (!Thread.interrupted()) {
// Tell the CvSink to grab a frame from the camera and put it
// in the source mat. If there is an error notify the output.
if (cvSink.grabFrame(mat) == 0) {
// Send the output the error.
outputStream.notifyError(cvSink.getError());
// skip the rest of the current iteration
continue;
}
// Put a rectangle on the image
Imgproc.rectangle(mat, new Point(100, 100), new Point(400, 400),
new Scalar(255, 255, 255), 5);
// Give the output stream a new image to display
outputStream.putFrame(mat);
}
});
// This cannot be 'true'. The program will never exit if it is. This
// lets the robot stop this thread when restarting robot code or
// deploying.
while (!Thread.interrupted()) {
// Tell the CvSink to grab a frame from the camera and put it
// in the source mat. If there is an error notify the output.
if (cvSink.grabFrame(mat) == 0) {
// Send the output the error.
outputStream.notifyError(cvSink.getError());
// skip the rest of the current iteration
continue;
}
// Put a rectangle on the image
Imgproc.rectangle(
mat, new Point(100, 100), new Point(400, 400), new Scalar(255, 255, 255), 5);
// Give the output stream a new image to display
outputStream.putFrame(mat);
}
});
m_visionThread.setDaemon(true);
m_visionThread.start();
}

9
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Main.java
View File

@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.canpdp;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all.
* Unless you know what you are doing, do not modify this file except to
* change the parameter class to the startRobot call.
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {
}
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.

38
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java
View File

@@ -16,9 +16,7 @@ import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
/**
* Represents a differential drive style drivetrain.
*/
/** Represents a differential drive style drivetrain. */
public class Drivetrain {
public static final double kMaxSpeed = 3.0; // meters per second
public static final double kMaxAngularSpeed = 2 * Math.PI; // one rotation per second
@@ -35,18 +33,18 @@ public class Drivetrain {
private final Encoder m_leftEncoder = new Encoder(0, 1);
private final Encoder m_rightEncoder = new Encoder(2, 3);
private final SpeedControllerGroup m_leftGroup
= new SpeedControllerGroup(m_leftLeader, m_leftFollower);
private final SpeedControllerGroup m_rightGroup
= new SpeedControllerGroup(m_rightLeader, m_rightFollower);
private final SpeedControllerGroup m_leftGroup =
new SpeedControllerGroup(m_leftLeader, m_leftFollower);
private final SpeedControllerGroup m_rightGroup =
new SpeedControllerGroup(m_rightLeader, m_rightFollower);
private final AnalogGyro m_gyro = new AnalogGyro(0);
private final PIDController m_leftPIDController = new PIDController(1, 0, 0);
private final PIDController m_rightPIDController = new PIDController(1, 0, 0);
private final DifferentialDriveKinematics m_kinematics
= new DifferentialDriveKinematics(kTrackWidth);
private final DifferentialDriveKinematics m_kinematics =
new DifferentialDriveKinematics(kTrackWidth);
private final DifferentialDriveOdometry m_odometry;
@@ -54,8 +52,8 @@ public class Drivetrain {
private final SimpleMotorFeedforward m_feedforward = new SimpleMotorFeedforward(1, 3);
/**
* Constructs a differential drive object.
* Sets the encoder distance per pulse and resets the gyro.
* Constructs a differential drive object. Sets the encoder distance per pulse and resets the
* gyro.
*/
public Drivetrain() {
m_gyro.reset();
@@ -81,10 +79,10 @@ public class Drivetrain {
final double leftFeedforward = m_feedforward.calculate(speeds.leftMetersPerSecond);
final double rightFeedforward = m_feedforward.calculate(speeds.rightMetersPerSecond);
final double leftOutput = m_leftPIDController.calculate(m_leftEncoder.getRate(),
speeds.leftMetersPerSecond);
final double rightOutput = m_rightPIDController.calculate(m_rightEncoder.getRate(),
speeds.rightMetersPerSecond);
final double leftOutput =
m_leftPIDController.calculate(m_leftEncoder.getRate(), speeds.leftMetersPerSecond);
final double rightOutput =
m_rightPIDController.calculate(m_rightEncoder.getRate(), speeds.rightMetersPerSecond);
m_leftGroup.setVoltage(leftOutput + leftFeedforward);
m_rightGroup.setVoltage(rightOutput + rightFeedforward);
}
@@ -93,7 +91,7 @@ public class Drivetrain {
* Drives the robot with the given linear velocity and angular velocity.
*
* @param xSpeed Linear velocity in m/s.
* @param rot Angular velocity in rad/s.
* @param rot Angular velocity in rad/s.
*/
@SuppressWarnings("ParameterName")
public void drive(double xSpeed, double rot) {
@@ -101,11 +99,9 @@ public class Drivetrain {
setSpeeds(wheelSpeeds);
}
/**
* Updates the field-relative position.
*/
/** Updates the field-relative position. */
public void updateOdometry() {
m_odometry.update(m_gyro.getRotation2d(), m_leftEncoder.getDistance(),
m_rightEncoder.getDistance());
m_odometry.update(
m_gyro.getRotation2d(), m_leftEncoder.getDistance(), m_rightEncoder.getDistance());
}
}

9
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Main.java
View File

@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.differentialdrivebot;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all.
* Unless you know what you are doing, do not modify this file except to
* change the parameter class to the startRobot call.
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {
}
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Robot.java
View File

@@ -17,7 +17,6 @@ public class Robot extends TimedRobot {
private final SlewRateLimiter m_speedLimiter = new SlewRateLimiter(3);
private final SlewRateLimiter m_rotLimiter = new SlewRateLimiter(3);
@Override
public void autonomousPeriodic() {
teleopPeriodic();
@@ -29,8 +28,7 @@ public class Robot extends TimedRobot {
// Get the x speed. We are inverting this because Xbox controllers return
// negative values when we push forward.
final var xSpeed =
-m_speedLimiter.calculate(m_controller.getY(GenericHID.Hand.kLeft))
* Drivetrain.kMaxSpeed;
-m_speedLimiter.calculate(m_controller.getY(GenericHID.Hand.kLeft)) * Drivetrain.kMaxSpeed;
// Get the rate of angular rotation. We are inverting this because we want a
// positive value when we pull to the left (remember, CCW is positive in

