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[hal, wpilib] Rewrite CAN APIs (#7798)

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This commit is contained in:
Thad House
2025-02-25 19:07:01 -08:00
committed by GitHub
parent b39744b562
commit baa20fa239
107 changed files with 1447 additions and 1379 deletions
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2
wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp
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@@ -51,7 +51,7 @@ class Robot : public frc::TimedRobot {
private:
// Object for dealing with the Power Distribution Panel (PDP).
frc::PowerDistribution m_pdp;
frc::PowerDistribution m_pdp{0};
};
#ifndef RUNNING_FRC_TESTS

2
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
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@@ -9,7 +9,7 @@
using namespace HatchConstants;
HatchSubsystem::HatchSubsystem()
: m_hatchSolenoid{frc::PneumaticsModuleType::CTREPCM,
: m_hatchSolenoid{0, frc::PneumaticsModuleType::CTREPCM,
kHatchSolenoidPorts[0], kHatchSolenoidPorts[1]} {}
frc2::CommandPtr HatchSubsystem::GrabHatchCommand() {

2
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/HatchSubsystem.cpp
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@@ -9,7 +9,7 @@
using namespace HatchConstants;
HatchSubsystem::HatchSubsystem()
: m_hatchSolenoid{frc::PneumaticsModuleType::CTREPCM,
: m_hatchSolenoid{0, frc::PneumaticsModuleType::CTREPCM,
kHatchSolenoidPorts[0], kHatchSolenoidPorts[1]} {}
void HatchSubsystem::GrabHatch() {

2
wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Intake.h
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@@ -30,7 +30,7 @@ class Intake : public frc2::SubsystemBase {
frc::PWMSparkMax m_motor{IntakeConstants::kMotorPort};
// Double solenoid connected to two channels of a PCM with the default CAN ID
frc::DoubleSolenoid m_piston{frc::PneumaticsModuleType::CTREPCM,
frc::DoubleSolenoid m_piston{0, frc::PneumaticsModuleType::CTREPCM,
IntakeConstants::kSolenoidPorts[0],
IntakeConstants::kSolenoidPorts[1]};
};

2
wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Pneumatics.h
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@@ -40,5 +40,5 @@ class Pneumatics : frc2::SubsystemBase {
kScale, kOffset};
// Compressor connected to a PH with a default CAN ID
frc::Compressor m_compressor{frc::PneumaticsModuleType::CTREPCM};
frc::Compressor m_compressor{0, frc::PneumaticsModuleType::CTREPCM};
};

7
wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.h
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@@ -44,15 +44,16 @@ class Robot : public frc::TimedRobot {
// Solenoid corresponds to a single solenoid.
// In this case, it's connected to channel 0 of a PH with the default CAN
// ID.
frc::Solenoid m_solenoid{frc::PneumaticsModuleType::REVPH, 0};
frc::Solenoid m_solenoid{0, frc::PneumaticsModuleType::REVPH, 0};
// DoubleSolenoid corresponds to a double solenoid.
// In this case, it's connected to channels 1 and 2 of a PH with the default
// CAN ID.
frc::DoubleSolenoid m_doubleSolenoid{frc::PneumaticsModuleType::REVPH, 1, 2};
frc::DoubleSolenoid m_doubleSolenoid{0, frc::PneumaticsModuleType::REVPH, 1,
2};
// Compressor connected to a PH with a default CAN ID
frc::Compressor m_compressor{frc::PneumaticsModuleType::REVPH};
frc::Compressor m_compressor{0, frc::PneumaticsModuleType::REVPH};
static constexpr int kSolenoidButton = 1;
static constexpr int kDoubleSolenoidForward = 2;

2
wpilibcExamples/src/main/cpp/examples/UnitTest/include/subsystems/Intake.h
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@@ -18,7 +18,7 @@ class Intake {
private:
frc::PWMSparkMax m_motor{IntakeConstants::kMotorPort};
frc::DoubleSolenoid m_piston{frc::PneumaticsModuleType::CTREPCM,
frc::DoubleSolenoid m_piston{0, frc::PneumaticsModuleType::CTREPCM,
IntakeConstants::kPistonFwdChannel,
IntakeConstants::kPistonRevChannel};
};