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

Browse Source 
This accurately reflects the motor controllers that are distributed in
the Kit of Parts.
This commit is contained in:
Prateek Machiraju
2021-02-13 01:14:56 -05:00
committed by GitHub
parent 69e8d0b65d
commit be0ce99007
89 changed files with 304 additions and 304 deletions
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6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java
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@@ -5,7 +5,7 @@
package edu.wpi.first.wpilibj.examples.arcadedrive;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -14,8 +14,8 @@ import edu.wpi.first.wpilibj.drive.DifferentialDrive;
* arcade steering.
*/
public class Robot extends TimedRobot {
private final PWMVictorSPX m_leftMotor = new PWMVictorSPX(0);
private final PWMVictorSPX m_rightMotor = new PWMVictorSPX(1);
private final PWMSparkMax m_leftMotor = new PWMSparkMax(0);
private final PWMSparkMax m_rightMotor = new PWMSparkMax(1);
private final DifferentialDrive m_robotDrive = new DifferentialDrive(m_leftMotor, m_rightMotor);
private final Joystick m_stick = new Joystick(0);

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java
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@@ -5,7 +5,7 @@
package edu.wpi.first.wpilibj.examples.arcadedrivexboxcontroller;
import edu.wpi.first.wpilibj.GenericHID.Hand;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -15,8 +15,8 @@ import edu.wpi.first.wpilibj.drive.DifferentialDrive;
* arcade steering and an Xbox controller.
*/
public class Robot extends TimedRobot {
private final PWMVictorSPX m_leftMotor = new PWMVictorSPX(0);
private final PWMVictorSPX m_rightMotor = new PWMVictorSPX(1);
private final PWMSparkMax m_leftMotor = new PWMSparkMax(0);
private final PWMSparkMax m_rightMotor = new PWMSparkMax(1);
private final DifferentialDrive m_robotDrive = new DifferentialDrive(m_leftMotor, m_rightMotor);
private final XboxController m_driverController = new XboxController(0);

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java
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@@ -5,7 +5,7 @@
package edu.wpi.first.wpilibj.examples.armbot.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.controller.ArmFeedforward;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.examples.armbot.Constants.ArmConstants;
@@ -14,7 +14,7 @@ import edu.wpi.first.wpilibj2.command.ProfiledPIDSubsystem;
/** A robot arm subsystem that moves with a motion profile. */
public class ArmSubsystem extends ProfiledPIDSubsystem {
private final PWMVictorSPX m_motor = new PWMVictorSPX(ArmConstants.kMotorPort);
private final PWMSparkMax m_motor = new PWMSparkMax(ArmConstants.kMotorPort);
private final Encoder m_encoder =
new Encoder(ArmConstants.kEncoderPorts[0], ArmConstants.kEncoderPorts[1]);
private final ArmFeedforward m_feedforward =

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/DriveSubsystem.java
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@@ -5,7 +5,7 @@
package edu.wpi.first.wpilibj.examples.armbot.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.armbot.Constants.DriveConstants;
@@ -15,14 +15,14 @@ public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final SpeedControllerGroup m_leftMotors =
new SpeedControllerGroup(
new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
new PWMSparkMax(DriveConstants.kLeftMotor1Port),
new PWMSparkMax(DriveConstants.kLeftMotor2Port));
// The motors on the right side of the drive.
private final SpeedControllerGroup m_rightMotors =
new SpeedControllerGroup(
new PWMVictorSPX(DriveConstants.kRightMotor1Port),
new PWMVictorSPX(DriveConstants.kRightMotor2Port));
new PWMSparkMax(DriveConstants.kRightMotor1Port),
new PWMSparkMax(DriveConstants.kRightMotor2Port));
// The robot's drive
private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/DriveSubsystem.java
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@@ -5,7 +5,7 @@
package edu.wpi.first.wpilibj.examples.armbotoffboard.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.armbotoffboard.Constants.DriveConstants;
@@ -15,14 +15,14 @@ public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final SpeedControllerGroup m_leftMotors =
new SpeedControllerGroup(
new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
new PWMSparkMax(DriveConstants.kLeftMotor1Port),
new PWMSparkMax(DriveConstants.kLeftMotor2Port));
// The motors on the right side of the drive.
private final SpeedControllerGroup m_rightMotors =
new SpeedControllerGroup(
new PWMVictorSPX(DriveConstants.kRightMotor1Port),
new PWMVictorSPX(DriveConstants.kRightMotor2Port));
new PWMSparkMax(DriveConstants.kRightMotor1Port),
new PWMSparkMax(DriveConstants.kRightMotor2Port));
// The robot's drive
private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java
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@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.armsimulation;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.PIDController;
@@ -38,7 +38,7 @@ public class Robot extends TimedRobot {
// Standard classes for controlling our elevator
private final PIDController m_controller = new PIDController(kArmKp, 0, 0);
private final Encoder m_encoder = new Encoder(kEncoderAChannel, kEncoderBChannel);
private final PWMVictorSPX m_motor = new PWMVictorSPX(kMotorPort);
private final PWMSparkMax m_motor = new PWMSparkMax(kMotorPort);
private final Joystick m_joystick = new Joystick(kJoystickPort);
// Simulation classes help us simulate what's going on, including gravity.