56
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
View File

@@ -13,6 +13,7 @@ import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.estimator.DifferentialDrivePoseEstimator;
import edu.wpi.first.wpilibj.examples.swervesdriveposeestimator.ExampleGlobalMeasurementSensor;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
@@ -20,11 +21,7 @@ import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.wpilibj.examples.swervesdriveposeestimator.ExampleGlobalMeasurementSensor;
/**
* Represents a differential drive style drivetrain.
*/
/** Represents a differential drive style drivetrain. */
public class Drivetrain {
public static final double kMaxSpeed = 3.0; // meters per second
public static final double kMaxAngularSpeed = 2 * Math.PI; // one rotation per second
@@ -41,34 +38,35 @@ public class Drivetrain {
private final Encoder m_leftEncoder = new Encoder(0, 1);
private final Encoder m_rightEncoder = new Encoder(2, 3);
private final SpeedControllerGroup m_leftGroup
= new SpeedControllerGroup(m_leftLeader, m_leftFollower);
private final SpeedControllerGroup m_rightGroup
= new SpeedControllerGroup(m_rightLeader, m_rightFollower);
private final SpeedControllerGroup m_leftGroup =
new SpeedControllerGroup(m_leftLeader, m_leftFollower);
private final SpeedControllerGroup m_rightGroup =
new SpeedControllerGroup(m_rightLeader, m_rightFollower);
private final AnalogGyro m_gyro = new AnalogGyro(0);
private final PIDController m_leftPIDController = new PIDController(1, 0, 0);
private final PIDController m_rightPIDController = new PIDController(1, 0, 0);
private final DifferentialDriveKinematics m_kinematics
= new DifferentialDriveKinematics(kTrackWidth);
private final DifferentialDriveKinematics m_kinematics =
new DifferentialDriveKinematics(kTrackWidth);
/* Here we use DifferentialDrivePoseEstimator so that we can fuse odometry readings. The
numbers used below are robot specific, and should be tuned. */
private final DifferentialDrivePoseEstimator m_poseEstimator = new DifferentialDrivePoseEstimator(
m_gyro.getRotation2d(),
new Pose2d(),
VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(5), 0.01, 0.01),
VecBuilder.fill(0.02, 0.02, Units.degreesToRadians(1)),
VecBuilder.fill(0.5, 0.5, Units.degreesToRadians(30)));
private final DifferentialDrivePoseEstimator m_poseEstimator =
new DifferentialDrivePoseEstimator(
m_gyro.getRotation2d(),
new Pose2d(),
VecBuilder.fill(0.05, 0.05, Units.degreesToRadians(5), 0.01, 0.01),
VecBuilder.fill(0.02, 0.02, Units.degreesToRadians(1)),
VecBuilder.fill(0.5, 0.5, Units.degreesToRadians(30)));
// Gains are for example purposes only - must be determined for your own robot!
private final SimpleMotorFeedforward m_feedforward = new SimpleMotorFeedforward(1, 3);
/**
* Constructs a differential drive object.
* Sets the encoder distance per pulse and resets the gyro.
* Constructs a differential drive object. Sets the encoder distance per pulse and resets the
* gyro.
*/
public Drivetrain() {
m_gyro.reset();
@@ -92,10 +90,10 @@ public class Drivetrain {
final double leftFeedforward = m_feedforward.calculate(speeds.leftMetersPerSecond);
final double rightFeedforward = m_feedforward.calculate(speeds.rightMetersPerSecond);
final double leftOutput = m_leftPIDController.calculate(m_leftEncoder.getRate(),
speeds.leftMetersPerSecond);
final double rightOutput = m_rightPIDController.calculate(m_rightEncoder.getRate(),
speeds.rightMetersPerSecond);
final double leftOutput =
m_leftPIDController.calculate(m_leftEncoder.getRate(), speeds.leftMetersPerSecond);
final double rightOutput =
m_rightPIDController.calculate(m_rightEncoder.getRate(), speeds.rightMetersPerSecond);
m_leftGroup.setVoltage(leftOutput + leftFeedforward);
m_rightGroup.setVoltage(rightOutput + rightFeedforward);
}
@@ -104,7 +102,7 @@ public class Drivetrain {
* Drives the robot with the given linear velocity and angular velocity.
*
* @param xSpeed Linear velocity in m/s.
* @param rot Angular velocity in rad/s.
* @param rot Angular velocity in rad/s.
*/
@SuppressWarnings("ParameterName")
public void drive(double xSpeed, double rot) {
@@ -112,13 +110,13 @@ public class Drivetrain {
setSpeeds(wheelSpeeds);
}
/**
* Updates the field-relative position.
*/
/** Updates the field-relative position. */
public void updateOdometry() {
m_poseEstimator.update(m_gyro.getRotation2d(),
m_poseEstimator.update(
m_gyro.getRotation2d(),
new DifferentialDriveWheelSpeeds(m_leftEncoder.getRate(), m_rightEncoder.getRate()),
m_leftEncoder.getDistance(), m_rightEncoder.getDistance());
m_leftEncoder.getDistance(),
m_rightEncoder.getDistance());
// Also apply vision measurements. We use 0.3 seconds in the past as an example -- on
// a real robot, this must be calculated based either on latency or timestamps.

9
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Main.java
View File

@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.differentialdriveposeestimator;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all.
* Unless you know what you are doing, do not modify this file except to
* change the parameter class to the startRobot call.
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {
}
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Robot.java
View File

@@ -17,7 +17,6 @@ public class Robot extends TimedRobot {
private final SlewRateLimiter m_speedLimiter = new SlewRateLimiter(3);
private final SlewRateLimiter m_rotLimiter = new SlewRateLimiter(3);
@Override
public void autonomousPeriodic() {
teleopPeriodic();
@@ -29,8 +28,7 @@ public class Robot extends TimedRobot {
// Get the x speed. We are inverting this because Xbox controllers return
// negative values when we push forward.
final var xSpeed =
-m_speedLimiter.calculate(m_controller.getY(GenericHID.Hand.kLeft))
* Drivetrain.kMaxSpeed;
-m_speedLimiter.calculate(m_controller.getY(GenericHID.Hand.kLeft)) * Drivetrain.kMaxSpeed;
// Get the rate of angular rotation. We are inverting this because we want a
// positive value when we pull to the left (remember, CCW is positive in

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Constants.java
View File

@@ -6,8 +6,8 @@ package edu.wpi.first.wpilibj.examples.drivedistanceoffboard;
/**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
* constants. This class should not be used for any other purpose. All constants should be
* declared globally (i.e. public static). Do not put anything functional in this class.
* constants. This class should not be used for any other purpose. All constants should be declared
* globally (i.e. public static). Do not put anything functional in this class.
*
* <p>It is advised to statically import this class (or one of its inner classes) wherever the
* constants are needed, to reduce verbosity.

35
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/ExampleSmartMotorController.java
View File

@@ -24,8 +24,7 @@ public class ExampleSmartMotorController implements SpeedController {
* @param port The port for the controller.
*/
@SuppressWarnings("PMD.UnusedFormalParameter")
public ExampleSmartMotorController(int port) {
}
public ExampleSmartMotorController(int port) {}
/**
* Example method for setting the PID gains of the smart controller.
@@ -34,8 +33,7 @@ public class ExampleSmartMotorController implements SpeedController {
* @param ki The integral gain.
* @param kd The derivative gain.
*/
public void setPID(double kp, double ki, double kd) {
}
public void setPID(double kp, double ki, double kd) {}
/**
* Example method for setting the setpoint of the smart controller in PID mode.
@@ -44,16 +42,14 @@ public class ExampleSmartMotorController implements SpeedController {
* @param setpoint The controller setpoint.
* @param arbFeedforward An arbitrary feedforward output (from -1 to 1).
*/
public void setSetpoint(PIDMode mode, double setpoint, double arbFeedforward) {
}
public void setSetpoint(PIDMode mode, double setpoint, double arbFeedforward) {}
/**
* Places this motor controller in follower mode.
*
* @param leader The leader to follow.
*/
public void follow(ExampleSmartMotorController leader) {
}
public void follow(ExampleSmartMotorController leader) {}
/**
* Returns the encoder distance.
@@ -73,15 +69,11 @@ public class ExampleSmartMotorController implements SpeedController {
return 0;
}
/**
* Resets the encoder to zero distance.
*/
public void resetEncoder() {
}
/** Resets the encoder to zero distance. */
public void resetEncoder() {}
@Override
public void set(double speed) {
}
public void set(double speed) {}
@Override
public double get() {
@@ -89,9 +81,7 @@ public class ExampleSmartMotorController implements SpeedController {
}
@Override
public void setInverted(boolean isInverted) {
}
public void setInverted(boolean isInverted) {}
@Override
public boolean getInverted() {
@@ -99,14 +89,11 @@ public class ExampleSmartMotorController implements SpeedController {
}
@Override
public void disable() {
}
public void disable() {}
@Override
public void stopMotor() {
}
public void stopMotor() {}
@Override
public void pidWrite(double output) {
}
public void pidWrite(double output) {}
}

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Main.java
View File

@@ -12,8 +12,7 @@ import edu.wpi.first.wpilibj.RobotBase;
* call.
*/
public final class Main {
private Main() {
}
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.

40
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Robot.java
View File

@@ -34,8 +34,8 @@ public class Robot extends TimedRobot {
* This function is called every robot packet, no matter the mode. Use this for items like
* diagnostics that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before
* LiveWindow and SmartDashboard integrated updating.
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
*/
@Override
public void robotPeriodic() {
@@ -46,20 +46,14 @@ public class Robot extends TimedRobot {
CommandScheduler.getInstance().run();
}
/**
* This function is called once each time the robot enters Disabled mode.
*/
/** This function is called once each time the robot enters Disabled mode. */
@Override
public void disabledInit() {
}
public void disabledInit() {}
@Override
public void disabledPeriodic() {
}
public void disabledPeriodic() {}
/**
* This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
*/
/** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
@Override
public void autonomousInit() {
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
@@ -77,12 +71,9 @@ public class Robot extends TimedRobot {
}
}
/**
* This function is called periodically during autonomous.
*/
/** This function is called periodically during autonomous. */
@Override
public void autonomousPeriodic() {
}
public void autonomousPeriodic() {}
@Override
public void teleopInit() {
@@ -95,13 +86,9 @@ public class Robot extends TimedRobot {
}
}
/**
* This function is called periodically during operator control.
*/
/** This function is called periodically during operator control. */
@Override
public void teleopPeriodic() {
}
public void teleopPeriodic() {}
@Override
public void testInit() {
@@ -109,10 +96,7 @@ public class Robot extends TimedRobot {
CommandScheduler.getInstance().cancelAll();
}
/**
* This function is called periodically during test mode.
*/
/** This function is called periodically during test mode. */
@Override
public void testPeriodic() {
}
public void testPeriodic() {}
}

