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

Fix GearsBot log methods not being called periodically (#2280)

Browse Source 
Add logging for C++ Wrist and Claw
This commit is contained in:
sciencewhiz
2020-01-17 20:18:15 -08:00
committed by Peter Johnson
parent 2eb5c54476
commit ac8177e10d
14 changed files with 88 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -41,8 +41,17 @@ class Claw : public frc2::SubsystemBase {
*/
bool IsGripping();
/**
* The log method puts interesting information to the SmartDashboard.
*/
void Log();
/**
* Log the data periodically. This method is automatically called
* by the subsystem.
*/
void Periodic() override;
private:
frc::PWMVictorSPX m_motor{7};
frc::DigitalInput m_contact{5};

8
wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/DriveTrain.h
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -60,6 +60,12 @@ class DriveTrain : public frc2::SubsystemBase {
*/
double GetDistanceToObstacle();
/**
* Log the data periodically. This method is automatically called
* by the subsystem.
*/
void Periodic() override;
private:
frc::PWMVictorSPX m_frontLeft{1};
frc::PWMVictorSPX m_rearLeft{2};

8
wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Elevator.h
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -39,6 +39,12 @@ class Elevator : public frc2::PIDSubsystem {
*/
void UseOutput(double output, double setpoint) override;
/**
* Log the data periodically. This method is automatically called
* by the subsystem.
*/
void Periodic() override;
private:
frc::PWMVictorSPX m_motor{5};
double m_setpoint = 0;

11
wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -32,11 +32,16 @@ class Wrist : public frc2::PIDSubsystem {
/**
* Use the motor as the PID output. This method is automatically called
* by
* the subsystem.
* by the subsystem.
*/
void UseOutput(double output, double setpoint) override;
/**
* Log the data periodically. This method is automatically called
* by the subsystem.
*/
void Periodic() override;
private:
frc::PWMVictorSPX m_motor{6};
double m_setpoint = 0;