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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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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};