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[examples] Use PWMSparkMax instead of PWMVictorSPX (#3156)

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This accurately reflects the motor controllers that are distributed in
the Kit of Parts.
This commit is contained in:
Prateek Machiraju
2021-02-13 01:14:56 -05:00
committed by GitHub
parent 69e8d0b65d
commit be0ce99007
89 changed files with 304 additions and 304 deletions
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6
wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp
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@@ -3,7 +3,7 @@
// the WPILib BSD license file in the root directory of this project.
#include <frc/Joystick.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/TimedRobot.h>
#include <frc/drive/DifferentialDrive.h>
@@ -12,8 +12,8 @@
* Runs the motors with arcade steering.
*/
class Robot : public frc::TimedRobot {
frc::PWMVictorSPX m_leftMotor{0};
frc::PWMVictorSPX m_rightMotor{1};
frc::PWMSparkMax m_leftMotor{0};
frc::PWMSparkMax m_rightMotor{1};
frc::DifferentialDrive m_robotDrive{m_leftMotor, m_rightMotor};
frc::Joystick m_stick{0};

6
wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp
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@@ -3,7 +3,7 @@
// the WPILib BSD license file in the root directory of this project.
#include <frc/GenericHID.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>
#include <frc/drive/DifferentialDrive.h>
@@ -13,8 +13,8 @@
* Runs the motors with split arcade steering and an Xbox controller.
*/
class Robot : public frc::TimedRobot {
frc::PWMVictorSPX m_leftMotor{0};
frc::PWMVictorSPX m_rightMotor{1};
frc::PWMSparkMax m_leftMotor{0};
frc::PWMSparkMax m_rightMotor{1};
frc::DifferentialDrive m_robotDrive{m_leftMotor, m_rightMotor};
frc::XboxController m_driverController{0};

4
wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/ArmSubsystem.h
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@@ -5,7 +5,7 @@
#pragma once
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/controller/ArmFeedforward.h>
#include <frc2/command/ProfiledPIDSubsystem.h>
#include <units/angle.h>
@@ -24,7 +24,7 @@ class ArmSubsystem : public frc2::ProfiledPIDSubsystem<units::radians> {
units::radian_t GetMeasurement() override;
private:
frc::PWMVictorSPX m_motor;
frc::PWMSparkMax m_motor;
frc::Encoder m_encoder;
frc::ArmFeedforward m_feedforward;
};

10
wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/DriveSubsystem.h
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@@ -5,7 +5,7 @@
#pragma once
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/SpeedControllerGroup.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc2/command/SubsystemBase.h>
@@ -70,10 +70,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
// declared private and exposed only through public methods.
// The motor controllers
frc::PWMVictorSPX m_left1;
frc::PWMVictorSPX m_left2;
frc::PWMVictorSPX m_right1;
frc::PWMVictorSPX m_right2;
frc::PWMSparkMax m_left1;
frc::PWMSparkMax m_left2;
frc::PWMSparkMax m_right1;
frc::PWMSparkMax m_right2;
// The motors on the left side of the drive
frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};

10
wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/DriveSubsystem.h
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@@ -5,7 +5,7 @@
#pragma once
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/SpeedControllerGroup.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc2/command/SubsystemBase.h>
@@ -70,10 +70,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
// declared private and exposed only through public methods.
// The motor controllers
frc::PWMVictorSPX m_left1;
frc::PWMVictorSPX m_left2;
frc::PWMVictorSPX m_right1;
frc::PWMVictorSPX m_right2;
frc::PWMSparkMax m_left1;
frc::PWMSparkMax m_left2;
frc::PWMSparkMax m_right1;
frc::PWMSparkMax m_right2;
// The motors on the left side of the drive
frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};

4
wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
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@@ -5,7 +5,7 @@
#include <frc/Encoder.h>
#include <frc/GenericHID.h>
#include <frc/Joystick.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/RobotController.h>
#include <frc/StateSpaceUtil.h>
#include <frc/TimedRobot.h>
@@ -43,7 +43,7 @@ class Robot : public frc::TimedRobot {
// Standard classes for controlling our arm
frc2::PIDController m_controller{kArmKp, 0, 0};
frc::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
frc::PWMVictorSPX m_motor{kMotorPort};
frc::PWMSparkMax m_motor{kMotorPort};
frc::Joystick m_joystick{kJoystickPort};
// Simulation classes help us simulate what's going on, including gravity.

10
wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
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@@ -6,7 +6,7 @@
#include <frc/AnalogGyro.h>
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/SpeedControllerGroup.h>
#include <frc/controller/PIDController.h>
#include <frc/controller/SimpleMotorFeedforward.h>
@@ -52,10 +52,10 @@ class Drivetrain {
static constexpr double kWheelRadius = 0.0508; // meters
static constexpr int kEncoderResolution = 4096;
frc::PWMVictorSPX m_leftLeader{1};
frc::PWMVictorSPX m_leftFollower{2};
frc::PWMVictorSPX m_rightLeader{3};
frc::PWMVictorSPX m_rightFollower{4};
frc::PWMSparkMax m_leftLeader{1};
frc::PWMSparkMax m_leftFollower{2};
frc::PWMSparkMax m_rightLeader{3};
frc::PWMSparkMax m_rightFollower{4};
frc::SpeedControllerGroup m_leftGroup{m_leftLeader, m_leftFollower};
frc::SpeedControllerGroup m_rightGroup{m_rightLeader, m_rightFollower};

10
wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
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@@ -6,7 +6,7 @@
#include <frc/AnalogGyro.h>
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/SpeedControllerGroup.h>
#include <frc/controller/PIDController.h>
#include <frc/controller/SimpleMotorFeedforward.h>
@@ -52,10 +52,10 @@ class Drivetrain {
static constexpr units::meter_t kWheelRadius = 0.0508_m;
static constexpr int kEncoderResolution = 4096;
frc::PWMVictorSPX m_leftLeader{1};
frc::PWMVictorSPX m_leftFollower{2};
frc::PWMVictorSPX m_rightLeader{3};
frc::PWMVictorSPX m_rightFollower{4};
frc::PWMSparkMax m_leftLeader{1};
frc::PWMSparkMax m_leftFollower{2};
frc::PWMSparkMax m_rightLeader{3};
frc::PWMSparkMax m_rightFollower{4};
frc::SpeedControllerGroup m_leftGroup{m_leftLeader, m_leftFollower};
frc::SpeedControllerGroup m_rightGroup{m_rightLeader, m_rightFollower};

4
wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
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@@ -4,7 +4,7 @@
#include <frc/Encoder.h>
#include <frc/Joystick.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/TimedRobot.h>
#include <frc/controller/ProfiledPIDController.h>
#include <frc/trajectory/TrapezoidProfile.h>
@@ -37,7 +37,7 @@ class Robot : public frc::TimedRobot {
private:
frc::Joystick m_joystick{1};
frc::Encoder m_encoder{1, 2};
frc::PWMVictorSPX m_motor{1};
frc::PWMSparkMax m_motor{1};
// Create a PID controller whose setpoint's change is subject to maximum
// velocity and acceleration constraints.

4
wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
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@@ -5,7 +5,7 @@
#include <frc/Encoder.h>
#include <frc/GenericHID.h>
#include <frc/Joystick.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/RobotController.h>
#include <frc/StateSpaceUtil.h>
#include <frc/TimedRobot.h>
@@ -48,7 +48,7 @@ class Robot : public frc::TimedRobot {
// Standard classes for controlling our elevator
frc2::PIDController m_controller{kElevatorKp, 0, 0};
frc::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
frc::PWMVictorSPX m_motor{kMotorPort};
frc::PWMSparkMax m_motor{kMotorPort};
frc::Joystick m_joystick{kJoystickPort};
// Simulation classes help us simulate what's going on, including gravity.

