diff --git a/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp index 250f725734..379520e4ca 100644 --- a/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp @@ -3,7 +3,7 @@ // the WPILib BSD license file in the root directory of this project. #include -#include +#include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp index 0ad3e5e13c..7f34b09cae 100644 --- a/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp @@ -3,7 +3,7 @@ // the WPILib BSD license file in the root directory of this project. #include -#include +#include #include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/ArmSubsystem.h b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/ArmSubsystem.h index 18ace0faca..1b1c1ee109 100644 --- a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/ArmSubsystem.h +++ b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/ArmSubsystem.h @@ -5,7 +5,7 @@ #pragma once #include -#include +#include #include #include #include @@ -24,7 +24,7 @@ class ArmSubsystem : public frc2::ProfiledPIDSubsystem { units::radian_t GetMeasurement() override; private: - frc::PWMVictorSPX m_motor; + frc::PWMSparkMax m_motor; frc::Encoder m_encoder; frc::ArmFeedforward m_feedforward; }; diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/DriveSubsystem.h index 96db902d76..7aaac36654 100644 --- a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/DriveSubsystem.h +++ b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/DriveSubsystem.h @@ -5,7 +5,7 @@ #pragma once #include -#include +#include #include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/DriveSubsystem.h index 96db902d76..7aaac36654 100644 --- a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/DriveSubsystem.h +++ b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/DriveSubsystem.h @@ -5,7 +5,7 @@ #pragma once #include -#include +#include #include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp index b3b880521b..94ef9c25f7 100644 --- a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp @@ -5,7 +5,7 @@ #include #include #include -#include +#include #include #include #include @@ -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. diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h index b06b4fe300..57532e9b14 100644 --- a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h +++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h @@ -6,7 +6,7 @@ #include #include -#include +#include #include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h index 22f04b7ee0..37f05e40ca 100644 --- a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h +++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h @@ -6,7 +6,7 @@ #include #include -#include +#include #include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp index 927271a6f9..6472fa581b 100644 --- a/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp @@ -4,7 +4,7 @@ #include #include -#include +#include #include #include #include @@ -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. diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp index a6d4a049e6..77de329929 100644 --- a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp @@ -5,7 +5,7 @@ #include #include #include -#include +#include #include #include #include @@ -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. diff --git a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/DriveSubsystem.h index 96db902d76..7aaac36654 100644 --- a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/DriveSubsystem.h +++ b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/DriveSubsystem.h @@ -5,7 +5,7 @@ #pragma once #include -#include +#include #include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/ShooterSubsystem.h b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/ShooterSubsystem.h index 2f2422e427..c3ccdc8325 100644 --- a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/ShooterSubsystem.h +++ b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/ShooterSubsystem.h @@ -5,7 +5,7 @@ #pragma once #include -#include +#include #include #include #include @@ -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 m_shooterFeedforward; }; diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h index 14bff04799..4870705aba 100644 --- a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h +++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h @@ -5,7 +5,7 @@ #pragma once #include -#include +#include #include /** @@ -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}; }; diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/DriveTrain.h b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/DriveTrain.h index fa888b2eb0..52a7153e23 100644 --- a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/DriveTrain.h +++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/DriveTrain.h @@ -7,7 +7,7 @@ #include #include #include -#include +#include #include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Elevator.h b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Elevator.h index 0d20048396..875a5f1a97 100644 --- a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Elevator.h +++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Elevator.h @@ -5,7 +5,7 @@ #pragma once #include -#include +#include #include /** @@ -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 diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h index 50c8b5d3bd..ef660a2a39 100644 --- a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h +++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h @@ -5,7 +5,7 @@ #pragma once #include -#include +#include #include /** @@ -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 diff --git a/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp index 91e444615b..3f2d0c77fe 100644 --- a/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp @@ -3,7 +3,7 @@ // the WPILib BSD license file in the root directory of this project. #include -#include +#include #include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp index 90d8931e03..4bfc3c1154 100644 --- a/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp @@ -6,7 +6,7 @@ #include #include -#include +#include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/subsystems/DriveSubsystem.h index 3f9c43287e..dc546db0cf 100644 --- a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/subsystems/DriveSubsystem.h +++ b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/subsystems/DriveSubsystem.h @@ -6,7 +6,7 @@ #include #include -#include +#include #include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp index d140356ec1..0922ae4923 100644 --- a/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp @@ -4,7 +4,7 @@ #include #include -#include +#include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.h index 96db902d76..7aaac36654 100644 --- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.h +++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.h @@ -5,7 +5,7 @@ #pragma once #include -#include +#include #include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.h index 96db902d76..7aaac36654 100644 --- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.h +++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.h @@ -5,7 +5,7 @@ #pragma once #include -#include +#include #include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h index ccface7a77..62a14a0b12 100644 --- a/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h +++ b/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h @@ -6,7 +6,7 @@ #include #include -#include +#include #include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/subsystems/DriveSubsystem.h index f27155be93..a521219f4a 100644 --- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/subsystems/DriveSubsystem.h +++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/subsystems/DriveSubsystem.h @@ -6,7 +6,7 @@ #include #include -#include +#include #include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp index 0e983848c4..f7c1be3517 100644 --- a/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp @@ -3,7 +3,7 @@ // the WPILib BSD license file in the root directory of this project. #include -#include +#include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp index b5422e9233..e2586a3f49 100644 --- a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp +++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp @@ -17,7 +17,7 @@ frc::MecanumDriveWheelSpeeds Drivetrain::GetCurrentState() const { void Drivetrain::SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds) { std::function + frc2::PIDController&, frc::PWMSparkMax&)> calcAndSetSpeeds = [&m_feedforward = m_feedforward](units::meters_per_second_t speed, const auto& encoder, diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h index 1e2694f777..5dca8277c9 100644 --- a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h +++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h @@ -6,7 +6,7 @@ #include #include -#include +#include #include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp index b5e69050b2..0b8351b6da 100644 --- a/wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp @@ -3,7 +3,7 @@ // the WPILib BSD license file in the root directory of this project. #include -#include +#include #include /** @@ -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 diff --git a/wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp index 7c9f456945..76ba76d655 100644 --- a/wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp @@ -4,7 +4,7 @@ #include #include -#include +#include #include #include #include @@ -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}; }; diff --git a/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Collector.h b/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Collector.h index 6eb60cb50b..77b0bb4695 100644 --- a/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Collector.h +++ b/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Collector.h @@ -5,7 +5,7 @@ #pragma once #include -#include +#include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/DriveTrain.h b/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/DriveTrain.h index c77b92ecdb..739f662136 100644 --- a/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/DriveTrain.h +++ b/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/DriveTrain.h @@ -6,7 +6,7 @@ #include #include -#include +#include #include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Pivot.h b/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Pivot.h index 7fc6ab5c2d..23d342f1cf 100644 --- a/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Pivot.h +++ b/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Pivot.h @@ -6,7 +6,7 @@ #include #include -#include +#include #include /** @@ -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}; }; diff --git a/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp index 24c586a39a..6149d40721 100644 --- a/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp @@ -6,7 +6,7 @@ #include #include -#include +#include #include #include @@ -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}; }; diff --git a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h index d8b6772568..28707ea61f 100644 --- a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h +++ b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h @@ -6,7 +6,7 @@ #include #include -#include +#include #include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h index e1f629ae3c..baa5a090ab 100644 --- a/wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h +++ b/wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h @@ -6,7 +6,7 @@ #include #include -#include +#include #include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/ShuffleBoard/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ShuffleBoard/cpp/Robot.cpp index b75a55d42c..ceb3470a1b 100644 --- a/wpilibcExamples/src/main/cpp/examples/ShuffleBoard/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/ShuffleBoard/cpp/Robot.cpp @@ -5,7 +5,7 @@ #include #include #include -#include +#include #include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h index 1a9732329d..48d758a7af 100644 --- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h +++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h @@ -6,7 +6,7 @@ #include #include -#include +#include #include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp index 8bd0934970..63fc0a6f37 100644 --- a/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceArm/cpp/Robot.cpp @@ -4,7 +4,7 @@ #include #include -#include +#include #include #include #include @@ -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::Constraints m_constraints{ diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h index 1a07bf182e..9b7dadba41 100644 --- a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h +++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h @@ -6,7 +6,7 @@ #include #include -#include +#include #include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp index d3d8954aea..4d94321e7f 100644 --- a/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceElevator/cpp/Robot.cpp @@ -4,7 +4,7 @@ #include #include -#include +#include #include #include #include @@ -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::Constraints m_constraints{3_fps, diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp index fbe931c71f..bab52d939f 100644 --- a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheel/cpp/Robot.cpp @@ -5,7 +5,7 @@ #include #include #include -#include +#include #include #include #include @@ -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: diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp index 355894a28a..1b7d9b76d5 100644 --- a/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceFlywheelSysId/cpp/Robot.cpp @@ -5,7 +5,7 @@ #include #include #include -#include +#include #include #include #include @@ -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: diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h index d2489e2c0d..119137d5ef 100644 --- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h +++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h @@ -5,7 +5,7 @@ #pragma once #include -#include +#include #include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h index 4cabdc67c1..c11f8e2b64 100644 --- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h +++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h @@ -6,7 +6,7 @@ #include #include -#include +#include #include #include #include diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h index 76701373af..84182c09b1 100644 --- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h +++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h @@ -5,7 +5,7 @@ #pragma once #include -#include +#include #include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp index 8e469d55aa..3fa97cf654 100644 --- a/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp @@ -3,7 +3,7 @@ // the WPILib BSD license file in the root directory of this project. #include -#include +#include #include #include #include @@ -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}; diff --git a/wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp index 1d71b37d0a..1cd070712e 100644 --- a/wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp @@ -4,7 +4,7 @@ #include #include -#include +#include #include #include @@ -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}; }; diff --git a/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp index 625fa44647..08743128a0 100644 --- a/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp @@ -4,7 +4,7 @@ #include #include -#include +#include #include #include #include @@ -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}; diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java index 14806d2bbd..e7bd6372c5 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java @@ -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); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java index 61d8b6dd5a..b382ac54ea 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java @@ -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); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java index 4a05418083..a4459a5a20 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java @@ -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 = diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/DriveSubsystem.java index a8bc9a289b..104b685b3f 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/DriveSubsystem.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/DriveSubsystem.java @@ -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); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/DriveSubsystem.java index 29a8913284..96d90d4a83 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/DriveSubsystem.