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Standardize on PWMVictorSPX in examples (#2104)

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This commit is contained in:
Austin Shalit
2019-11-20 00:48:22 -05:00
committed by Peter Johnson
parent 8c4d9f5415
commit c0e36df9d8
10 changed files with 57 additions and 52 deletions
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20
wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h
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@@ -30,12 +30,12 @@ class SpeedController;
* @code{.cpp}
* class Robot {
* public:
* frc::Spark m_frontLeft{1};
* frc::Spark m_rearLeft{2};
* frc::PWMVictorSPX m_frontLeft{1};
* frc::PWMVictorSPX m_rearLeft{2};
* frc::SpeedControllerGroup m_left{m_frontLeft, m_rearLeft};
*
* frc::Spark m_frontRight{3};
* frc::Spark m_rearRight{4};
* frc::PWMVictorSPX m_frontRight{3};
* frc::PWMVictorSPX m_rearRight{4};
* frc::SpeedControllerGroup m_right{m_frontRight, m_rearRight};
*
* frc::DifferentialDrive m_drive{m_left, m_right};
@@ -46,14 +46,14 @@ class SpeedController;
* @code{.cpp}
* class Robot {
* public:
* frc::Spark m_frontLeft{1};
* frc::Spark m_midLeft{2};
* frc::Spark m_rearLeft{3};
* frc::PWMVictorSPX m_frontLeft{1};
* frc::PWMVictorSPX m_midLeft{2};
* frc::PWMVictorSPX m_rearLeft{3};
* frc::SpeedControllerGroup m_left{m_frontLeft, m_midLeft, m_rearLeft};
*
* frc::Spark m_frontRight{4};
* frc::Spark m_midRight{5};
* frc::Spark m_rearRight{6};
* frc::PWMVictorSPX m_frontRight{4};
* frc::PWMVictorSPX m_midRight{5};
* frc::PWMVictorSPX m_rearRight{6};
* frc::SpeedControllerGroup m_right{m_frontRight, m_midRight, m_rearRight};
*
* frc::DifferentialDrive m_drive{m_left, m_right};

10
wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
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@@ -9,7 +9,7 @@
#include <frc/AnalogGyro.h>
#include <frc/Encoder.h>
#include <frc/Spark.h>
#include <frc/PWMVictorSPX.h>
#include <frc/SpeedControllerGroup.h>
#include <frc/controller/PIDController.h>
#include <frc/kinematics/DifferentialDriveKinematics.h>
@@ -57,10 +57,10 @@ class Drivetrain {
static constexpr double kWheelRadius = 0.0508; // meters
static constexpr int kEncoderResolution = 4096;
frc::Spark m_leftMaster{1};
frc::Spark m_leftFollower{2};
frc::Spark m_rightMaster{3};
frc::Spark m_rightFollower{4};
frc::PWMVictorSPX m_leftMaster{1};
frc::PWMVictorSPX m_leftFollower{2};
frc::PWMVictorSPX m_rightMaster{3};
frc::PWMVictorSPX m_rightFollower{4};
frc::SpeedControllerGroup m_leftGroup{m_leftMaster, m_leftFollower};
frc::SpeedControllerGroup m_rightGroup{m_rightMaster, m_rightFollower};

10
wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h
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@@ -9,7 +9,7 @@
#include <frc/AnalogGyro.h>
#include <frc/Encoder.h>
#include <frc/Spark.h>
#include <frc/PWMVictorSPX.h>
#include <frc/controller/PIDController.h>
#include <frc/geometry/Translation2d.h>
#include <frc/kinematics/MecanumDriveKinematics.h>
@@ -45,10 +45,10 @@ class Drivetrain {
wpi::math::pi}; // 1/2 rotation per second
private:
frc::Spark m_frontLeftMotor{1};
frc::Spark m_frontRightMotor{2};
frc::Spark m_backLeftMotor{3};
frc::Spark m_backRightMotor{4};
frc::PWMVictorSPX m_frontLeftMotor{1};
frc::PWMVictorSPX m_frontRightMotor{2};
frc::PWMVictorSPX m_backLeftMotor{3};
frc::PWMVictorSPX m_backRightMotor{4};
frc::Encoder m_frontLeftEncoder{0, 1};
frc::Encoder m_frontRightEncoder{2, 3};

6
wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h
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@@ -8,7 +8,7 @@
#pragma once
#include <frc/Encoder.h>
#include <frc/Spark.h>
#include <frc/PWMVictorSPX.h>
#include <frc/controller/PIDController.h>
#include <frc/controller/ProfiledPIDController.h>
#include <frc/kinematics/SwerveModuleState.h>
@@ -34,8 +34,8 @@ class SwerveModule {
kModuleMaxAngularAcceleration = units::meters_per_second_squared_t(
wpi::math::pi * 2.0); // radians per second squared
frc::Spark m_driveMotor;
frc::Spark m_turningMotor;
frc::PWMVictorSPX m_driveMotor;
frc::PWMVictorSPX m_turningMotor;
frc::Encoder m_driveEncoder{0, 1};
frc::Encoder m_turningEncoder{2, 3};