10
wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/DriveSubsystem.h
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@@ -5,7 +5,7 @@
#pragma once
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/SpeedControllerGroup.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc2/command/SubsystemBase.h>
@@ -70,10 +70,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
// declared private and exposed only through public methods.
// The motor controllers
frc::PWMVictorSPX m_left1;
frc::PWMVictorSPX m_left2;
frc::PWMVictorSPX m_right1;
frc::PWMVictorSPX m_right2;
frc::PWMSparkMax m_left1;
frc::PWMSparkMax m_left2;
frc::PWMSparkMax m_right1;
frc::PWMSparkMax m_right2;
// The motors on the left side of the drive
frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};

6
wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/ShooterSubsystem.h
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@@ -5,7 +5,7 @@
#pragma once
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/controller/SimpleMotorFeedforward.h>
#include <frc2/command/PIDSubsystem.h>
#include <units/angle.h>
@@ -25,8 +25,8 @@ class ShooterSubsystem : public frc2::PIDSubsystem {
void StopFeeder();
private:
frc::PWMVictorSPX m_shooterMotor;
frc::PWMVictorSPX m_feederMotor;
frc::PWMSparkMax m_shooterMotor;
frc::PWMSparkMax m_feederMotor;
frc::Encoder m_shooterEncoder;
frc::SimpleMotorFeedforward<units::turns> m_shooterFeedforward;
};

4
wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h
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@@ -5,7 +5,7 @@
#pragma once
#include <frc/DigitalInput.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc2/command/SubsystemBase.h>
/**
@@ -50,6 +50,6 @@ class Claw : public frc2::SubsystemBase {
void Periodic() override;
private:
frc::PWMVictorSPX m_motor{7};
frc::PWMSparkMax m_motor{7};
frc::DigitalInput m_contact{5};
};

10
wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/DriveTrain.h
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@@ -7,7 +7,7 @@
#include <frc/AnalogGyro.h>
#include <frc/AnalogInput.h>
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/SpeedControllerGroup.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc2/command/SubsystemBase.h>
@@ -64,12 +64,12 @@ class DriveTrain : public frc2::SubsystemBase {
void Periodic() override;
private:
frc::PWMVictorSPX m_frontLeft{1};
frc::PWMVictorSPX m_rearLeft{2};
frc::PWMSparkMax m_frontLeft{1};
frc::PWMSparkMax m_rearLeft{2};
frc::SpeedControllerGroup m_left{m_frontLeft, m_rearLeft};
frc::PWMVictorSPX m_frontRight{3};
frc::PWMVictorSPX m_rearRight{4};
frc::PWMSparkMax m_frontRight{3};
frc::PWMSparkMax m_rearRight{4};
frc::SpeedControllerGroup m_right{m_frontRight, m_rearRight};
frc::DifferentialDrive m_robotDrive{m_left, m_right};

4
wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Elevator.h
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@@ -5,7 +5,7 @@
#pragma once
#include <frc/AnalogPotentiometer.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc2/command/PIDSubsystem.h>
/**
@@ -43,7 +43,7 @@ class Elevator : public frc2::PIDSubsystem {
void Periodic() override;
private:
frc::PWMVictorSPX m_motor{5};
frc::PWMSparkMax m_motor{5};
double m_setpoint = 0;
// Conversion value of potentiometer varies between the real world and

4
wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h
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@@ -5,7 +5,7 @@
#pragma once
#include <frc/AnalogPotentiometer.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc2/command/PIDSubsystem.h>
/**
@@ -40,7 +40,7 @@ class Wrist : public frc2::PIDSubsystem {
void Periodic() override;
private:
frc::PWMVictorSPX m_motor{6};
frc::PWMSparkMax m_motor{6};
double m_setpoint = 0;
// Conversion value of potentiometer varies between the real world and

6
wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
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@@ -3,7 +3,7 @@
// the WPILib BSD license file in the root directory of this project.
#include <frc/Joystick.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/TimedRobot.h>
#include <frc/Timer.h>
#include <frc/drive/DifferentialDrive.h>
@@ -45,8 +45,8 @@ class Robot : public frc::TimedRobot {
private:
// Robot drive system
frc::PWMVictorSPX m_left{0};
frc::PWMVictorSPX m_right{1};
frc::PWMSparkMax m_left{0};
frc::PWMSparkMax m_right{1};
frc::DifferentialDrive m_robotDrive{m_left, m_right};
frc::Joystick m_stick{0};

6
wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
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@@ -6,7 +6,7 @@
#include <frc/AnalogGyro.h>
#include <frc/Joystick.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/TimedRobot.h>
#include <frc/drive/DifferentialDrive.h>
@@ -44,8 +44,8 @@ class Robot : public frc::TimedRobot {
static constexpr int kGyroPort = 0;
static constexpr int kJoystickPort = 0;
frc::PWMVictorSPX m_left{kLeftMotorPort};
frc::PWMVictorSPX m_right{kRightMotorPort};
frc::PWMSparkMax m_left{kLeftMotorPort};
frc::PWMSparkMax m_right{kRightMotorPort};
frc::DifferentialDrive m_robotDrive{m_left, m_right};
frc::AnalogGyro m_gyro{kGyroPort};

10
wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/subsystems/DriveSubsystem.h
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@@ -6,7 +6,7 @@
#include <frc/ADXRS450_Gyro.h>
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/SpeedControllerGroup.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc2/command/SubsystemBase.h>
@@ -86,10 +86,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
// declared private and exposed only through public methods.
// The motor controllers
frc::PWMVictorSPX m_left1;
frc::PWMVictorSPX m_left2;
frc::PWMVictorSPX m_right1;
frc::PWMVictorSPX m_right2;
frc::PWMSparkMax m_left1;
frc::PWMSparkMax m_left2;
frc::PWMSparkMax m_right1;
frc::PWMSparkMax m_right2;
// The motors on the left side of the drive
frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};

10
wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp
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@@ -4,7 +4,7 @@
#include <frc/AnalogGyro.h>
#include <frc/Joystick.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/TimedRobot.h>
#include <frc/drive/MecanumDrive.h>
@@ -44,10 +44,10 @@ class Robot : public frc::TimedRobot {
static constexpr int kGyroPort = 0;
static constexpr int kJoystickPort = 0;
frc::PWMVictorSPX m_frontLeft{kFrontLeftMotorPort};
frc::PWMVictorSPX m_rearLeft{kRearLeftMotorPort};
frc::PWMVictorSPX m_frontRight{kFrontRightMotorPort};
frc::PWMVictorSPX m_rearRight{kRearRightMotorPort};
frc::PWMSparkMax m_frontLeft{kFrontLeftMotorPort};
frc::PWMSparkMax m_rearLeft{kRearLeftMotorPort};
frc::PWMSparkMax m_frontRight{kFrontRightMotorPort};
frc::PWMSparkMax m_rearRight{kRearRightMotorPort};
frc::MecanumDrive m_robotDrive{m_frontLeft, m_rearLeft, m_frontRight,
m_rearRight};

10
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.h
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@@ -5,7 +5,7 @@
#pragma once
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/SpeedControllerGroup.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc2/command/SubsystemBase.h>
@@ -70,10 +70,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
// declared private and exposed only through public methods.
// The motor controllers
frc::PWMVictorSPX m_left1;
frc::PWMVictorSPX m_left2;
frc::PWMVictorSPX m_right1;
frc::PWMVictorSPX m_right2;
frc::PWMSparkMax m_left1;
frc::PWMSparkMax m_left2;
frc::PWMSparkMax m_right1;
frc::PWMSparkMax m_right2;
// The motors on the left side of the drive
frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};

