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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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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