64
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java
View File

@@ -4,8 +4,14 @@
package edu.wpi.first.wpilibj.examples.drivedistanceoffboard;
import static edu.wpi.first.wpilibj.XboxController.Button;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.OIConstants;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.commands.DriveDistanceProfiled;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
@@ -13,18 +19,11 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.TrapezoidProfileCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.OIConstants;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.commands.DriveDistanceProfiled;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.subsystems.DriveSubsystem;
import static edu.wpi.first.wpilibj.XboxController.Button;
/**
* This class is where the bulk of the robot should be declared. Since Command-based is a
* This class is where the bulk of the robot should be declared. Since Command-based is a
* "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
* periodic methods (other than the scheduler calls). Instead, the structure of the robot
* (including subsystems, commands, and button mappings) should be declared here.
* periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
* subsystems, commands, and button mappings) should be declared here.
*/
public class RobotContainer {
// The robot's subsystems
@@ -33,9 +32,7 @@ public class RobotContainer {
// The driver's controller
XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
/** The container for the robot. Contains subsystems, OI devices, and commands. */
public RobotContainer() {
// Configure the button bindings
configureButtonBindings();
@@ -45,17 +42,19 @@ public class RobotContainer {
m_robotDrive.setDefaultCommand(
// A split-stick arcade command, with forward/backward controlled by the left
// hand, and turning controlled by the right.
new RunCommand(() -> m_robotDrive
.arcadeDrive(m_driverController.getY(GenericHID.Hand.kLeft),
m_driverController.getX(GenericHID.Hand.kRight)), m_robotDrive));
new RunCommand(
() ->
m_robotDrive.arcadeDrive(
m_driverController.getY(GenericHID.Hand.kLeft),
m_driverController.getX(GenericHID.Hand.kRight)),
m_robotDrive));
}
/**
* Use this method to define your button->command mappings. Buttons can be created by
* Use this method to define your button->command mappings. Buttons can be created by
* instantiating a {@link GenericHID} or one of its subclasses ({@link
* edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
* {@link JoystickButton}.
* edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
* JoystickButton}.
*/
private void configureButtonBindings() {
// Drive forward by 3 meters when the 'A' button is pressed, with a timeout of 10 seconds
@@ -66,19 +65,17 @@ public class RobotContainer {
new JoystickButton(m_driverController, Button.kB.value)
.whenPressed(
new TrapezoidProfileCommand(
new TrapezoidProfile(
// Limit the max acceleration and velocity
new TrapezoidProfile.Constraints(
DriveConstants.kMaxSpeedMetersPerSecond,
DriveConstants.kMaxAccelerationMetersPerSecondSquared),
// End at desired position in meters; implicitly starts at 0
new TrapezoidProfile.State(3, 0)),
// Pipe the profile state to the drive
setpointState -> m_robotDrive.setDriveStates(
setpointState,
setpointState),
// Require the drive
m_robotDrive)
new TrapezoidProfile(
// Limit the max acceleration and velocity
new TrapezoidProfile.Constraints(
DriveConstants.kMaxSpeedMetersPerSecond,
DriveConstants.kMaxAccelerationMetersPerSecondSquared),
// End at desired position in meters; implicitly starts at 0
new TrapezoidProfile.State(3, 0)),
// Pipe the profile state to the drive
setpointState -> m_robotDrive.setDriveStates(setpointState, setpointState),
// Require the drive
m_robotDrive)
.beforeStarting(m_robotDrive::resetEncoders)
.withTimeout(10));
@@ -88,7 +85,6 @@ public class RobotContainer {
.whenReleased(() -> m_robotDrive.setMaxOutput(1));
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
*

14
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/commands/DriveDistanceProfiled.java
View File

@@ -4,15 +4,12 @@
package edu.wpi.first.wpilibj.examples.drivedistanceoffboard.commands;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.TrapezoidProfileCommand;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.subsystems.DriveSubsystem;
/**
* Drives a set distance using a motion profile.
*/
/** Drives a set distance using a motion profile. */
public class DriveDistanceProfiled extends TrapezoidProfileCommand {
/**
* Creates a new DriveDistanceProfiled command.
@@ -24,8 +21,9 @@ public class DriveDistanceProfiled extends TrapezoidProfileCommand {
super(
new TrapezoidProfile(
// Limit the max acceleration and velocity
new TrapezoidProfile.Constraints(DriveConstants.kMaxSpeedMetersPerSecond,
DriveConstants.kMaxAccelerationMetersPerSecondSquared),
new TrapezoidProfile.Constraints(
DriveConstants.kMaxSpeedMetersPerSecond,
DriveConstants.kMaxAccelerationMetersPerSecondSquared),
// End at desired position in meters; implicitly starts at 0
new TrapezoidProfile.State(meters, 0)),
// Pipe the profile state to the drive

36
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java
View File

@@ -6,11 +6,10 @@ package edu.wpi.first.wpilibj.examples.drivedistanceoffboard.subsystems;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.ExampleSmartMotorController;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
@@ -27,16 +26,15 @@ public class DriveSubsystem extends SubsystemBase {
new ExampleSmartMotorController(DriveConstants.kRightMotor2Port);
private final SimpleMotorFeedforward m_feedforward =
new SimpleMotorFeedforward(DriveConstants.ksVolts,
DriveConstants.kvVoltSecondsPerMeter,
DriveConstants.kaVoltSecondsSquaredPerMeter);
new SimpleMotorFeedforward(
DriveConstants.ksVolts,
DriveConstants.kvVoltSecondsPerMeter,
DriveConstants.kaVoltSecondsSquaredPerMeter);
// The robot's drive
private final DifferentialDrive m_drive = new DifferentialDrive(m_leftLeader, m_rightLeader);
/**
* Creates a new DriveSubsystem.
*/
/** Creates a new DriveSubsystem. */
public DriveSubsystem() {
m_leftFollower.follow(m_leftLeader);
m_rightFollower.follow(m_rightLeader);
@@ -62,12 +60,14 @@ public class DriveSubsystem extends SubsystemBase {
* @param right The right wheel state.
*/
public void setDriveStates(TrapezoidProfile.State left, TrapezoidProfile.State right) {
m_leftLeader.setSetpoint(ExampleSmartMotorController.PIDMode.kPosition,
left.position,
m_feedforward.calculate(left.velocity));
m_rightLeader.setSetpoint(ExampleSmartMotorController.PIDMode.kPosition,
right.position,
m_feedforward.calculate(right.velocity));
m_leftLeader.setSetpoint(
ExampleSmartMotorController.PIDMode.kPosition,
left.position,
m_feedforward.calculate(left.velocity));
m_rightLeader.setSetpoint(
ExampleSmartMotorController.PIDMode.kPosition,
right.position,
m_feedforward.calculate(right.velocity));
}
/**
@@ -88,16 +88,14 @@ public class DriveSubsystem extends SubsystemBase {
return m_rightLeader.getEncoderDistance();
}
/**
* Resets the drive encoders.
*/
/** Resets the drive encoders. */
public void resetEncoders() {
m_leftLeader.resetEncoder();
m_rightLeader.resetEncoder();
}
/**
* Sets the max output of the drive. Useful for scaling the drive to drive more slowly.
* Sets the max output of the drive. Useful for scaling the drive to drive more slowly.
*
* @param maxOutput the maximum output to which the drive will be constrained
*/

9
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dutycycleencoder/Main.java
View File

@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.dutycycleencoder;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all.
* Unless you know what you are doing, do not modify this file except to
* change the parameter class to the startRobot call.
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {
}
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.

1
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dutycycleencoder/Robot.java
View File

@@ -39,5 +39,4 @@ public class Robot extends TimedRobot {
SmartDashboard.putNumber("Output", output);
SmartDashboard.putNumber("Distance", distance);
}
}

9
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dutycycleinput/Main.java
View File

@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.dutycycleinput;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all.
* Unless you know what you are doing, do not modify this file except to
* change the parameter class to the startRobot call.
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {
}
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.

1
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dutycycleinput/Robot.java
View File

@@ -32,5 +32,4 @@ public class Robot extends TimedRobot {
SmartDashboard.putNumber("Frequency", frequency);
SmartDashboard.putNumber("Duty Cycle", output);
}
}

9
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Main.java
View File

@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.elevatorprofiledpid;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all.
* Unless you know what you are doing, do not modify this file except to
* change the parameter class to the startRobot call.
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {
}
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.

9
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Main.java
View File

@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.elevatorsimulation;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all.
* Unless you know what you are doing, do not modify this file except to
* change the parameter class to the startRobot call.
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {
}
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.