10
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.h
View File

@@ -5,7 +5,7 @@
#pragma once
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/SpeedControllerGroup.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc2/command/SubsystemBase.h>
@@ -70,10 +70,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
// declared private and exposed only through public methods.
// The motor controllers
frc::PWMVictorSPX m_left1;
frc::PWMVictorSPX m_left2;
frc::PWMVictorSPX m_right1;
frc::PWMVictorSPX m_right2;
frc::PWMSparkMax m_left1;
frc::PWMSparkMax m_left2;
frc::PWMSparkMax m_right1;
frc::PWMSparkMax m_right2;
// The motors on the left side of the drive
frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};

10
wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h
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@@ -6,7 +6,7 @@
#include <frc/AnalogGyro.h>
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/controller/PIDController.h>
#include <frc/controller/SimpleMotorFeedforward.h>
#include <frc/geometry/Translation2d.h>
@@ -35,10 +35,10 @@ class Drivetrain {
wpi::math::pi}; // 1/2 rotation per second
private:
frc::PWMVictorSPX m_frontLeftMotor{1};
frc::PWMVictorSPX m_frontRightMotor{2};
frc::PWMVictorSPX m_backLeftMotor{3};
frc::PWMVictorSPX m_backRightMotor{4};
frc::PWMSparkMax m_frontLeftMotor{1};
frc::PWMSparkMax m_frontRightMotor{2};
frc::PWMSparkMax m_backLeftMotor{3};
frc::PWMSparkMax m_backRightMotor{4};
frc::Encoder m_frontLeftEncoder{0, 1};
frc::Encoder m_frontRightEncoder{2, 3};

10
wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/subsystems/DriveSubsystem.h
View File

@@ -6,7 +6,7 @@
#include <frc/ADXRS450_Gyro.h>
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/drive/MecanumDrive.h>
#include <frc/geometry/Pose2d.h>
#include <frc/geometry/Rotation2d.h>
@@ -135,10 +135,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
// declared private and exposed only through public methods.
// The motor controllers
frc::PWMVictorSPX m_frontLeft;
frc::PWMVictorSPX m_rearLeft;
frc::PWMVictorSPX m_frontRight;
frc::PWMVictorSPX m_rearRight;
frc::PWMSparkMax m_frontLeft;
frc::PWMSparkMax m_rearLeft;
frc::PWMSparkMax m_frontRight;
frc::PWMSparkMax m_rearRight;
// The robot's drive
frc::MecanumDrive m_drive{m_frontLeft, m_rearLeft, m_frontRight, m_rearRight};

10
wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
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@@ -3,7 +3,7 @@
// the WPILib BSD license file in the root directory of this project.
#include <frc/Joystick.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/TimedRobot.h>
#include <frc/drive/MecanumDrive.h>
@@ -35,10 +35,10 @@ class Robot : public frc::TimedRobot {
static constexpr int kJoystickChannel = 0;
frc::PWMVictorSPX m_frontLeft{kFrontLeftChannel};
frc::PWMVictorSPX m_rearLeft{kRearLeftChannel};
frc::PWMVictorSPX m_frontRight{kFrontRightChannel};
frc::PWMVictorSPX m_rearRight{kRearRightChannel};
frc::PWMSparkMax m_frontLeft{kFrontLeftChannel};
frc::PWMSparkMax m_rearLeft{kRearLeftChannel};
frc::PWMSparkMax m_frontRight{kFrontRightChannel};
frc::PWMSparkMax m_rearRight{kRearRightChannel};
frc::MecanumDrive m_robotDrive{m_frontLeft, m_rearLeft, m_frontRight,
m_rearRight};

2
wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp
View File

@@ -17,7 +17,7 @@ frc::MecanumDriveWheelSpeeds Drivetrain::GetCurrentState() const {
void Drivetrain::SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds) {
std::function<void(units::meters_per_second_t, const frc::Encoder&,
frc2::PIDController&, frc::PWMVictorSPX&)>
frc2::PIDController&, frc::PWMSparkMax&)>
calcAndSetSpeeds =
[&m_feedforward = m_feedforward](units::meters_per_second_t speed,
const auto& encoder,

10
wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h
View File

@@ -6,7 +6,7 @@
#include <frc/AnalogGyro.h>
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/controller/PIDController.h>
#include <frc/controller/SimpleMotorFeedforward.h>
#include <frc/estimator/MecanumDrivePoseEstimator.h>
@@ -35,10 +35,10 @@ class Drivetrain {
wpi::math::pi}; // 1/2 rotation per second
private:
frc::PWMVictorSPX m_frontLeftMotor{1};
frc::PWMVictorSPX m_frontRightMotor{2};
frc::PWMVictorSPX m_backLeftMotor{3};
frc::PWMVictorSPX m_backRightMotor{4};
frc::PWMSparkMax m_frontLeftMotor{1};
frc::PWMSparkMax m_frontRightMotor{2};
frc::PWMSparkMax m_backLeftMotor{3};
frc::PWMSparkMax m_backRightMotor{4};
frc::Encoder m_frontLeftEncoder{0, 1};
frc::Encoder m_frontRightEncoder{2, 3};

4
wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp
View File

@@ -3,7 +3,7 @@
// the WPILib BSD license file in the root directory of this project.
#include <frc/Joystick.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/TimedRobot.h>
/**
@@ -20,7 +20,7 @@ class Robot : public frc::TimedRobot {
private:
frc::Joystick m_stick{0};
frc::PWMVictorSPX m_motor{0};
frc::PWMSparkMax m_motor{0};
};
#ifndef RUNNING_FRC_TESTS

4
wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp
View File

@@ -4,7 +4,7 @@
#include <frc/Encoder.h>
#include <frc/Joystick.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/TimedRobot.h>
#include <frc/smartdashboard/SmartDashboard.h>
#include <wpi/math>
@@ -40,7 +40,7 @@ class Robot : public frc::TimedRobot {
private:
frc::Joystick m_stick{0};
frc::PWMVictorSPX m_motor{0};
frc::PWMSparkMax m_motor{0};
frc::Encoder m_encoder{0, 1};
};

4
wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Collector.h
View File

@@ -5,7 +5,7 @@
#pragma once
#include <frc/DigitalInput.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/Solenoid.h>
#include <frc/commands/Subsystem.h>
@@ -66,7 +66,7 @@ class Collector : public frc::Subsystem {
private:
// Subsystem devices
frc::PWMVictorSPX m_rollerMotor{6};
frc::PWMSparkMax m_rollerMotor{6};
frc::DigitalInput m_ballDetector{10};
frc::Solenoid m_piston{1};
frc::DigitalInput m_openDetector{6};

10
wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/DriveTrain.h
View File

@@ -6,7 +6,7 @@
#include <frc/AnalogGyro.h>
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/SpeedControllerGroup.h>
#include <frc/commands/Subsystem.h>
#include <frc/drive/DifferentialDrive.h>
@@ -60,12 +60,12 @@ class DriveTrain : public frc::Subsystem {
private:
// Subsystem devices
frc::PWMVictorSPX m_frontLeftCIM{1};
frc::PWMVictorSPX m_rearLeftCIM{2};
frc::PWMSparkMax m_frontLeftCIM{1};
frc::PWMSparkMax m_rearLeftCIM{2};
frc::SpeedControllerGroup m_leftCIMs{m_frontLeftCIM, m_rearLeftCIM};
frc::PWMVictorSPX m_frontRightCIM{3};
frc::PWMVictorSPX m_rearRightCIM{4};
frc::PWMSparkMax m_frontRightCIM{3};
frc::PWMSparkMax m_rearRightCIM{4};
frc::SpeedControllerGroup m_rightCIMs{m_frontRightCIM, m_rearRightCIM};
frc::DifferentialDrive m_robotDrive{m_leftCIMs, m_rightCIMs};

4
wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Pivot.h
View File

@@ -6,7 +6,7 @@
#include <frc/AnalogPotentiometer.h>
#include <frc/DigitalInput.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/commands/PIDSubsystem.h>
/**
@@ -67,5 +67,5 @@ class Pivot : public frc::PIDSubsystem {
frc::AnalogPotentiometer m_pot{1};
// Motor to move the pivot
frc::PWMVictorSPX m_motor{5};
frc::PWMSparkMax m_motor{5};
};