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

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

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java
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@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.elevatorprofiledpid;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
@@ -17,7 +17,7 @@ public class Robot extends TimedRobot {
private final Joystick m_joystick = new Joystick(1);
private final Encoder m_encoder = new Encoder(1, 2);
private final SpeedController m_motor = new PWMVictorSPX(1);
private final SpeedController m_motor = new PWMSparkMax(1);
// Create a PID controller whose setpoint's change is subject to maximum
// velocity and acceleration constraints.

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java
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@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.elevatorsimulation;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.PIDController;
@@ -43,7 +43,7 @@ public class Robot extends TimedRobot {
// Standard classes for controlling our elevator
private final PIDController m_controller = new PIDController(kElevatorKp, 0, 0);
private final Encoder m_encoder = new Encoder(kEncoderAChannel, kEncoderBChannel);
private final PWMVictorSPX m_motor = new PWMVictorSPX(kMotorPort);
private final PWMSparkMax m_motor = new PWMSparkMax(kMotorPort);
private final Joystick m_joystick = new Joystick(kJoystickPort);
// Simulation classes help us simulate what's going on, including gravity.

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/DriveSubsystem.java
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@@ -5,7 +5,7 @@
package edu.wpi.first.wpilibj.examples.frisbeebot.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.DriveConstants;
@@ -15,14 +15,14 @@ public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final SpeedControllerGroup m_leftMotors =
new SpeedControllerGroup(
new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
new PWMSparkMax(DriveConstants.kLeftMotor1Port),
new PWMSparkMax(DriveConstants.kLeftMotor2Port));
// The motors on the right side of the drive.
private final SpeedControllerGroup m_rightMotors =
new SpeedControllerGroup(
new PWMVictorSPX(DriveConstants.kRightMotor1Port),
new PWMVictorSPX(DriveConstants.kRightMotor2Port));
new PWMSparkMax(DriveConstants.kRightMotor1Port),
new PWMSparkMax(DriveConstants.kRightMotor2Port));
// The robot's drive
private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java
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@@ -5,15 +5,15 @@
package edu.wpi.first.wpilibj.examples.frisbeebot.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.ShooterConstants;
import edu.wpi.first.wpilibj2.command.PIDSubsystem;
public class ShooterSubsystem extends PIDSubsystem {
private final PWMVictorSPX m_shooterMotor = new PWMVictorSPX(ShooterConstants.kShooterMotorPort);
private final PWMVictorSPX m_feederMotor = new PWMVictorSPX(ShooterConstants.kFeederMotorPort);
private final PWMSparkMax m_shooterMotor = new PWMSparkMax(ShooterConstants.kShooterMotorPort);
private final PWMSparkMax m_feederMotor = new PWMSparkMax(ShooterConstants.kFeederMotorPort);
private final Encoder m_shooterEncoder =
new Encoder(
ShooterConstants.kEncoderPorts[0],

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java
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@@ -7,7 +7,7 @@ package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -21,10 +21,10 @@ public class DriveTrain extends SubsystemBase {
* These include four drive motors, a left and right encoder and a gyro.
*/
private final SpeedController m_leftMotor =
new SpeedControllerGroup(new PWMVictorSPX(0), new PWMVictorSPX(1));
new SpeedControllerGroup(new PWMSparkMax(0), new PWMSparkMax(1));
private final SpeedController m_rightMotor =
new SpeedControllerGroup(new PWMVictorSPX(2), new PWMVictorSPX(3));
new SpeedControllerGroup(new PWMSparkMax(2), new PWMSparkMax(3));
private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotor, m_rightMotor);

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
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@@ -5,7 +5,7 @@
package edu.wpi.first.wpilibj.examples.gettingstarted;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -18,7 +18,7 @@ import edu.wpi.first.wpilibj.drive.DifferentialDrive;
*/
public class Robot extends TimedRobot {
private final DifferentialDrive m_robotDrive =
new DifferentialDrive(new PWMVictorSPX(0), new PWMVictorSPX(1));
new DifferentialDrive(new PWMSparkMax(0), new PWMSparkMax(1));
private final Joystick m_stick = new Joystick(0);
private final Timer m_timer = new Timer();

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java
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@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.gyro;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -29,7 +29,7 @@ public class Robot extends TimedRobot {
private static final int kJoystickPort = 0;
private final DifferentialDrive m_myRobot =
new DifferentialDrive(new PWMVictorSPX(kLeftMotorPort), new PWMVictorSPX(kRightMotorPort));
new DifferentialDrive(new PWMSparkMax(kLeftMotorPort), new PWMSparkMax(kRightMotorPort));
private final AnalogGyro m_gyro = new AnalogGyro(kGyroPort);
private final Joystick m_joystick = new Joystick(kJoystickPort);