30
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java
View File

@@ -10,17 +10,15 @@ import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.simulation.EncoderSim;
import edu.wpi.first.wpilibj.simulation.RoboRioSim;
import edu.wpi.first.wpilibj.simulation.BatterySim;
import edu.wpi.first.wpilibj.simulation.ElevatorSim;
import edu.wpi.first.wpilibj.simulation.EncoderSim;
import edu.wpi.first.wpilibj.simulation.RoboRioSim;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.VecBuilder;
/**
* This is a sample program to demonstrate the use of elevator simulation with existing code.
*/
/** This is a sample program to demonstrate the use of elevator simulation with existing code. */
public class Robot extends TimedRobot {
private static final int kMotorPort = 0;
private static final int kEncoderAChannel = 0;
@@ -37,7 +35,8 @@ public class Robot extends TimedRobot {
// distance per pulse = (distance per revolution) / (pulses per revolution)
// = (Pi * D) / ppr
private static final double kElevatorEncoderDistPerPulse = 2.0 * Math.PI * kElevatorDrumRadius / 4096;
private static final double kElevatorEncoderDistPerPulse =
2.0 * Math.PI * kElevatorDrumRadius / 4096;
private final DCMotor m_elevatorGearbox = DCMotor.getVex775Pro(4);
@@ -48,13 +47,15 @@ public class Robot extends TimedRobot {
private final Joystick m_joystick = new Joystick(kJoystickPort);
// Simulation classes help us simulate what's going on, including gravity.
private final ElevatorSim m_elevatorSim = new ElevatorSim(m_elevatorGearbox,
kElevatorGearing,
kCarriageMass,
kElevatorDrumRadius,
kMinElevatorHeight,
kMaxElevatorHeight,
VecBuilder.fill(0.01));
private final ElevatorSim m_elevatorSim =
new ElevatorSim(
m_elevatorGearbox,
kElevatorGearing,
kCarriageMass,
kElevatorDrumRadius,
kMinElevatorHeight,
kMaxElevatorHeight,
VecBuilder.fill(0.01));
private final EncoderSim m_encoderSim = new EncoderSim(m_encoder);
@Override
@@ -74,7 +75,8 @@ public class Robot extends TimedRobot {
// Finally, we set our simulated encoder's readings and simulated battery voltage
m_encoderSim.setDistance(m_elevatorSim.getPositionMeters());
// SimBattery estimates loaded battery voltages
RoboRioSim.setVInVoltage(BatterySim.calculateDefaultBatteryLoadedVoltage(m_elevatorSim.getCurrentDrawAmps()));
RoboRioSim.setVInVoltage(
BatterySim.calculateDefaultBatteryLoadedVoltage(m_elevatorSim.getCurrentDrawAmps()));
}
@Override

35
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/ExampleSmartMotorController.java
View File

@@ -24,8 +24,7 @@ public class ExampleSmartMotorController implements SpeedController {
* @param port The port for the controller.
*/
@SuppressWarnings("PMD.UnusedFormalParameter")
public ExampleSmartMotorController(int port) {
}
public ExampleSmartMotorController(int port) {}
/**
* Example method for setting the PID gains of the smart controller.
@@ -34,8 +33,7 @@ public class ExampleSmartMotorController implements SpeedController {
* @param ki The integral gain.
* @param kd The derivative gain.
*/
public void setPID(double kp, double ki, double kd) {
}
public void setPID(double kp, double ki, double kd) {}
/**
* Example method for setting the setpoint of the smart controller in PID mode.
@@ -44,16 +42,14 @@ public class ExampleSmartMotorController implements SpeedController {
* @param setpoint The controller setpoint.
* @param arbFeedforward An arbitrary feedforward output (from -1 to 1).
*/
public void setSetpoint(PIDMode mode, double setpoint, double arbFeedforward) {
}
public void setSetpoint(PIDMode mode, double setpoint, double arbFeedforward) {}
/**
* Places this motor controller in follower mode.
*
* @param leader The leader to follow.
*/
public void follow(ExampleSmartMotorController leader) {
}
public void follow(ExampleSmartMotorController leader) {}
/**
* Returns the encoder distance.
@@ -73,15 +69,11 @@ public class ExampleSmartMotorController implements SpeedController {
return 0;
}
/**
* Resets the encoder to zero distance.
*/
public void resetEncoder() {
}
/** Resets the encoder to zero distance. */
public void resetEncoder() {}
@Override
public void set(double speed) {
}
public void set(double speed) {}
@Override
public double get() {
@@ -89,9 +81,7 @@ public class ExampleSmartMotorController implements SpeedController {
}
@Override
public void setInverted(boolean isInverted) {
}
public void setInverted(boolean isInverted) {}
@Override
public boolean getInverted() {
@@ -99,14 +89,11 @@ public class ExampleSmartMotorController implements SpeedController {
}
@Override
public void disable() {
}
public void disable() {}
@Override
public void stopMotor() {
}
public void stopMotor() {}
@Override
public void pidWrite(double output) {
}
public void pidWrite(double output) {}
}

9
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Main.java
View File

@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.elevatortrapezoidprofile;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all.
* Unless you know what you are doing, do not modify this file except to
* change the parameter class to the startRobot call.
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {
}
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java
View File

@@ -46,7 +46,9 @@ public class Robot extends TimedRobot {
m_setpoint = profile.calculate(kDt);
// Send setpoint to offboard controller PID
m_motor.setSetpoint(ExampleSmartMotorController.PIDMode.kPosition, m_setpoint.position,
m_feedforward.calculate(m_setpoint.velocity) / 12.0);
m_motor.setSetpoint(
ExampleSmartMotorController.PIDMode.kPosition,
m_setpoint.position,
m_feedforward.calculate(m_setpoint.velocity) / 12.0);
}
}

9
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder/Main.java
View File

@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.encoder;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all.
* Unless you know what you are doing, do not modify this file except to
* change the parameter class to the startRobot call.
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {
}
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.

7
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder/Robot.java
View File

@@ -26,14 +26,13 @@ public class Robot extends TimedRobot {
* The Encoder object is constructed with 4 parameters, the last two being optional. The first two
* parameters (1, 2 in this case) refer to the ports on the roboRIO which the encoder uses.
* Because a quadrature encoder has two signal wires, the signal from two DIO ports on the roboRIO
* are used. The third (optional) parameter is a boolean which defaults to false. If you set this
* parameter to true, the direction of the encoder will be reversed, in case it makes more sense
* are used. The third (optional) parameter is a boolean which defaults to false. If you set this
* parameter to true, the direction of the encoder will be reversed, in case it makes more sense
* mechanically. The final (optional) parameter specifies encoding rate (k1X, k2X, or k4X) and
* defaults to k4X. Faster (k4X) encoding gives greater positional precision but more noise in the
* rate.
*/
private final Encoder m_encoder =
new Encoder(1, 2, false, CounterBase.EncodingType.k4X);
private final Encoder m_encoder = new Encoder(1, 2, false, CounterBase.EncodingType.k4X);
@Override
public void robotInit() {

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Constants.java
View File

@@ -6,8 +6,8 @@ package edu.wpi.first.wpilibj.examples.frisbeebot;
/**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
* constants. This class should not be used for any other purpose. All constants should be
* declared globally (i.e. public static). Do not put anything functional in this class.
* constants. This class should not be used for any other purpose. All constants should be declared
* globally (i.e. public static). Do not put anything functional in this class.
*
* <p>It is advised to statically import this class (or one of its inner classes) wherever the
* constants are needed, to reduce verbosity.
@@ -19,8 +19,8 @@ public final class Constants {
public static final int kRightMotor1Port = 2;
public static final int kRightMotor2Port = 3;
public static final int[] kLeftEncoderPorts = new int[]{0, 1};
public static final int[] kRightEncoderPorts = new int[]{2, 3};
public static final int[] kLeftEncoderPorts = new int[] {0, 1};
public static final int[] kRightEncoderPorts = new int[] {2, 3};
public static final boolean kLeftEncoderReversed = false;
public static final boolean kRightEncoderReversed = true;
@@ -32,7 +32,7 @@ public final class Constants {
}
public static final class ShooterConstants {
public static final int[] kEncoderPorts = new int[]{4, 5};
public static final int[] kEncoderPorts = new int[] {4, 5};
public static final boolean kEncoderReversed = false;
public static final int kEncoderCPR = 1024;
public static final double kEncoderDistancePerPulse =

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Main.java
View File

@@ -12,8 +12,7 @@ import edu.wpi.first.wpilibj.RobotBase;
* call.
*/
public final class Main {
private Main() {
}
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.