4
wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp
View File

@@ -6,7 +6,7 @@
#include <frc/AnalogInput.h>
#include <frc/Joystick.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/TimedRobot.h>
#include <frc/controller/PIDController.h>
@@ -62,7 +62,7 @@ class Robot : public frc::TimedRobot {
frc::AnalogInput m_potentiometer{kPotChannel};
frc::Joystick m_joystick{kJoystickChannel};
frc::PWMVictorSPX m_elevatorMotor{kMotorChannel};
frc::PWMSparkMax m_elevatorMotor{kMotorChannel};
frc2::PIDController m_pidController{kP, kI, kD};
};

10
wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h
View File

@@ -6,7 +6,7 @@
#include <frc/ADXRS450_Gyro.h>
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/SpeedControllerGroup.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc/geometry/Pose2d.h>
@@ -117,10 +117,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
// declared private and exposed only through public methods.
// The motor controllers
frc::PWMVictorSPX m_left1;
frc::PWMVictorSPX m_left2;
frc::PWMVictorSPX m_right1;
frc::PWMVictorSPX m_right2;
frc::PWMSparkMax m_left1;
frc::PWMSparkMax m_left2;
frc::PWMSparkMax m_right1;
frc::PWMSparkMax m_right2;
// The motors on the left side of the drive
frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};

10
wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h
View File

@@ -6,7 +6,7 @@
#include <frc/AnalogGyro.h>
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/SpeedControllerGroup.h>
#include <frc/controller/PIDController.h>
#include <frc/controller/SimpleMotorFeedforward.h>
@@ -52,10 +52,10 @@ class Drivetrain {
static constexpr double kWheelRadius = 0.0508; // meters
static constexpr int kEncoderResolution = 4096;
frc::PWMVictorSPX m_leftLeader{1};
frc::PWMVictorSPX m_leftFollower{2};
frc::PWMVictorSPX m_rightLeader{3};
frc::PWMVictorSPX m_rightFollower{4};
frc::PWMSparkMax m_leftLeader{1};
frc::PWMSparkMax m_leftFollower{2};
frc::PWMSparkMax m_rightLeader{3};
frc::PWMSparkMax m_rightFollower{4};
frc::SpeedControllerGroup m_leftGroup{m_leftLeader, m_leftFollower};
frc::SpeedControllerGroup m_rightGroup{m_rightLeader, m_rightFollower};

8
wpilibcExamples/src/main/cpp/examples/ShuffleBoard/cpp/Robot.cpp
View File

@@ -5,7 +5,7 @@
#include <frc/AnalogPotentiometer.h>
#include <frc/Encoder.h>
#include <frc/Joystick.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/TimedRobot.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc/shuffleboard/Shuffleboard.h>
@@ -61,9 +61,9 @@ class Robot : public frc::TimedRobot {
}
private:
frc::PWMVictorSPX m_left{0};
frc::PWMVictorSPX m_right{1};
frc::PWMVictorSPX m_elevatorMotor{2};
frc::PWMSparkMax m_left{0};
frc::PWMSparkMax m_right{1};
frc::PWMSparkMax m_elevatorMotor{2};
frc::DifferentialDrive m_robotDrive{m_left, m_right};

10
wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h
View File

@@ -6,7 +6,7 @@
#include <frc/AnalogGyro.h>
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/SpeedControllerGroup.h>
#include <frc/controller/PIDController.h>
#include <frc/controller/SimpleMotorFeedforward.h>
@@ -68,10 +68,10 @@ class Drivetrain {
static constexpr double kWheelRadius = 0.0508; // meters
static constexpr int kEncoderResolution = 4096;
frc::PWMVictorSPX m_leftLeader{1};
frc::PWMVictorSPX m_leftFollower{2};
frc::PWMVictorSPX m_rightLeader{3};
frc::PWMVictorSPX m_rightFollower{4};
frc::PWMSparkMax m_leftLeader{1};
frc::PWMSparkMax m_leftFollower{2};
frc::PWMSparkMax m_rightLeader{3};
frc::PWMSparkMax m_rightFollower{4};
frc::SpeedControllerGroup m_leftGroup{m_leftLeader, m_leftFollower};
frc::SpeedControllerGroup m_rightGroup{m_rightLeader, m_rightFollower};

4
wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp
View File

@@ -4,7 +4,7 @@
#include <frc/Encoder.h>
#include <frc/GenericHID.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/StateSpaceUtil.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>
@@ -84,7 +84,7 @@ class Robot : public frc::TimedRobot {
// An encoder set up to measure arm position in radians per second.
frc::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
frc::PWMVictorSPX m_motor{kMotorPort};
frc::PWMSparkMax m_motor{kMotorPort};
frc::XboxController m_joystick{kJoystickPort};
frc::TrapezoidProfile<units::radians>::Constraints m_constraints{

10
wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h
View File

@@ -6,7 +6,7 @@
#include <frc/ADXRS450_Gyro.h>
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/SpeedControllerGroup.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc/geometry/Pose2d.h>
@@ -128,10 +128,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
// declared private and exposed only through public methods.
// The motor controllers
frc::PWMVictorSPX m_left1{DriveConstants::kLeftMotor1Port};
frc::PWMVictorSPX m_left2{DriveConstants::kLeftMotor2Port};
frc::PWMVictorSPX m_right1{DriveConstants::kRightMotor1Port};
frc::PWMVictorSPX m_right2{DriveConstants::kRightMotor2Port};
frc::PWMSparkMax m_left1{DriveConstants::kLeftMotor1Port};
frc::PWMSparkMax m_left2{DriveConstants::kLeftMotor2Port};
frc::PWMSparkMax m_right1{DriveConstants::kRightMotor1Port};
frc::PWMSparkMax m_right2{DriveConstants::kRightMotor2Port};
// The motors on the left side of the drive
frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};

4
wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp
View File

@@ -4,7 +4,7 @@
#include <frc/Encoder.h>
#include <frc/GenericHID.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/StateSpaceUtil.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>
@@ -81,7 +81,7 @@ class Robot : public frc::TimedRobot {
// An encoder set up to measure elevator height in meters.
frc::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
frc::PWMVictorSPX m_motor{kMotorPort};
frc::PWMSparkMax m_motor{kMotorPort};
frc::XboxController m_joystick{kJoystickPort};
frc::TrapezoidProfile<units::meters>::Constraints m_constraints{3_fps,

4
wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp
View File

@@ -5,7 +5,7 @@
#include <frc/DriverStation.h>
#include <frc/Encoder.h>
#include <frc/GenericHID.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/StateSpaceUtil.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>
@@ -77,7 +77,7 @@ class Robot : public frc::TimedRobot {
// An encoder set up to measure flywheel velocity in radians per second.
frc::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
frc::PWMVictorSPX m_motor{kMotorPort};
frc::PWMSparkMax m_motor{kMotorPort};
frc::XboxController m_joystick{kJoystickPort};
public:

4
wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp
View File

@@ -5,7 +5,7 @@
#include <frc/DriverStation.h>
#include <frc/Encoder.h>
#include <frc/GenericHID.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/StateSpaceUtil.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>
@@ -78,7 +78,7 @@ class Robot : public frc::TimedRobot {
// An encoder set up to measure flywheel velocity in radians per second.
frc::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel};
frc::PWMVictorSPX m_motor{kMotorPort};
frc::PWMSparkMax m_motor{kMotorPort};
frc::XboxController m_joystick{kJoystickPort};
public:

6
wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h
View File

@@ -5,7 +5,7 @@
#pragma once
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/controller/PIDController.h>
#include <frc/controller/ProfiledPIDController.h>
#include <frc/controller/SimpleMotorFeedforward.h>
@@ -31,8 +31,8 @@ class SwerveModule {
static constexpr auto kModuleMaxAngularAcceleration =
wpi::math::pi * 2_rad_per_s / 1_s; // radians per second^2
frc::PWMVictorSPX m_driveMotor;
frc::PWMVictorSPX m_turningMotor;
frc::PWMSparkMax m_driveMotor;
frc::PWMSparkMax m_turningMotor;
frc::Encoder m_driveEncoder{0, 1};
frc::Encoder m_turningEncoder{2, 3};

2
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h
View File

@@ -6,7 +6,7 @@
#include <frc/ADXRS450_Gyro.h>
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/drive/MecanumDrive.h>
#include <frc/geometry/Pose2d.h>
#include <frc/geometry/Rotation2d.h>

6
wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h
View File

@@ -5,7 +5,7 @@
#pragma once
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/controller/PIDController.h>
#include <frc/controller/ProfiledPIDController.h>
#include <frc/controller/SimpleMotorFeedforward.h>
@@ -31,8 +31,8 @@ class SwerveModule {
static constexpr auto kModuleMaxAngularAcceleration =
wpi::math::pi * 2_rad_per_s / 1_s; // radians per second^2
frc::PWMVictorSPX m_driveMotor;
frc::PWMVictorSPX m_turningMotor;
frc::PWMSparkMax m_driveMotor;
frc::PWMSparkMax m_turningMotor;
frc::Encoder m_driveEncoder{0, 1};
frc::Encoder m_turningEncoder{2, 3};

6
wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp
View File

@@ -3,7 +3,7 @@
// the WPILib BSD license file in the root directory of this project.
#include <frc/GenericHID.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/TimedRobot.h>
#include <frc/XboxController.h>
#include <frc/drive/DifferentialDrive.h>
@@ -13,8 +13,8 @@
* Runs the motors with tank steering and an Xbox controller.
*/
class Robot : public frc::TimedRobot {
frc::PWMVictorSPX m_leftMotor{0};
frc::PWMVictorSPX m_rightMotor{1};
frc::PWMSparkMax m_leftMotor{0};
frc::PWMSparkMax m_rightMotor{1};
frc::DifferentialDrive m_robotDrive{m_leftMotor, m_rightMotor};
frc::XboxController m_driverController{0};

6
wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp
View File

@@ -4,7 +4,7 @@
#include <frc/AnalogInput.h>
#include <frc/MedianFilter.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/TimedRobot.h>
#include <frc/drive/DifferentialDrive.h>
@@ -49,8 +49,8 @@ class Robot : public frc::TimedRobot {
frc::AnalogInput m_ultrasonic{kUltrasonicPort};
frc::PWMVictorSPX m_left{kLeftMotorPort};
frc::PWMVictorSPX m_right{kRightMotorPort};
frc::PWMSparkMax m_left{kLeftMotorPort};
frc::PWMSparkMax m_right{kRightMotorPort};
frc::DifferentialDrive m_robotDrive{m_left, m_right};
};

6
wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp
View File

@@ -4,7 +4,7 @@
#include <frc/AnalogInput.h>
#include <frc/MedianFilter.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/TimedRobot.h>
#include <frc/controller/PIDController.h>
#include <frc/drive/DifferentialDrive.h>
@@ -55,8 +55,8 @@ class Robot : public frc::TimedRobot {
frc::AnalogInput m_ultrasonic{kUltrasonicPort};
frc::PWMVictorSPX m_left{kLeftMotorPort};
frc::PWMVictorSPX m_right{kRightMotorPort};
frc::PWMSparkMax m_left{kLeftMotorPort};
frc::PWMSparkMax m_right{kRightMotorPort};
frc::DifferentialDrive m_robotDrive{m_left, m_right};
frc2::PIDController m_pidController{kP, kI, kD};

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

@@ -5,7 +5,7 @@
package edu.wpi.first.wpilibj.examples.arcadedrive;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -14,8 +14,8 @@ import edu.wpi.first.wpilibj.drive.DifferentialDrive;
* arcade steering.
*/
public class Robot extends TimedRobot {
private final PWMVictorSPX m_leftMotor = new PWMVictorSPX(0);
private final PWMVictorSPX m_rightMotor = new PWMVictorSPX(1);
private final PWMSparkMax m_leftMotor = new PWMSparkMax(0);
private final PWMSparkMax m_rightMotor = new PWMSparkMax(1);
private final DifferentialDrive m_robotDrive = new DifferentialDrive(m_leftMotor, m_rightMotor);
private final Joystick m_stick = new Joystick(0);

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

@@ -5,7 +5,7 @@
package edu.wpi.first.wpilibj.examples.arcadedrivexboxcontroller;
import edu.wpi.first.wpilibj.GenericHID.Hand;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -15,8 +15,8 @@ import edu.wpi.first.wpilibj.drive.DifferentialDrive;
* arcade steering and an Xbox controller.
*/
public class Robot extends TimedRobot {
private final PWMVictorSPX m_leftMotor = new PWMVictorSPX(0);
private final PWMVictorSPX m_rightMotor = new PWMVictorSPX(1);
private final PWMSparkMax m_leftMotor = new PWMSparkMax(0);
private final PWMSparkMax m_rightMotor = new PWMSparkMax(1);
private final DifferentialDrive m_robotDrive = new DifferentialDrive(m_leftMotor, m_rightMotor);
private final XboxController m_driverController = new XboxController(0);

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java
View File

@@ -5,7 +5,7 @@
package edu.wpi.first.wpilibj.examples.armbot.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.controller.ArmFeedforward;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.examples.armbot.Constants.ArmConstants;
@@ -14,7 +14,7 @@ import edu.wpi.first.wpilibj2.command.ProfiledPIDSubsystem;
/** 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 PWMSparkMax m_motor = new PWMSparkMax(ArmConstants.kMotorPort);
private final Encoder m_encoder =
new Encoder(ArmConstants.kEncoderPorts[0], ArmConstants.kEncoderPorts[1]);
private final ArmFeedforward m_feedforward =

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

@@ -5,7 +5,7 @@
package edu.wpi.first.wpilibj.examples.armbot.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.armbot.Constants.DriveConstants;
@@ -15,14 +15,14 @@ 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 PWMSparkMax(DriveConstants.kLeftMotor1Port),
new PWMSparkMax(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 PWMSparkMax(DriveConstants.kRightMotor1Port),
new PWMSparkMax(DriveConstants.kRightMotor2Port));
// The robot's drive
private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/DriveSubsystem.java
View File

@@ -5,7 +5,7 @@
package edu.wpi.first.wpilibj.examples.armbotoffboard.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.armbotoffboard.Constants.DriveConstants;
@@ -15,14 +15,14 @@ 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 PWMSparkMax(DriveConstants.kLeftMotor1Port),
new PWMSparkMax(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 PWMSparkMax(DriveConstants.kRightMotor1Port),
new PWMSparkMax(DriveConstants.kRightMotor2Port));
// The robot's drive
private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);

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

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.armsimulation;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.PIDController;
@@ -38,7 +38,7 @@ public class Robot extends TimedRobot {
// Standard classes for controlling our elevator
private final PIDController m_controller = new PIDController(kArmKp, 0, 0);
private final Encoder m_encoder = new Encoder(kEncoderAChannel, kEncoderBChannel);
private final PWMVictorSPX m_motor = new PWMVictorSPX(kMotorPort);
private final PWMSparkMax m_motor = new PWMSparkMax(kMotorPort);
private final Joystick m_joystick = new Joystick(kJoystickPort);
// Simulation classes help us simulate what's going on, including gravity.