20
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
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@@ -31,12 +31,12 @@ import edu.wpi.first.wpiutil.math.MathUtils;
* <p>Four motor drivetrain:
* <pre><code>
* public class Robot {
* Spark m_frontLeft = new Spark(1);
* Spark m_rearLeft = new Spark(2);
* SpeedController m_frontLeft = new PWMVictorSPX(1);
* SpeedController m_rearLeft = new PWMVictorSPX(2);
* SpeedControllerGroup m_left = new SpeedControllerGroup(m_frontLeft, m_rearLeft);
*
* Spark m_frontRight = new Spark(3);
* Spark m_rearRight = new Spark(4);
* SpeedController m_frontRight = new PWMVictorSPX(3);
* SpeedController m_rearRight = new PWMVictorSPX(4);
* SpeedControllerGroup m_right = new SpeedControllerGroup(m_frontRight, m_rearRight);
*
* DifferentialDrive m_drive = new DifferentialDrive(m_left, m_right);
@@ -46,14 +46,14 @@ import edu.wpi.first.wpiutil.math.MathUtils;
* <p>Six motor drivetrain:
* <pre><code>
* public class Robot {
* Spark m_frontLeft = new Spark(1);
* Spark m_midLeft = new Spark(2);
* Spark m_rearLeft = new Spark(3);
* SpeedController m_frontLeft = new PWMVictorSPX(1);
* SpeedController m_midLeft = new PWMVictorSPX(2);
* SpeedController m_rearLeft = new PWMVictorSPX(3);
* SpeedControllerGroup m_left = new SpeedControllerGroup(m_frontLeft, m_midLeft, m_rearLeft);
*
* Spark m_frontRight = new Spark(4);
* Spark m_midRight = new Spark(5);
* Spark m_rearRight = new Spark(6);
* SpeedController m_frontRight = new PWMVictorSPX(4);
* SpeedController m_midRight = new PWMVictorSPX(5);
* SpeedController m_rearRight = new PWMVictorSPX(6);
* SpeedControllerGroup m_right = new SpeedControllerGroup(m_frontRight, m_midRight, m_rearRight);
*
* DifferentialDrive m_drive = new DifferentialDrive(m_left, m_right);

11
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java
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@@ -9,7 +9,8 @@ package edu.wpi.first.wpilibj.examples.differentialdrivebot;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
@@ -29,10 +30,10 @@ public class Drivetrain {
private static final double kWheelRadius = 0.0508; // meters
private static final int kEncoderResolution = 4096;
private final Spark m_leftMaster = new Spark(1);
private final Spark m_leftFollower = new Spark(2);
private final Spark m_rightMaster = new Spark(3);
private final Spark m_rightFollower = new Spark(4);
private final SpeedController m_leftMaster = new PWMVictorSPX(1);
private final SpeedController m_leftFollower = new PWMVictorSPX(2);
private final SpeedController m_rightMaster = new PWMVictorSPX(3);
private final SpeedController m_rightFollower = new PWMVictorSPX(4);
private final Encoder m_leftEncoder = new Encoder(0, 1);
private final Encoder m_rightEncoder = new Encoder(2, 3);

5
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java
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@@ -9,7 +9,8 @@ package edu.wpi.first.wpilibj.examples.elevatorprofiledpid;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
@@ -19,7 +20,7 @@ public class Robot extends TimedRobot {
private final Joystick m_joystick = new Joystick(1);
private final Encoder m_encoder = new Encoder(1, 2);
private final Spark m_motor = new Spark(1);
private final SpeedController m_motor = new PWMVictorSPX(1);
// Create a PID controller whose setpoint's change is subject to maximum
// velocity and acceleration constraints.

5
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java
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@@ -9,7 +9,8 @@ package edu.wpi.first.wpilibj.examples.elevatortrapezoidprofile;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
@@ -19,7 +20,7 @@ public class Robot extends TimedRobot {
private final Joystick m_joystick = new Joystick(1);
private final Encoder m_encoder = new Encoder(1, 2);
private final Spark m_motor = new Spark(1);
private final SpeedController m_motor = new PWMVictorSPX(1);
private final PIDController m_controller = new PIDController(1.3, 0.0, 0.7, kDt);
private final TrapezoidProfile.Constraints m_constraints =

11
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
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@@ -9,7 +9,8 @@ package edu.wpi.first.wpilibj.examples.mecanumbot;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
@@ -26,10 +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 Spark m_frontLeftMotor = new Spark(1);
private final Spark m_frontRightMotor = new Spark(2);
private final Spark m_backLeftMotor = new Spark(3);
private final Spark m_backRightMotor = new Spark(4);
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 Encoder m_frontLeftEncoder = new Encoder(0, 1);
private final Encoder m_frontRightEncoder = new Encoder(2, 3);

11
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
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@@ -8,7 +8,8 @@
package edu.wpi.first.wpilibj.examples.swervebot;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
@@ -23,8 +24,8 @@ public class SwerveModule {
private static final double kModuleMaxAngularAcceleration
= 2 * Math.PI; // radians per second squared
private final Spark m_driveMotor;
private final Spark m_turningMotor;
private final SpeedController m_driveMotor;
private final SpeedController m_turningMotor;
private final Encoder m_driveEncoder = new Encoder(0, 1);
private final Encoder m_turningEncoder = new Encoder(2, 3);
@@ -42,8 +43,8 @@ public class SwerveModule {
* @param turningMotorChannel ID for the turning motor.
*/
public SwerveModule(int driveMotorChannel, int turningMotorChannel) {
m_driveMotor = new Spark(driveMotorChannel);
m_turningMotor = new Spark(turningMotorChannel);
m_driveMotor = new PWMVictorSPX(driveMotorChannel);
m_turningMotor = new PWMVictorSPX(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