40
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Robot.java
View File

@@ -34,8 +34,8 @@ public class Robot extends TimedRobot {
* This function is called every robot packet, no matter the mode. Use this for items like
* diagnostics that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before
* LiveWindow and SmartDashboard integrated updating.
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
*/
@Override
public void robotPeriodic() {
@@ -46,20 +46,14 @@ public class Robot extends TimedRobot {
CommandScheduler.getInstance().run();
}
/**
* This function is called once each time the robot enters Disabled mode.
*/
/** This function is called once each time the robot enters Disabled mode. */
@Override
public void disabledInit() {
}
public void disabledInit() {}
@Override
public void disabledPeriodic() {
}
public void disabledPeriodic() {}
/**
* This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
*/
/** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
@Override
public void autonomousInit() {
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
@@ -77,12 +71,9 @@ public class Robot extends TimedRobot {
}
}
/**
* This function is called periodically during autonomous.
*/
/** This function is called periodically during autonomous. */
@Override
public void autonomousPeriodic() {
}
public void autonomousPeriodic() {}
@Override
public void teleopInit() {
@@ -95,13 +86,9 @@ public class Robot extends TimedRobot {
}
}
/**
* This function is called periodically during operator control.
*/
/** This function is called periodically during operator control. */
@Override
public void teleopPeriodic() {
}
public void teleopPeriodic() {}
@Override
public void testInit() {
@@ -109,10 +96,7 @@ public class Robot extends TimedRobot {
CommandScheduler.getInstance().cancelAll();
}
/**
* This function is called periodically during test mode.
*/
/** This function is called periodically during test mode. */
@Override
public void testPeriodic() {
}
public void testPeriodic() {}
}

83
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java
View File

@@ -4,8 +4,14 @@
package edu.wpi.first.wpilibj.examples.frisbeebot;
import static edu.wpi.first.wpilibj.XboxController.Button;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.AutoConstants;
import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.OIConstants;
import edu.wpi.first.wpilibj.examples.frisbeebot.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj.examples.frisbeebot.subsystems.ShooterSubsystem;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.ConditionalCommand;
import edu.wpi.first.wpilibj2.command.InstantCommand;
@@ -14,18 +20,11 @@ import edu.wpi.first.wpilibj2.command.WaitCommand;
import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.AutoConstants;
import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.OIConstants;
import edu.wpi.first.wpilibj.examples.frisbeebot.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj.examples.frisbeebot.subsystems.ShooterSubsystem;
import static edu.wpi.first.wpilibj.XboxController.Button;
/**
* This class is where the bulk of the robot should be declared. Since Command-based is a
* This class is where the bulk of the robot should be declared. Since Command-based is a
* "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
* periodic methods (other than the scheduler calls). Instead, the structure of the robot
* (including subsystems, commands, and button mappings) should be declared here.
* periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
* subsystems, commands, and button mappings) should be declared here.
*/
public class RobotContainer {
// The robot's subsystems
@@ -35,28 +34,28 @@ public class RobotContainer {
// A simple autonomous routine that shoots the loaded frisbees
private final Command m_autoCommand =
// Start the command by spinning up the shooter...
new InstantCommand(m_shooter::enable, m_shooter).andThen(
// Wait until the shooter is at speed before feeding the frisbees
new WaitUntilCommand(m_shooter::atSetpoint),
// Start running the feeder
new InstantCommand(m_shooter::runFeeder, m_shooter),
// Shoot for the specified time
new WaitCommand(AutoConstants.kAutoShootTimeSeconds))
new InstantCommand(m_shooter::enable, m_shooter)
.andThen(
// Wait until the shooter is at speed before feeding the frisbees
new WaitUntilCommand(m_shooter::atSetpoint),
// Start running the feeder
new InstantCommand(m_shooter::runFeeder, m_shooter),
// Shoot for the specified time
new WaitCommand(AutoConstants.kAutoShootTimeSeconds))
// Add a timeout (will end the command if, for instance, the shooter never gets up to
// speed)
.withTimeout(AutoConstants.kAutoTimeoutSeconds)
// When the command ends, turn off the shooter and the feeder
.andThen(() -> {
m_shooter.disable();
m_shooter.stopFeeder();
});
.andThen(
() -> {
m_shooter.disable();
m_shooter.stopFeeder();
});
// The driver's controller
XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
/** The container for the robot. Contains subsystems, OI devices, and commands. */
public RobotContainer() {
// Configure the button bindings
configureButtonBindings();
@@ -66,17 +65,19 @@ public class RobotContainer {
m_robotDrive.setDefaultCommand(
// A split-stick arcade command, with forward/backward controlled by the left
// hand, and turning controlled by the right.
new RunCommand(() -> m_robotDrive
.arcadeDrive(m_driverController.getY(GenericHID.Hand.kLeft),
m_driverController.getX(GenericHID.Hand.kRight)), m_robotDrive));
new RunCommand(
() ->
m_robotDrive.arcadeDrive(
m_driverController.getY(GenericHID.Hand.kLeft),
m_driverController.getX(GenericHID.Hand.kRight)),
m_robotDrive));
}
/**
* Use this method to define your button->command mappings. Buttons can be created by
* Use this method to define your button->command mappings. Buttons can be created by
* instantiating a {@link GenericHID} or one of its subclasses ({@link
* edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
* {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
* edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
* edu.wpi.first.wpilibj2.command.button.JoystickButton}.
*/
private void configureButtonBindings() {
// Spin up the shooter when the 'A' button is pressed
@@ -88,14 +89,17 @@ public class RobotContainer {
.whenPressed(new InstantCommand(m_shooter::disable, m_shooter));
// Run the feeder when the 'X' button is held, but only if the shooter is at speed
new JoystickButton(m_driverController, Button.kX.value).whenPressed(new ConditionalCommand(
// Run the feeder
new InstantCommand(m_shooter::runFeeder, m_shooter),
// Do nothing
new InstantCommand(),
// Determine which of the above to do based on whether the shooter has reached the
// desired speed
m_shooter::atSetpoint)).whenReleased(new InstantCommand(m_shooter::stopFeeder, m_shooter));
new JoystickButton(m_driverController, Button.kX.value)
.whenPressed(
new ConditionalCommand(
// Run the feeder
new InstantCommand(m_shooter::runFeeder, m_shooter),
// Do nothing
new InstantCommand(),
// Determine which of the above to do based on whether the shooter has reached the
// desired speed
m_shooter::atSetpoint))
.whenReleased(new InstantCommand(m_shooter::stopFeeder, m_shooter));
// Drive at half speed when the bumper is held
new JoystickButton(m_driverController, Button.kBumperRight.value)
@@ -103,7 +107,6 @@ public class RobotContainer {
.whenReleased(() -> m_robotDrive.setMaxOutput(1));
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
*

35
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/DriveSubsystem.java
View File

@@ -8,37 +8,40 @@ import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.DriveConstants;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final SpeedControllerGroup m_leftMotors =
new SpeedControllerGroup(new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
new SpeedControllerGroup(
new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
// The motors on the right side of the drive.
private final SpeedControllerGroup m_rightMotors =
new SpeedControllerGroup(new PWMVictorSPX(DriveConstants.kRightMotor1Port),
new PWMVictorSPX(DriveConstants.kRightMotor2Port));
new SpeedControllerGroup(
new PWMVictorSPX(DriveConstants.kRightMotor1Port),
new PWMVictorSPX(DriveConstants.kRightMotor2Port));
// The robot's drive
private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);
// The left-side drive encoder
private final Encoder m_leftEncoder =
new Encoder(DriveConstants.kLeftEncoderPorts[0], DriveConstants.kLeftEncoderPorts[1],
DriveConstants.kLeftEncoderReversed);
new Encoder(
DriveConstants.kLeftEncoderPorts[0],
DriveConstants.kLeftEncoderPorts[1],
DriveConstants.kLeftEncoderReversed);
// The right-side drive encoder
private final Encoder m_rightEncoder =
new Encoder(DriveConstants.kRightEncoderPorts[0], DriveConstants.kRightEncoderPorts[1],
DriveConstants.kRightEncoderReversed);
new Encoder(
DriveConstants.kRightEncoderPorts[0],
DriveConstants.kRightEncoderPorts[1],
DriveConstants.kRightEncoderReversed);
/**
* Creates a new DriveSubsystem.
*/
/** Creates a new DriveSubsystem. */
public DriveSubsystem() {
// Sets the distance per pulse for the encoders
m_leftEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
@@ -55,9 +58,7 @@ public class DriveSubsystem extends SubsystemBase {
m_drive.arcadeDrive(fwd, rot);
}
/**
* Resets the drive encoders to currently read a position of 0.
*/
/** Resets the drive encoders to currently read a position of 0. */
public void resetEncoders() {
m_leftEncoder.reset();
m_rightEncoder.reset();
@@ -91,7 +92,7 @@ public class DriveSubsystem extends SubsystemBase {
}
/**
* Sets the max output of the drive. Useful for scaling the drive to drive more slowly.
* Sets the max output of the drive. Useful for scaling the drive to drive more slowly.
*
* @param maxOutput the maximum output to which the drive will be constrained
*/

17
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java
View File

@@ -8,23 +8,22 @@ import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj2.command.PIDSubsystem;
import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.ShooterConstants;
import edu.wpi.first.wpilibj2.command.PIDSubsystem;
public class ShooterSubsystem extends PIDSubsystem {
private final PWMVictorSPX m_shooterMotor = new PWMVictorSPX(ShooterConstants.kShooterMotorPort);
private final PWMVictorSPX m_feederMotor = new PWMVictorSPX(ShooterConstants.kFeederMotorPort);
private final Encoder m_shooterEncoder =
new Encoder(ShooterConstants.kEncoderPorts[0], ShooterConstants.kEncoderPorts[1],
ShooterConstants.kEncoderReversed);
new Encoder(
ShooterConstants.kEncoderPorts[0],
ShooterConstants.kEncoderPorts[1],
ShooterConstants.kEncoderReversed);
private final SimpleMotorFeedforward m_shooterFeedforward =
new SimpleMotorFeedforward(ShooterConstants.kSVolts,
ShooterConstants.kVVoltSecondsPerRotation);
new SimpleMotorFeedforward(
ShooterConstants.kSVolts, ShooterConstants.kVVoltSecondsPerRotation);
/**
* The shooter subsystem for the robot.
*/
/** The shooter subsystem for the robot. */
public ShooterSubsystem() {
super(new PIDController(ShooterConstants.kP, ShooterConstants.kI, ShooterConstants.kD));
getController().setTolerance(ShooterConstants.kShooterToleranceRPS);

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Main.java
View File

@@ -12,8 +12,7 @@ import edu.wpi.first.wpilibj.RobotBase;
* call.
*/
public final class Main {
private Main() {
}
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.