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java
View File

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.differentialdrivebot;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.controller.PIDController;
@@ -25,10 +25,10 @@ public class Drivetrain {
private static final double kWheelRadius = 0.0508; // meters
private static final int kEncoderResolution = 4096;
private final SpeedController m_leftLeader = new PWMVictorSPX(1);
private final SpeedController m_leftFollower = new PWMVictorSPX(2);
private final SpeedController m_rightLeader = new PWMVictorSPX(3);
private final SpeedController m_rightFollower = new PWMVictorSPX(4);
private final SpeedController m_leftLeader = new PWMSparkMax(1);
private final SpeedController m_leftFollower = new PWMSparkMax(2);
private final SpeedController m_rightLeader = new PWMSparkMax(3);
private final SpeedController m_rightFollower = new PWMSparkMax(4);
private final Encoder m_leftEncoder = new Encoder(0, 1);
private final Encoder m_rightEncoder = new Encoder(2, 3);

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
View File

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.differentialdriveposeestimator;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.Timer;
@@ -30,10 +30,10 @@ public class Drivetrain {
private static final double kWheelRadius = 0.0508; // meters
private static final int kEncoderResolution = 4096;
private final SpeedController m_leftLeader = new PWMVictorSPX(1);
private final SpeedController m_leftFollower = new PWMVictorSPX(2);
private final SpeedController m_rightLeader = new PWMVictorSPX(3);
private final SpeedController m_rightFollower = new PWMVictorSPX(4);
private final SpeedController m_leftLeader = new PWMSparkMax(1);
private final SpeedController m_leftFollower = new PWMSparkMax(2);
private final SpeedController m_rightLeader = new PWMSparkMax(3);
private final SpeedController m_rightFollower = new PWMSparkMax(4);
private final Encoder m_leftEncoder = new Encoder(0, 1);
private final Encoder m_rightEncoder = new Encoder(2, 3);

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

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.elevatorprofiledpid;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
@@ -17,7 +17,7 @@ public class Robot extends TimedRobot {
private final Joystick m_joystick = new Joystick(1);
private final Encoder m_encoder = new Encoder(1, 2);
private final SpeedController m_motor = new PWMVictorSPX(1);
private final SpeedController m_motor = new PWMSparkMax(1);
// Create a PID controller whose setpoint's change is subject to maximum
// velocity and acceleration constraints.

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

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.elevatorsimulation;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.PIDController;
@@ -43,7 +43,7 @@ public class Robot extends TimedRobot {
// Standard classes for controlling our elevator
private final PIDController m_controller = new PIDController(kElevatorKp, 0, 0);
private final Encoder m_encoder = new Encoder(kEncoderAChannel, kEncoderBChannel);
private final PWMVictorSPX m_motor = new PWMVictorSPX(kMotorPort);
private final PWMSparkMax m_motor = new PWMSparkMax(kMotorPort);
private final Joystick m_joystick = new Joystick(kJoystickPort);
// Simulation classes help us simulate what's going on, including gravity.

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

@@ -5,7 +5,7 @@
package edu.wpi.first.wpilibj.examples.frisbeebot.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.DriveConstants;
@@ -15,14 +15,14 @@ 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 PWMSparkMax(DriveConstants.kLeftMotor1Port),
new PWMSparkMax(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 PWMSparkMax(DriveConstants.kRightMotor1Port),
new PWMSparkMax(DriveConstants.kRightMotor2Port));
// The robot's drive
private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java
View File

@@ -5,15 +5,15 @@
package edu.wpi.first.wpilibj.examples.frisbeebot.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
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 PWMSparkMax m_shooterMotor = new PWMSparkMax(ShooterConstants.kShooterMotorPort);
private final PWMSparkMax m_feederMotor = new PWMSparkMax(ShooterConstants.kFeederMotorPort);
private final Encoder m_shooterEncoder =
new Encoder(
ShooterConstants.kEncoderPorts[0],

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java
View File

@@ -7,7 +7,7 @@ package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -21,10 +21,10 @@ public class DriveTrain extends SubsystemBase {
* These include four drive motors, a left and right encoder and a gyro.
*/
private final SpeedController m_leftMotor =
new SpeedControllerGroup(new PWMVictorSPX(0), new PWMVictorSPX(1));
new SpeedControllerGroup(new PWMSparkMax(0), new PWMSparkMax(1));
private final SpeedController m_rightMotor =
new SpeedControllerGroup(new PWMVictorSPX(2), new PWMVictorSPX(3));
new SpeedControllerGroup(new PWMSparkMax(2), new PWMSparkMax(3));
private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotor, m_rightMotor);

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

@@ -5,7 +5,7 @@
package edu.wpi.first.wpilibj.examples.gettingstarted;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -18,7 +18,7 @@ import edu.wpi.first.wpilibj.drive.DifferentialDrive;
*/
public class Robot extends TimedRobot {
private final DifferentialDrive m_robotDrive =
new DifferentialDrive(new PWMVictorSPX(0), new PWMVictorSPX(1));
new DifferentialDrive(new PWMSparkMax(0), new PWMSparkMax(1));
private final Joystick m_stick = new Joystick(0);
private final Timer m_timer = new Timer();

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

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.gyro;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -29,7 +29,7 @@ public class Robot extends TimedRobot {
private static final int kJoystickPort = 0;
private final DifferentialDrive m_myRobot =
new DifferentialDrive(new PWMVictorSPX(kLeftMotorPort), new PWMVictorSPX(kRightMotorPort));
new DifferentialDrive(new PWMSparkMax(kLeftMotorPort), new PWMSparkMax(kRightMotorPort));
private final AnalogGyro m_gyro = new AnalogGyro(kGyroPort);
private final Joystick m_joystick = new Joystick(kJoystickPort);

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/subsystems/DriveSubsystem.java
View File

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.gyrodrivecommands.subsystems;
import edu.wpi.first.wpilibj.ADXRS450_Gyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants;
@@ -17,14 +17,14 @@ 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 PWMSparkMax(DriveConstants.kLeftMotor1Port),
new PWMSparkMax(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 PWMSparkMax(DriveConstants.kRightMotor1Port),
new PWMSparkMax(DriveConstants.kRightMotor2Port));
// The robot's drive
private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java
View File

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.gyromecanum;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.drive.MecanumDrive;
@@ -32,10 +32,10 @@ public class Robot extends TimedRobot {
@Override
public void robotInit() {
PWMVictorSPX frontLeft = new PWMVictorSPX(kFrontLeftChannel);
PWMVictorSPX rearLeft = new PWMVictorSPX(kRearLeftChannel);
PWMVictorSPX frontRight = new PWMVictorSPX(kFrontRightChannel);
PWMVictorSPX rearRight = new PWMVictorSPX(kRearRightChannel);
PWMSparkMax frontLeft = new PWMSparkMax(kFrontLeftChannel);
PWMSparkMax rearLeft = new PWMSparkMax(kRearLeftChannel);
PWMSparkMax frontRight = new PWMSparkMax(kFrontRightChannel);
PWMSparkMax rearRight = new PWMSparkMax(kRearRightChannel);
// Invert the left side motors.
// You may need to change or remove this to match your robot.