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/DriveSubsystem.java @@ -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); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java index 90b6ad1fbd..d407854300 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java @@ -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. diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java index ba65e3ed6a..759c12924d 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java @@ -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); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java index 224e49a641..947abc4721 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java @@ -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); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java index 5640ef80b7..06bb3cff5c 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java @@ -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. diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java index 2d75cb7f19..5cab4a16c7 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java @@ -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. diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/DriveSubsystem.java index 8ecb11bef8..2fd62737a2 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/DriveSubsystem.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/DriveSubsystem.java @@ -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); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java index 6651a86711..d5f4844527 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java @@ -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], diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java index 32c97b1e1b..fdbf1a51e4 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java @@ -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); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java index 00137ceaec..ee0678cb7b 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java @@ -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(); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java index 6bdc549682..c1f3d2d365 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java @@ -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); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/subsystems/DriveSubsystem.java index 2b70171ceb..439b503673 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/subsystems/DriveSubsystem.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/subsystems/DriveSubsystem.java @@ -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); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java index 463b10ed67..b607c916ae 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java @@ -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. diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/DriveSubsystem.java index fc9b8968fd..faa61f4e41 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/DriveSubsystem.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/DriveSubsystem.java @@ -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); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/DriveSubsystem.java index 3c24b2d383..acf3189c1a 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/DriveSubsystem.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/DriveSubsystem.java @@ -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); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java index 4f60c713a5..ab95a7aab0 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java @@ -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); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java index 6a536aa695..8ee318bc6b 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java @@ -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); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java index 34ef521fe1..34bb9f5930 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java @@ -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. diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java index f5cfd2620e..bd1a3fe8d9 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java @@ -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); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Robot.java index e421ba284e..e9105d8bd5 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Robot.java @@ -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); } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrolencoder/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrolencoder/Robot.java index 13ffe6f9fd..1b0b617d0e 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrolencoder/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrolencoder/Robot.java @@ -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 diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java index e0c3bb004f..148a4760fd 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java @@ -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); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java index 04326142ff..7ccb1f27f4 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java @@ -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); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Drivetrain.java index 5c7486b0ed..1c40b944bb 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Drivetrain.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Drivetrain.java @@ -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); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Robot.java index ca0ac16658..bc1704f71c 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Robot.java @@ -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; diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java index 7bb881f726..9fa5e6b54c 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java @@ -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); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacearm/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacearm/Robot.java index cb2273b9f0..aa43dff01f 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacearm/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacearm/Robot.java @@ -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); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java index 506ffe1f4e..1e70efe380 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java @@ -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); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceelevator/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceelevator/Robot.java index a75428b710..57ce6c3ae7 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceelevator/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceelevator/Robot.java @@ -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); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java index f59d4aea72..bf1f4f78c9 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java @@ -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); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Robot.java index 08f7fe9288..9c080346ee 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Robot.java @@ -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); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java index eb619e1068..887001c090 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java @@ -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 diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/SwerveModule.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/SwerveModule.java index 9488640139..236de7df97 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/SwerveModule.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/SwerveModule.java @@ -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 diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Robot.java index d66a9d94c4..71bf29084e 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Robot.java @@ -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); } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrivexboxcontroller/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrivexboxcontroller/Robot.java index 58f93c1585..e54d44da66 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrivexboxcontroller/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrivexboxcontroller/Robot.java @@ -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); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java index c4c3b041c9..58de666e31 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java @@ -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 diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java index cee1e69be7..c1fcb60804 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java @@ -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