39
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Robot.java
View File

@@ -34,8 +34,8 @@ public class Robot extends TimedRobot {
* This function is called every robot packet, no matter the mode. Use this for items like
* diagnostics that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before
* LiveWindow and SmartDashboard integrated updating.
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
*/
@Override
public void robotPeriodic() {
@@ -46,20 +46,14 @@ public class Robot extends TimedRobot {
CommandScheduler.getInstance().run();
}
/**
* This function is called once each time the robot enters Disabled mode.
*/
/** This function is called once each time the robot enters Disabled mode. */
@Override
public void disabledInit() {
}
public void disabledInit() {}
@Override
public void disabledPeriodic() {
}
public void disabledPeriodic() {}
/**
* This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
*/
/** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
@Override
public void autonomousInit() {
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
@@ -70,12 +64,9 @@ public class Robot extends TimedRobot {
}
}
/**
* This function is called periodically during autonomous.
*/
/** This function is called periodically during autonomous. */
@Override
public void autonomousPeriodic() {
}
public void autonomousPeriodic() {}
@Override
public void teleopInit() {
@@ -88,12 +79,9 @@ public class Robot extends TimedRobot {
}
}
/**
* This function is called periodically during operator control.
*/
/** This function is called periodically during operator control. */
@Override
public void teleopPeriodic() {
}
public void teleopPeriodic() {}
@Override
public void testInit() {
@@ -101,10 +89,7 @@ public class Robot extends TimedRobot {
CommandScheduler.getInstance().cancelAll();
}
/**
* This function is called periodically during test mode.
*/
/** This function is called periodically during test mode. */
@Override
public void testPeriodic() {
}
public void testPeriodic() {}
}

35
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/RobotContainer.java
View File

@@ -8,11 +8,6 @@ import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.GenericHID.Hand;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.Autonomous;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.CloseClaw;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.OpenClaw;
@@ -26,12 +21,16 @@ import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Elevator;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Wrist;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
/**
* This class is where the bulk of the robot should be declared. Since Command-based is a
* This class is where the bulk of the robot should be declared. Since Command-based is a
* "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
* periodic methods (other than the scheduler calls). Instead, the structure of the robot
* (including subsystems, commands, and button mappings) should be declared here.
* periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
* subsystems, commands, and button mappings) should be declared here.
*/
public class RobotContainer {
// The robot's subsystems and commands are defined here...
@@ -45,9 +44,7 @@ public class RobotContainer {
private final CommandBase m_autonomousCommand =
new Autonomous(m_drivetrain, m_claw, m_wrist, m_elevator);
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
/** The container for the robot. Contains subsystems, OI devices, and commands. */
public RobotContainer() {
// Put Some buttons on the SmartDashboard
SmartDashboard.putData("Elevator Bottom", new SetElevatorSetpoint(0, m_elevator));
@@ -60,12 +57,13 @@ public class RobotContainer {
SmartDashboard.putData("Open Claw", new OpenClaw(m_claw));
SmartDashboard.putData("Close Claw", new CloseClaw(m_claw));
SmartDashboard
.putData("Deliver Soda", new Autonomous(m_drivetrain, m_claw, m_wrist, m_elevator));
SmartDashboard.putData(
"Deliver Soda", new Autonomous(m_drivetrain, m_claw, m_wrist, m_elevator));
// Assign default commands
m_drivetrain.setDefaultCommand(new TankDrive(() -> m_joystick.getY(Hand.kLeft),
() -> m_joystick.getY(Hand.kRight), m_drivetrain));
m_drivetrain.setDefaultCommand(
new TankDrive(
() -> m_joystick.getY(Hand.kLeft), () -> m_joystick.getY(Hand.kRight), m_drivetrain));
// Show what command your subsystem is running on the SmartDashboard
SmartDashboard.putData(m_drivetrain);
@@ -78,10 +76,10 @@ public class RobotContainer {
}
/**
* Use this method to define your button->command mappings. Buttons can be created by
* Use this method to define your button->command mappings. Buttons can be created by
* instantiating a {@link GenericHID} or one of its subclasses ({@link
* edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
* {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
* edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
* edu.wpi.first.wpilibj2.command.button.JoystickButton}.
*/
private void configureButtonBindings() {
// Create some buttons
@@ -106,7 +104,6 @@ public class RobotContainer {
l2.whenPressed(new Autonomous(m_drivetrain, m_claw, m_wrist, m_elevator));
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
*

17
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Autonomous.java
View File

@@ -4,20 +4,15 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Elevator;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Wrist;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
/**
* The main autonomous command to pickup and deliver the soda to the box.
*/
/** The main autonomous command to pickup and deliver the soda to the box. */
public class Autonomous extends SequentialCommandGroup {
/**
* Create a new autonomous command.
*/
/** Create a new autonomous command. */
public Autonomous(DriveTrain drive, Claw claw, Wrist wrist, Elevator elevator) {
addCommands(
new PrepareToPickup(claw, wrist, elevator),
@@ -27,10 +22,6 @@ public class Autonomous extends SequentialCommandGroup {
new Place(claw, wrist, elevator),
new SetDistanceToBox(0.60, drive),
// new DriveStraight(-2), // Use Encoders if ultrasonic is broken
parallel(
new SetWristSetpoint(-45, wrist),
new CloseClaw(claw)
)
);
parallel(new SetWristSetpoint(-45, wrist), new CloseClaw(claw)));
}
}

7
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/CloseClaw.java
View File

@@ -4,14 +4,11 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
import edu.wpi.first.wpilibj2.command.CommandBase;
/**
* Closes the claw until the limit switch is tripped.
*/
/** Closes the claw until the limit switch is tripped. */
public class CloseClaw extends CommandBase {
private final Claw m_claw;

17
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/DriveStraight.java
View File

@@ -5,28 +5,25 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
import edu.wpi.first.wpilibj2.command.PIDCommand;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
/**
* Drive the given distance straight (negative values go backwards). Uses a
* local PID controller to run a simple PID loop that is only enabled while this
* command is running. The input is the averaged values of the left and right
* encoders.
* Drive the given distance straight (negative values go backwards). Uses a local PID controller to
* run a simple PID loop that is only enabled while this command is running. The input is the
* averaged values of the left and right encoders.
*/
public class DriveStraight extends PIDCommand {
private final DriveTrain m_drivetrain;
/**
* Create a new DriveStraight command.
*
* @param distance The distance to drive
*/
public DriveStraight(double distance, DriveTrain drivetrain) {
super(new PIDController(4, 0, 0),
drivetrain::getDistance,
distance,
d -> drivetrain.drive(d, d));
super(
new PIDController(4, 0, 0), drivetrain::getDistance, distance, d -> drivetrain.drive(d, d));
m_drivetrain = drivetrain;
addRequirements(m_drivetrain);

7
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/OpenClaw.java
View File

@@ -4,13 +4,10 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
/**
* Opens the claw for one second. Real robots should use sensors, stalling motors is BAD!
*/
/** Opens the claw for one second. Real robots should use sensors, stalling motors is BAD! */
public class OpenClaw extends WaitCommand {
private final Claw m_claw;

12
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Pickup.java
View File

@@ -4,12 +4,10 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Elevator;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Wrist;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
/**
* Pickup a soda can (if one is between the open claws) and get it in a safe state to drive around.
@@ -18,15 +16,13 @@ public class Pickup extends SequentialCommandGroup {
/**
* Create a new pickup command.
*
* @param claw The claw subsystem to use
* @param wrist The wrist subsystem to use
* @param claw The claw subsystem to use
* @param wrist The wrist subsystem to use
* @param elevator The elevator subsystem to use
*/
public Pickup(Claw claw, Wrist wrist, Elevator elevator) {
addCommands(
new CloseClaw(claw),
parallel(
new SetWristSetpoint(-45, wrist),
new SetElevatorSetpoint(0.25, elevator)));
parallel(new SetWristSetpoint(-45, wrist), new SetElevatorSetpoint(0.25, elevator)));
}
}