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/DriveSubsystem.java
View File

@@ -5,7 +5,7 @@
package edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.DriveConstants;
@@ -15,14 +15,14 @@ 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 PWMSparkMax(DriveConstants.kLeftMotor1Port),
new PWMSparkMax(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 PWMSparkMax(DriveConstants.kRightMotor1Port),
new PWMSparkMax(DriveConstants.kRightMotor2Port));
// The robot's drive
private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/DriveSubsystem.java
View File

@@ -5,7 +5,7 @@
package edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.DriveConstants;
@@ -15,14 +15,14 @@ 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 PWMSparkMax(DriveConstants.kLeftMotor1Port),
new PWMSparkMax(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 PWMSparkMax(DriveConstants.kRightMotor1Port),
new PWMSparkMax(DriveConstants.kRightMotor2Port));
// The robot's drive
private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
View File

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.mecanumbot;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
@@ -22,10 +22,10 @@ public class Drivetrain {
public static final double kMaxSpeed = 3.0; // 3 meters per second
public static final double kMaxAngularSpeed = Math.PI; // 1/2 rotation per second
private final SpeedController m_frontLeftMotor = new PWMVictorSPX(1);
private final SpeedController m_frontRightMotor = new PWMVictorSPX(2);
private final SpeedController m_backLeftMotor = new PWMVictorSPX(3);
private final SpeedController m_backRightMotor = new PWMVictorSPX(4);
private final SpeedController m_frontLeftMotor = new PWMSparkMax(1);
private final SpeedController m_frontRightMotor = new PWMSparkMax(2);
private final SpeedController m_backLeftMotor = new PWMSparkMax(3);
private final SpeedController m_backRightMotor = new PWMSparkMax(4);
private final Encoder m_frontLeftEncoder = new Encoder(0, 1);
private final Encoder m_frontRightEncoder = new Encoder(2, 3);

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java
View File

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.subsystems;
import edu.wpi.first.wpilibj.ADXRS450_Gyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.drive.MecanumDrive;
import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.DriveConstants;
import edu.wpi.first.wpilibj.geometry.Pose2d;
@@ -17,10 +17,10 @@ import edu.wpi.first.wpilibj.kinematics.MecanumDriveWheelSpeeds;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class DriveSubsystem extends SubsystemBase {
private final PWMVictorSPX m_frontLeft = new PWMVictorSPX(DriveConstants.kFrontLeftMotorPort);
private final PWMVictorSPX m_rearLeft = new PWMVictorSPX(DriveConstants.kRearLeftMotorPort);
private final PWMVictorSPX m_frontRight = new PWMVictorSPX(DriveConstants.kFrontRightMotorPort);
private final PWMVictorSPX m_rearRight = new PWMVictorSPX(DriveConstants.kRearRightMotorPort);
private final PWMSparkMax m_frontLeft = new PWMSparkMax(DriveConstants.kFrontLeftMotorPort);
private final PWMSparkMax m_rearLeft = new PWMSparkMax(DriveConstants.kRearLeftMotorPort);
private final PWMSparkMax m_frontRight = new PWMSparkMax(DriveConstants.kFrontRightMotorPort);
private final PWMSparkMax m_rearRight = new PWMSparkMax(DriveConstants.kRearRightMotorPort);
private final MecanumDrive m_drive =
new MecanumDrive(m_frontLeft, m_rearLeft, m_frontRight, m_rearRight);

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java
View File

@@ -5,7 +5,7 @@
package edu.wpi.first.wpilibj.examples.mecanumdrive;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.drive.MecanumDrive;
@@ -23,10 +23,10 @@ public class Robot extends TimedRobot {
@Override
public void robotInit() {
PWMVictorSPX frontLeft = new PWMVictorSPX(kFrontLeftChannel);
PWMVictorSPX rearLeft = new PWMVictorSPX(kRearLeftChannel);
PWMVictorSPX frontRight = new PWMVictorSPX(kFrontRightChannel);
PWMVictorSPX rearRight = new PWMVictorSPX(kRearRightChannel);
PWMSparkMax frontLeft = new PWMSparkMax(kFrontLeftChannel);
PWMSparkMax rearLeft = new PWMSparkMax(kRearLeftChannel);
PWMSparkMax frontRight = new PWMSparkMax(kFrontRightChannel);
PWMSparkMax rearRight = new PWMSparkMax(kRearRightChannel);
// Invert the left side motors.
// You may need to change or remove this to match your robot.

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
View File

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.mecanumdriveposeestimator;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.controller.PIDController;
@@ -27,10 +27,10 @@ public class Drivetrain {
public static final double kMaxSpeed = 3.0; // 3 meters per second
public static final double kMaxAngularSpeed = Math.PI; // 1/2 rotation per second
private final SpeedController m_frontLeftMotor = new PWMVictorSPX(1);
private final SpeedController m_frontRightMotor = new PWMVictorSPX(2);
private final SpeedController m_backLeftMotor = new PWMVictorSPX(3);
private final SpeedController m_backRightMotor = new PWMVictorSPX(4);
private final SpeedController m_frontLeftMotor = new PWMSparkMax(1);
private final SpeedController m_frontRightMotor = new PWMSparkMax(2);
private final SpeedController m_backLeftMotor = new PWMSparkMax(3);
private final SpeedController m_backRightMotor = new PWMSparkMax(4);
private final Encoder m_frontLeftEncoder = new Encoder(0, 1);
private final Encoder m_frontRightEncoder = new Encoder(2, 3);

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

@@ -5,7 +5,7 @@
package edu.wpi.first.wpilibj.examples.motorcontrol;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.TimedRobot;
@@ -25,7 +25,7 @@ public class Robot extends TimedRobot {
@Override
public void robotInit() {
m_motor = new PWMVictorSPX(kMotorPort);
m_motor = new PWMSparkMax(kMotorPort);
m_joystick = new Joystick(kJoystickPort);
}

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

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.motorcontrolencoder;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -33,7 +33,7 @@ public class Robot extends TimedRobot {
@Override
public void robotInit() {
m_motor = new PWMVictorSPX(kMotorPort);
m_motor = new PWMSparkMax(kMotorPort);
m_joystick = new Joystick(kJoystickPort);
m_encoder = new Encoder(kEncoderPortA, kEncoderPortB);
// Use SetDistancePerPulse to set the multiplier for GetDistance

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

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.potentiometerpid;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.PIDController;
@@ -42,7 +42,7 @@ public class Robot extends TimedRobot {
@Override
public void robotInit() {
m_potentiometer = new AnalogInput(kPotChannel);
m_elevatorMotor = new PWMVictorSPX(kMotorChannel);
m_elevatorMotor = new PWMSparkMax(kMotorChannel);
m_joystick = new Joystick(kJoystickChannel);
m_pidController = new PIDController(kP, kI, kD);

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
View File

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.ramsetecommand.subsystems;
import edu.wpi.first.wpilibj.ADXRS450_Gyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants;
@@ -20,14 +20,14 @@ 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 PWMSparkMax(DriveConstants.kLeftMotor1Port),
new PWMSparkMax(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 PWMSparkMax(DriveConstants.kRightMotor1Port),
new PWMSparkMax(DriveConstants.kRightMotor2Port));
// The robot's drive
private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Drivetrain.java
View File

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.ramsetecontroller;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.controller.PIDController;
@@ -26,10 +26,10 @@ public class Drivetrain {
private static final double kWheelRadius = 0.0508; // meters
private static final int kEncoderResolution = 4096;
private final SpeedController m_leftLeader = new PWMVictorSPX(1);
private final SpeedController m_leftFollower = new PWMVictorSPX(2);
private final SpeedController m_rightLeader = new PWMVictorSPX(3);
private final SpeedController m_rightFollower = new PWMVictorSPX(4);
private final SpeedController m_leftLeader = new PWMSparkMax(1);
private final SpeedController m_leftFollower = new PWMSparkMax(2);
private final SpeedController m_rightLeader = new PWMSparkMax(3);
private final SpeedController m_rightFollower = new PWMSparkMax(4);
private final Encoder m_leftEncoder = new Encoder(0, 1);
private final Encoder m_rightEncoder = new Encoder(2, 3);

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

@@ -7,7 +7,7 @@ package edu.wpi.first.wpilibj.examples.shuffleboard;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
@@ -16,11 +16,11 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
public class Robot extends TimedRobot {
private final DifferentialDrive m_tankDrive =
new DifferentialDrive(new PWMVictorSPX(0), new PWMVictorSPX(1));
new DifferentialDrive(new PWMSparkMax(0), new PWMSparkMax(1));
private final Encoder m_leftEncoder = new Encoder(0, 1);
private final Encoder m_rightEncoder = new Encoder(2, 3);
private final PWMVictorSPX m_elevatorMotor = new PWMVictorSPX(2);
private final PWMSparkMax m_elevatorMotor = new PWMSparkMax(2);
private final AnalogPotentiometer m_elevatorPot = new AnalogPotentiometer(0);
private NetworkTableEntry m_maxSpeed;

