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

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This accurately reflects the motor controllers that are distributed in
the Kit of Parts.
This commit is contained in:
Prateek Machiraju
2021-02-13 01:14:56 -05:00
committed by GitHub
parent 69e8d0b65d
commit be0ce99007
89 changed files with 304 additions and 304 deletions
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4
wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/ArmSubsystem.h
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@@ -5,7 +5,7 @@
#pragma once
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/PWMSparkMax.h>
#include <frc/controller/ArmFeedforward.h>
#include <frc2/command/ProfiledPIDSubsystem.h>
#include <units/angle.h>
@@ -24,7 +24,7 @@ class ArmSubsystem : public frc2::ProfiledPIDSubsystem<units::radians> {
units::radian_t GetMeasurement() override;
private:
frc::PWMVictorSPX m_motor;
frc::PWMSparkMax m_motor;
frc::Encoder m_encoder;
frc::ArmFeedforward m_feedforward;
};

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