12
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Place.java
View File

@@ -4,22 +4,18 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Elevator;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Wrist;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
/**
* Place a held soda can onto the platform.
*/
/** Place a held soda can onto the platform. */
public class Place extends SequentialCommandGroup {
/**
* Create a new place command.
*
* @param claw The claw subsystem to use
* @param wrist The wrist subsystem to use
* @param claw The claw subsystem to use
* @param wrist The wrist subsystem to use
* @param elevator The elevator subsystem to use
*/
public Place(Claw claw, Wrist wrist, Elevator elevator) {

15
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/PrepareToPickup.java
View File

@@ -4,28 +4,23 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Elevator;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Wrist;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
/**
* Make sure the robot is in a state to pickup soda cans.
*/
/** Make sure the robot is in a state to pickup soda cans. */
public class PrepareToPickup extends SequentialCommandGroup {
/**
* Create a new prepare to pickup command.
*
* @param claw The claw subsystem to use
* @param wrist The wrist subsystem to use
* @param claw The claw subsystem to use
* @param wrist The wrist subsystem to use
* @param elevator The elevator subsystem to use
*/
public PrepareToPickup(Claw claw, Wrist wrist, Elevator elevator) {
addCommands(
new OpenClaw(claw),
parallel(
new SetWristSetpoint(0, wrist),
new SetElevatorSetpoint(0, elevator)));
parallel(new SetWristSetpoint(0, wrist), new SetElevatorSetpoint(0, elevator)));
}
}

17
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetDistanceToBox.java
View File

@@ -5,16 +5,13 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
import edu.wpi.first.wpilibj2.command.PIDCommand;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
/**
* Drive until the robot is the given distance away from the box. Uses a local
* PID controller to run a simple PID loop that is only enabled while this
* command is running. The input is the averaged values of the left and right
* encoders.
* Drive until the robot is the given distance away from the box. Uses a local PID controller to run
* a simple PID loop that is only enabled while this command is running. The input is the averaged
* values of the left and right encoders.
*/
public class SetDistanceToBox extends PIDCommand {
private final DriveTrain m_drivetrain;
@@ -25,8 +22,10 @@ public class SetDistanceToBox extends PIDCommand {
* @param distance The distance away from the box to drive to
*/
public SetDistanceToBox(double distance, DriveTrain drivetrain) {
super(new PIDController(-2, 0, 0),
drivetrain::getDistanceToObstacle, distance,
super(
new PIDController(-2, 0, 0),
drivetrain::getDistanceToObstacle,
distance,
d -> drivetrain.drive(d, d));
m_drivetrain = drivetrain;

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetElevatorSetpoint.java
View File

@@ -4,10 +4,8 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Elevator;
import edu.wpi.first.wpilibj2.command.CommandBase;
/**
* Move the elevator to a given location. This command finishes when it is within the tolerance, but

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetWristSetpoint.java
View File

@@ -4,10 +4,8 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Wrist;
import edu.wpi.first.wpilibj2.command.CommandBase;
/**
* Move the wrist to a given angle. This command finishes when it is within the tolerance, but
@@ -22,7 +20,7 @@ public class SetWristSetpoint extends CommandBase {
* Create a new SetWristSetpoint command.
*
* @param setpoint The setpoint to set the wrist to
* @param wrist The wrist to use
* @param wrist The wrist to use
*/
public SetWristSetpoint(double setpoint, Wrist wrist) {
m_wrist = wrist;

15
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/TankDrive.java
View File

@@ -4,16 +4,11 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
import edu.wpi.first.wpilibj2.command.CommandBase;
import java.util.function.DoubleSupplier;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
/**
* Have the robot drive tank style.
*/
/** Have the robot drive tank style. */
public class TankDrive extends CommandBase {
private final DriveTrain m_drivetrain;
private final DoubleSupplier m_left;
@@ -22,8 +17,8 @@ public class TankDrive extends CommandBase {
/**
* Creates a new TankDrive command.
*
* @param left The control input for the left side of the drive
* @param right The control input for the right sight of the drive
* @param left The control input for the left side of the drive
* @param right The control input for the right sight of the drive
* @param drivetrain The drivetrain subsystem to drive
*/
public TankDrive(DoubleSupplier left, DoubleSupplier right, DriveTrain drivetrain) {

24
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Claw.java
View File

@@ -17,9 +17,7 @@ public class Claw extends SubsystemBase {
private final Victor m_motor = new Victor(7);
private final DigitalInput m_contact = new DigitalInput(5);
/**
* Create a new claw subsystem.
*/
/** Create a new claw subsystem. */
public Claw() {
// Let's name everything on the LiveWindow
addChild("Motor", m_motor);
@@ -30,37 +28,27 @@ public class Claw extends SubsystemBase {
SmartDashboard.putData("Claw switch", m_contact);
}
/**
* Set the claw motor to move in the open direction.
*/
/** Set the claw motor to move in the open direction. */
public void open() {
m_motor.set(-1);
}
/**
* Set the claw motor to move in the close direction.
*/
/** Set the claw motor to move in the close direction. */
public void close() {
m_motor.set(1);
}
/**
* Stops the claw motor from moving.
*/
/** Stops the claw motor from moving. */
public void stop() {
m_motor.set(0);
}
/**
* Return true when the robot is grabbing an object hard enough to trigger the limit switch.
*/
/** Return true when the robot is grabbing an object hard enough to trigger the limit switch. */
public boolean isGrabbing() {
return m_contact.get();
}
/**
* Call log method every loop.
*/
/** Call log method every loop. */
@Override
public void periodic() {
log();

22
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java
View File

@@ -11,11 +11,10 @@ import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
public class DriveTrain extends SubsystemBase {
/**
* The DriveTrain subsystem incorporates the sensors and actuators attached to the robots chassis.
@@ -23,6 +22,7 @@ public class DriveTrain extends SubsystemBase {
*/
private final SpeedController m_leftMotor =
new SpeedControllerGroup(new PWMVictorSPX(0), new PWMVictorSPX(1));
private final SpeedController m_rightMotor =
new SpeedControllerGroup(new PWMVictorSPX(2), new PWMVictorSPX(3));
@@ -33,9 +33,7 @@ public class DriveTrain extends SubsystemBase {
private final AnalogInput m_rangefinder = new AnalogInput(6);
private final AnalogGyro m_gyro = new AnalogGyro(1);
/**
* Create a new drive train subsystem.
*/
/** Create a new drive train subsystem. */
public DriveTrain() {
super();
@@ -61,9 +59,7 @@ public class DriveTrain extends SubsystemBase {
addChild("Gyro", m_gyro);
}
/**
* The log method puts interesting information to the SmartDashboard.
*/
/** The log method puts interesting information to the SmartDashboard. */
public void log() {
SmartDashboard.putNumber("Left Distance", m_leftEncoder.getDistance());
SmartDashboard.putNumber("Right Distance", m_rightEncoder.getDistance());
@@ -75,7 +71,7 @@ public class DriveTrain extends SubsystemBase {
/**
* Tank style driving for the DriveTrain.
*
* @param left Speed in range [-1,1]
* @param left Speed in range [-1,1]
* @param right Speed in range [-1,1]
*/
public void drive(double left, double right) {
@@ -91,9 +87,7 @@ public class DriveTrain extends SubsystemBase {
return m_gyro.getAngle();
}
/**
* Reset the robots sensors to the zero states.
*/
/** Reset the robots sensors to the zero states. */
public void reset() {
m_gyro.reset();
m_leftEncoder.reset();
@@ -119,9 +113,7 @@ public class DriveTrain extends SubsystemBase {
return m_rangefinder.getAverageVoltage();
}
/**
* Call log method every loop.
*/
/** Call log method every loop. */
@Override
public void periodic() {
log();

19
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Elevator.java
View File

@@ -7,11 +7,10 @@ package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.PIDSubsystem;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* The elevator subsystem uses PID to go to a given height. Unfortunately, in it's current state PID
* values for simulation are different than in the real world do to minor differences.
@@ -25,9 +24,7 @@ public class Elevator extends PIDSubsystem {
private static final double kP_simulation = 18;
private static final double kI_simulation = 0.2;
/**
* Create a new elevator subsystem.
*/
/** Create a new elevator subsystem. */
public Elevator() {
super(new PIDController(kP_real, kI_real, 0));
if (Robot.isSimulation()) { // Check for simulation and update PID values
@@ -50,9 +47,7 @@ public class Elevator extends PIDSubsystem {
addChild("Pot", m_pot);
}
/**
* The log method puts interesting information to the SmartDashboard.
*/
/** The log method puts interesting information to the SmartDashboard. */
public void log() {
SmartDashboard.putData("Elevator Pot", m_pot);
}
@@ -65,17 +60,13 @@ public class Elevator extends PIDSubsystem {
return m_pot.get();
}
/**
* Use the motor as the PID output. This method is automatically called by the subsystem.
*/
/** Use the motor as the PID output. This method is automatically called by the subsystem. */
@Override
public void useOutput(double output, double setpoint) {
m_motor.set(output);
}
/**
* Call log method every loop.
*/
/** Call log method every loop. */
@Override
public void periodic() {
log();