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
View File

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.simpledifferentialdrivesimulation;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.controller.PIDController;
@@ -37,10 +37,10 @@ public class Drivetrain {
private static final double kWheelRadius = 0.0508;
private static final int kEncoderResolution = -4096;
private final PWMVictorSPX m_leftLeader = new PWMVictorSPX(1);
private final PWMVictorSPX m_leftFollower = new PWMVictorSPX(2);
private final PWMVictorSPX m_rightLeader = new PWMVictorSPX(3);
private final PWMVictorSPX m_rightFollower = new PWMVictorSPX(4);
private final PWMSparkMax m_leftLeader = new PWMSparkMax(1);
private final PWMSparkMax m_leftFollower = new PWMSparkMax(2);
private final PWMSparkMax m_rightLeader = new PWMSparkMax(3);
private final PWMSparkMax m_rightFollower = new PWMSparkMax(4);
private final SpeedControllerGroup m_leftGroup =
new SpeedControllerGroup(m_leftLeader, m_leftFollower);

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

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.statespacearm;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.LinearQuadraticRegulator;
@@ -91,7 +91,7 @@ public class Robot extends TimedRobot {
// An encoder set up to measure arm position in radians.
private final Encoder m_encoder = new Encoder(kEncoderAChannel, kEncoderBChannel);
private final SpeedController m_motor = new PWMVictorSPX(kMotorPort);
private final SpeedController m_motor = new PWMSparkMax(kMotorPort);
// A joystick to read the trigger from.
private final Joystick m_joystick = new Joystick(kJoystickPort);

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
View File

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation.sub
import edu.wpi.first.wpilibj.ADXRS450_Gyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.RobotBase;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
@@ -28,14 +28,14 @@ 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 PWMSparkMax(DriveConstants.kLeftMotor1Port),
new PWMSparkMax(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 PWMSparkMax(DriveConstants.kRightMotor1Port),
new PWMSparkMax(DriveConstants.kRightMotor2Port));
// The robot's drive
private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);

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

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.statespaceelevator;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.LinearQuadraticRegulator;
@@ -94,7 +94,7 @@ public class Robot extends TimedRobot {
// An encoder set up to measure elevator height in meters.
private final Encoder m_encoder = new Encoder(kEncoderAChannel, kEncoderBChannel);
private final SpeedController m_motor = new PWMVictorSPX(kMotorPort);
private final SpeedController m_motor = new PWMSparkMax(kMotorPort);
// A joystick to read the trigger from.
private final Joystick m_joystick = new Joystick(kJoystickPort);

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

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.statespaceflywheel;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.LinearQuadraticRegulator;
@@ -77,7 +77,7 @@ public class Robot extends TimedRobot {
// An encoder set up to measure flywheel velocity in radians per second.
private final Encoder m_encoder = new Encoder(kEncoderAChannel, kEncoderBChannel);
private final SpeedController m_motor = new PWMVictorSPX(kMotorPort);
private final SpeedController m_motor = new PWMSparkMax(kMotorPort);
// A joystick to read the trigger from.
private final Joystick m_joystick = new Joystick(kJoystickPort);

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

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.statespaceflywheelsysid;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.LinearQuadraticRegulator;
@@ -72,7 +72,7 @@ public class Robot extends TimedRobot {
// An encoder set up to measure flywheel velocity in radians per second.
private final Encoder m_encoder = new Encoder(kEncoderAChannel, kEncoderBChannel);
private final SpeedController m_motor = new PWMVictorSPX(kMotorPort);
private final SpeedController m_motor = new PWMSparkMax(kMotorPort);
// A joystick to read the trigger from.
private final Joystick m_joystick = new Joystick(kJoystickPort);

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
View File

@@ -5,7 +5,7 @@
package edu.wpi.first.wpilibj.examples.swervebot;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
@@ -49,8 +49,8 @@ public class SwerveModule {
* @param turningMotorChannel ID for the turning motor.
*/
public SwerveModule(int driveMotorChannel, int turningMotorChannel) {
m_driveMotor = new PWMVictorSPX(driveMotorChannel);
m_turningMotor = new PWMVictorSPX(turningMotorChannel);
m_driveMotor = new PWMSparkMax(driveMotorChannel);
m_turningMotor = new PWMSparkMax(turningMotorChannel);
// Set the distance per pulse for the drive encoder. We can simply use the
// distance traveled for one rotation of the wheel divided by the encoder

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/SwerveModule.java
View File

@@ -5,7 +5,7 @@
package edu.wpi.first.wpilibj.examples.swervesdriveposeestimator;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
@@ -49,8 +49,8 @@ public class SwerveModule {
* @param turningMotorChannel ID for the turning motor.
*/
public SwerveModule(int driveMotorChannel, int turningMotorChannel) {
m_driveMotor = new PWMVictorSPX(driveMotorChannel);
m_turningMotor = new PWMVictorSPX(turningMotorChannel);
m_driveMotor = new PWMSparkMax(driveMotorChannel);
m_turningMotor = new PWMSparkMax(turningMotorChannel);
// Set the distance per pulse for the drive encoder. We can simply use the
// distance traveled for one rotation of the wheel divided by the encoder

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

@@ -5,7 +5,7 @@
package edu.wpi.first.wpilibj.examples.tankdrive;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -20,7 +20,7 @@ public class Robot extends TimedRobot {
@Override
public void robotInit() {
m_myRobot = new DifferentialDrive(new PWMVictorSPX(0), new PWMVictorSPX(1));
m_myRobot = new DifferentialDrive(new PWMSparkMax(0), new PWMSparkMax(1));
m_leftStick = new Joystick(0);
m_rightStick = new Joystick(1);
}

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

@@ -5,7 +5,7 @@
package edu.wpi.first.wpilibj.examples.tankdrivexboxcontroller;
import edu.wpi.first.wpilibj.GenericHID.Hand;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -15,8 +15,8 @@ import edu.wpi.first.wpilibj.drive.DifferentialDrive;
* steering and an Xbox controller.
*/
public class Robot extends TimedRobot {
private final PWMVictorSPX m_leftMotor = new PWMVictorSPX(0);
private final PWMVictorSPX m_rightMotor = new PWMVictorSPX(1);
private final PWMSparkMax m_leftMotor = new PWMSparkMax(0);
private final PWMSparkMax m_rightMotor = new PWMSparkMax(1);
private final DifferentialDrive m_robotDrive = new DifferentialDrive(m_leftMotor, m_rightMotor);
private final XboxController m_driverController = new XboxController(0);

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

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.ultrasonic;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.MedianFilter;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -33,7 +33,7 @@ public class Robot extends TimedRobot {
private final AnalogInput m_ultrasonic = new AnalogInput(kUltrasonicPort);
private final DifferentialDrive m_robotDrive =
new DifferentialDrive(new PWMVictorSPX(kLeftMotorPort), new PWMVictorSPX(kRightMotorPort));
new DifferentialDrive(new PWMSparkMax(kLeftMotorPort), new PWMSparkMax(kRightMotorPort));
/**
* Tells the robot to drive to a set distance (in inches) from an object using proportional

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

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.ultrasonicpid;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.MedianFilter;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -40,7 +40,7 @@ public class Robot extends TimedRobot {
private final AnalogInput m_ultrasonic = new AnalogInput(kUltrasonicPort);
private final DifferentialDrive m_robotDrive =
new DifferentialDrive(new PWMVictorSPX(kLeftMotorPort), new PWMVictorSPX(kRightMotorPort));
new DifferentialDrive(new PWMSparkMax(kLeftMotorPort), new PWMSparkMax(kRightMotorPort));
private final PIDController m_pidController = new PIDController(kP, kI, kD);
@Override