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/subsystems/DriveSubsystem.java
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@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.gyrodrivecommands.subsystems;
import edu.wpi.first.wpilibj.ADXRS450_Gyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants;
@@ -17,14 +17,14 @@ public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final SpeedControllerGroup m_leftMotors =
new SpeedControllerGroup(
new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
new PWMSparkMax(DriveConstants.kLeftMotor1Port),
new PWMSparkMax(DriveConstants.kLeftMotor2Port));
// The motors on the right side of the drive.
private final SpeedControllerGroup m_rightMotors =
new SpeedControllerGroup(
new PWMVictorSPX(DriveConstants.kRightMotor1Port),
new PWMVictorSPX(DriveConstants.kRightMotor2Port));
new PWMSparkMax(DriveConstants.kRightMotor1Port),
new PWMSparkMax(DriveConstants.kRightMotor2Port));
// The robot's drive
private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);

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

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/DriveSubsystem.java
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@@ -5,7 +5,7 @@
package edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.DriveConstants;
@@ -15,14 +15,14 @@ public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final SpeedControllerGroup m_leftMotors =
new SpeedControllerGroup(
new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
new PWMSparkMax(DriveConstants.kLeftMotor1Port),
new PWMSparkMax(DriveConstants.kLeftMotor2Port));
// The motors on the right side of the drive.
private final SpeedControllerGroup m_rightMotors =
new SpeedControllerGroup(
new PWMVictorSPX(DriveConstants.kRightMotor1Port),
new PWMVictorSPX(DriveConstants.kRightMotor2Port));
new PWMSparkMax(DriveConstants.kRightMotor1Port),
new PWMSparkMax(DriveConstants.kRightMotor2Port));
// The robot's drive
private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/DriveSubsystem.java
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@@ -5,7 +5,7 @@
package edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.DriveConstants;
@@ -15,14 +15,14 @@ public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final SpeedControllerGroup m_leftMotors =
new SpeedControllerGroup(
new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
new PWMSparkMax(DriveConstants.kLeftMotor1Port),
new PWMSparkMax(DriveConstants.kLeftMotor2Port));
// The motors on the right side of the drive.
private final SpeedControllerGroup m_rightMotors =
new SpeedControllerGroup(
new PWMVictorSPX(DriveConstants.kRightMotor1Port),
new PWMVictorSPX(DriveConstants.kRightMotor2Port));
new PWMSparkMax(DriveConstants.kRightMotor1Port),
new PWMSparkMax(DriveConstants.kRightMotor2Port));
// The robot's drive
private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.ramsetecommand.subsystems;
import edu.wpi.first.wpilibj.ADXRS450_Gyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants;
@@ -20,14 +20,14 @@ public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final SpeedControllerGroup m_leftMotors =
new SpeedControllerGroup(
new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
new PWMSparkMax(DriveConstants.kLeftMotor1Port),
new PWMSparkMax(DriveConstants.kLeftMotor2Port));
// The motors on the right side of the drive.
private final SpeedControllerGroup m_rightMotors =
new SpeedControllerGroup(
new PWMVictorSPX(DriveConstants.kRightMotor1Port),
new PWMVictorSPX(DriveConstants.kRightMotor2Port));
new PWMSparkMax(DriveConstants.kRightMotor1Port),
new PWMSparkMax(DriveConstants.kRightMotor2Port));
// The robot's drive
private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);

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

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

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

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

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

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

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

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

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

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation.sub
import edu.wpi.first.wpilibj.ADXRS450_Gyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.RobotBase;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
@@ -28,14 +28,14 @@ public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.
private final SpeedControllerGroup m_leftMotors =
new SpeedControllerGroup(
new PWMVictorSPX(DriveConstants.kLeftMotor1Port),
new PWMVictorSPX(DriveConstants.kLeftMotor2Port));
new PWMSparkMax(DriveConstants.kLeftMotor1Port),
new PWMSparkMax(DriveConstants.kLeftMotor2Port));
// The motors on the right side of the drive.
private final SpeedControllerGroup m_rightMotors =
new SpeedControllerGroup(
new PWMVictorSPX(DriveConstants.kRightMotor1Port),
new PWMVictorSPX(DriveConstants.kRightMotor2Port));
new PWMSparkMax(DriveConstants.kRightMotor1Port),
new PWMSparkMax(DriveConstants.kRightMotor2Port));
// The robot's drive
private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);

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

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

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

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

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

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

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

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

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

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

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

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

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

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

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
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@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.examples.ultrasonic;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.MedianFilter;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.PWMSparkMax;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -33,7 +33,7 @@ public class Robot extends TimedRobot {
private final AnalogInput m_ultrasonic = new AnalogInput(kUltrasonicPort);
private final DifferentialDrive m_robotDrive =
new DifferentialDrive(new PWMVictorSPX(kLeftMotorPort), new PWMVictorSPX(kRightMotorPort));
new DifferentialDrive(new PWMSparkMax(kLeftMotorPort), new PWMSparkMax(kRightMotorPort));
/**
* Tells the robot to drive to a set distance (in inches) from an object using proportional

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
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@@ -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