19
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java
View File

@@ -7,11 +7,10 @@ package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.PIDSubsystem;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* The wrist subsystem is like the elevator, but with a rotational joint instead of a linear joint.
*/
@@ -22,9 +21,7 @@ public class Wrist extends PIDSubsystem {
private static final double kP_real = 1;
private static final double kP_simulation = 0.05;
/**
* Create a new wrist subsystem.
*/
/** Create a new wrist subsystem. */
public Wrist() {
super(new PIDController(kP_real, 0, 0));
if (Robot.isSimulation()) { // Check for simulation and update PID values
@@ -47,9 +44,7 @@ public class Wrist extends PIDSubsystem {
addChild("Pot", m_pot);
}
/**
* The log method puts interesting information to the SmartDashboard.
*/
/** The log method puts interesting information to the SmartDashboard. */
public void log() {
SmartDashboard.putData("Wrist Angle", m_pot);
}
@@ -62,17 +57,13 @@ public class Wrist extends PIDSubsystem {
return m_pot.get();
}
/**
* Use the motor as the PID output. This method is automatically called by the subsystem.
*/
/** Use the motor as the PID output. This method is automatically called by the subsystem. */
@Override
public void useOutput(double output, double setpoint) {
m_motor.set(output);
}
/**
* Call log method every loop.
*/
/** Call log method every loop. */
@Override
public void periodic() {
log();

9
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Main.java
View File

@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.gettingstarted;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all.
* Unless you know what you are doing, do not modify this file except to
* change the parameter class to the startRobot call.
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {
}
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.

44
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
View File

@@ -11,38 +11,32 @@ import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the TimedRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the manifest file in the resource
* The VM is configured to automatically run this class, and to call the functions corresponding to
* each mode, as described in the TimedRobot documentation. If you change the name of this class or
* the package after creating this project, you must also update the manifest file in the resource
* directory.
*/
public class Robot extends TimedRobot {
private final DifferentialDrive m_robotDrive
= new DifferentialDrive(new PWMVictorSPX(0), new PWMVictorSPX(1));
private final DifferentialDrive m_robotDrive =
new DifferentialDrive(new PWMVictorSPX(0), new PWMVictorSPX(1));
private final Joystick m_stick = new Joystick(0);
private final Timer m_timer = new Timer();
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
* This function is run when the robot is first started up and should be used for any
* initialization code.
*/
@Override
public void robotInit() {
}
public void robotInit() {}
/**
* This function is run once each time the robot enters autonomous mode.
*/
/** This function is run once each time the robot enters autonomous mode. */
@Override
public void autonomousInit() {
m_timer.reset();
m_timer.start();
}
/**
* This function is called periodically during autonomous.
*/
/** This function is called periodically during autonomous. */
@Override
public void autonomousPeriodic() {
// Drive for 2 seconds
@@ -53,25 +47,17 @@ public class Robot extends TimedRobot {
}
}
/**
* This function is called once each time the robot enters teleoperated mode.
*/
/** This function is called once each time the robot enters teleoperated mode. */
@Override
public void teleopInit() {
}
public void teleopInit() {}
/**
* This function is called periodically during teleoperated mode.
*/
/** This function is called periodically during teleoperated mode. */
@Override
public void teleopPeriodic() {
m_robotDrive.arcadeDrive(m_stick.getY(), m_stick.getX());
}
/**
* This function is called periodically during test mode.
*/
/** This function is called periodically during test mode. */
@Override
public void testPeriodic() {
}
public void testPeriodic() {}
}

9
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Main.java
View File

@@ -7,13 +7,12 @@ package edu.wpi.first.wpilibj.examples.gyro;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all.
* Unless you know what you are doing, do not modify this file except to
* change the parameter class to the startRobot call.
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {
}
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.

15
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java
View File

@@ -11,9 +11,9 @@ import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
/**
* This is a sample program to demonstrate how to use a gyro sensor to make a
* robot drive straight. This program uses a joystick to drive forwards and
* backwards while the gyro is used for direction keeping.
* This is a sample program to demonstrate how to use a gyro sensor to make a robot drive straight.
* This program uses a joystick to drive forwards and backwards while the gyro is used for direction
* keeping.
*/
public class Robot extends TimedRobot {
private static final double kAngleSetpoint = 0.0;
@@ -28,9 +28,8 @@ public class Robot extends TimedRobot {
private static final int kGyroPort = 0;
private static final int kJoystickPort = 0;
private final DifferentialDrive m_myRobot
= new DifferentialDrive(new PWMVictorSPX(kLeftMotorPort),
new PWMVictorSPX(kRightMotorPort));
private final DifferentialDrive m_myRobot =
new DifferentialDrive(new PWMVictorSPX(kLeftMotorPort), new PWMVictorSPX(kRightMotorPort));
private final AnalogGyro m_gyro = new AnalogGyro(kGyroPort);
private final Joystick m_joystick = new Joystick(kJoystickPort);
@@ -40,8 +39,8 @@ public class Robot extends TimedRobot {
}
/**
* The motor speed is set from the joystick while the RobotDrive turning
* value is assigned from the error between the setpoint and the gyro angle.
* The motor speed is set from the joystick while the RobotDrive turning value is assigned from
* the error between the setpoint and the gyro angle.
*/
@Override
public void teleopPeriodic() {

8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Constants.java
View File

@@ -6,8 +6,8 @@ package edu.wpi.first.wpilibj.examples.gyrodrivecommands;
/**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
* constants. This class should not be used for any other purpose. All constants should be
* declared globally (i.e. public static). Do not put anything functional in this class.
* constants. This class should not be used for any other purpose. All constants should be declared
* globally (i.e. public static). Do not put anything functional in this class.
*
* <p>It is advised to statically import this class (or one of its inner classes) wherever the
* constants are needed, to reduce verbosity.
@@ -19,8 +19,8 @@ public final class Constants {
public static final int kRightMotor1Port = 2;
public static final int kRightMotor2Port = 3;
public static final int[] kLeftEncoderPorts = new int[]{0, 1};
public static final int[] kRightEncoderPorts = new int[]{2, 3};
public static final int[] kLeftEncoderPorts = new int[] {0, 1};
public static final int[] kRightEncoderPorts = new int[] {2, 3};
public static final boolean kLeftEncoderReversed = false;
public static final boolean kRightEncoderReversed = true;

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Main.java
View File

@@ -12,8 +12,7 @@ import edu.wpi.first.wpilibj.RobotBase;
* call.
*/
public final class Main {
private Main() {
}
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.

40
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Robot.java
View File

@@ -34,8 +34,8 @@ public class Robot extends TimedRobot {
* This function is called every robot packet, no matter the mode. Use this for items like
* diagnostics that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before
* LiveWindow and SmartDashboard integrated updating.
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
*/
@Override
public void robotPeriodic() {
@@ -46,20 +46,14 @@ public class Robot extends TimedRobot {
CommandScheduler.getInstance().run();
}
/**
* This function is called once each time the robot enters Disabled mode.
*/
/** This function is called once each time the robot enters Disabled mode. */
@Override
public void disabledInit() {
}
public void disabledInit() {}
@Override
public void disabledPeriodic() {
}
public void disabledPeriodic() {}
/**
* This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
*/
/** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
@Override
public void autonomousInit() {
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
@@ -77,12 +71,9 @@ public class Robot extends TimedRobot {
}
}
/**
* This function is called periodically during autonomous.
*/
/** This function is called periodically during autonomous. */
@Override
public void autonomousPeriodic() {
}
public void autonomousPeriodic() {}
@Override
public void teleopInit() {
@@ -95,13 +86,9 @@ public class Robot extends TimedRobot {
}
}
/**
* This function is called periodically during operator control.
*/
/** This function is called periodically during operator control. */
@Override
public void teleopPeriodic() {
}
public void teleopPeriodic() {}
@Override
public void testInit() {
@@ -109,10 +96,7 @@ public class Robot extends TimedRobot {
CommandScheduler.getInstance().cancelAll();
}
/**
* This function is called periodically during test mode.
*/
/** This function is called periodically during test mode. */
@Override
public void testPeriodic() {
}
public void testPeriodic() {}
}

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