Update examples to use VictorSPX's rather then Sparks (#1521)

wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp

@@ -6,7 +6,7 @@
 /*----------------------------------------------------------------------------*/
 
 #include <frc/Joystick.h>
-#include <frc/Spark.h>
+#include <frc/PWMVictorSPX.h>
 #include <frc/TimedRobot.h>
 #include <frc/drive/DifferentialDrive.h>
 
@@ -15,8 +15,8 @@
  * Runs the motors with arcade steering.
  */
 class Robot : public frc::TimedRobot {
-  frc::Spark m_leftMotor{0};
-  frc::Spark m_rightMotor{1};
+  frc::PWMVictorSPX m_leftMotor{0};
+  frc::PWMVictorSPX m_rightMotor{1};
   frc::DifferentialDrive m_robotDrive{m_leftMotor, m_rightMotor};
   frc::Joystick m_stick{0};
 

wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h

@@ -8,7 +8,7 @@
 #pragma once
 
 #include <frc/DigitalInput.h>
-#include <frc/Spark.h>
+#include <frc/PWMVictorSPX.h>
 #include <frc/commands/Subsystem.h>
 
 /**
@@ -46,6 +46,6 @@ class Claw : public frc::Subsystem {
   void Log();
 
  private:
-  frc::Spark m_motor{7};
+  frc::PWMVictorSPX m_motor{7};
   frc::DigitalInput m_contact{5};
 };

wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/DriveTrain.h

@@ -10,7 +10,7 @@
 #include <frc/AnalogGyro.h>
 #include <frc/AnalogInput.h>
 #include <frc/Encoder.h>
-#include <frc/Spark.h>
+#include <frc/PWMVictorSPX.h>
 #include <frc/SpeedControllerGroup.h>
 #include <frc/commands/Subsystem.h>
 #include <frc/drive/DifferentialDrive.h>
@@ -67,12 +67,12 @@ class DriveTrain : public frc::Subsystem {
   double GetDistanceToObstacle();
 
  private:
-  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_robotDrive{m_left, m_right};

wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Elevator.h

@@ -8,7 +8,7 @@
 #pragma once
 
 #include <frc/AnalogPotentiometer.h>
-#include <frc/Spark.h>
+#include <frc/PWMVictorSPX.h>
 #include <frc/commands/PIDSubsystem.h>
 
 /**
@@ -42,7 +42,7 @@ class Elevator : public frc::PIDSubsystem {
   void UsePIDOutput(double d) override;
 
  private:
-  frc::Spark m_motor{5};
+  frc::PWMVictorSPX m_motor{5};
 
 // Conversion value of potentiometer varies between the real world and
 // simulation

wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h

@@ -8,7 +8,7 @@
 #pragma once
 
 #include <frc/AnalogPotentiometer.h>
-#include <frc/Spark.h>
+#include <frc/PWMVictorSPX.h>
 #include <frc/commands/PIDSubsystem.h>
 
 /**
@@ -40,7 +40,7 @@ class Wrist : public frc::PIDSubsystem {
   void UsePIDOutput(double d) override;
 
  private:
-  frc::Spark m_motor{6};
+  frc::PWMVictorSPX m_motor{6};
 
 // Conversion value of potentiometer varies between the real world and
 // simulation

wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp

@@ -6,7 +6,7 @@
 /*----------------------------------------------------------------------------*/
 
 #include <frc/Joystick.h>
-#include <frc/Spark.h>
+#include <frc/PWMVictorSPX.h>
 #include <frc/TimedRobot.h>
 #include <frc/Timer.h>
 #include <frc/drive/DifferentialDrive.h>
@@ -46,8 +46,8 @@ class Robot : public frc::TimedRobot {
 
  private:
   // Robot drive system
-  frc::Spark m_left{0};
-  frc::Spark m_right{1};
+  frc::PWMVictorSPX m_left{0};
+  frc::PWMVictorSPX m_right{1};
   frc::DifferentialDrive m_robotDrive{m_left, m_right};
 
   frc::Joystick m_stick{0};

wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp

@@ -9,7 +9,7 @@
 
 #include <frc/AnalogGyro.h>
 #include <frc/Joystick.h>
-#include <frc/Spark.h>
+#include <frc/PWMVictorSPX.h>
 #include <frc/TimedRobot.h>
 #include <frc/drive/DifferentialDrive.h>
 
@@ -47,8 +47,8 @@ class Robot : public frc::TimedRobot {
   static constexpr int kGyroPort = 0;
   static constexpr int kJoystickPort = 0;
 
-  frc::Spark m_left{kLeftMotorPort};
-  frc::Spark m_right{kRightMotorPort};
+  frc::PWMVictorSPX m_left{kLeftMotorPort};
+  frc::PWMVictorSPX m_right{kRightMotorPort};
   frc::DifferentialDrive m_robotDrive{m_left, m_right};
 
   frc::AnalogGyro m_gyro{kGyroPort};

wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp

@@ -7,7 +7,7 @@
 
 #include <frc/AnalogGyro.h>
 #include <frc/Joystick.h>
-#include <frc/Spark.h>
+#include <frc/PWMVictorSPX.h>
 #include <frc/TimedRobot.h>
 #include <frc/drive/MecanumDrive.h>
 
@@ -47,10 +47,10 @@ class Robot : public frc::TimedRobot {
   static constexpr int kGyroPort = 0;
   static constexpr int kJoystickPort = 0;
 
-  frc::Spark m_frontLeft{kFrontLeftMotorPort};
-  frc::Spark m_rearLeft{kRearLeftMotorPort};
-  frc::Spark m_frontRight{kFrontRightMotorPort};
-  frc::Spark m_rearRight{kRearRightMotorPort};
+  frc::PWMVictorSPX m_frontLeft{kFrontLeftMotorPort};
+  frc::PWMVictorSPX m_rearLeft{kRearLeftMotorPort};
+  frc::PWMVictorSPX m_frontRight{kFrontRightMotorPort};
+  frc::PWMVictorSPX m_rearRight{kRearRightMotorPort};
   frc::MecanumDrive m_robotDrive{m_frontLeft, m_rearLeft, m_frontRight,
                                  m_rearRight};
 

wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp

@@ -6,7 +6,7 @@
 /*----------------------------------------------------------------------------*/
 
 #include <frc/Joystick.h>
-#include <frc/Spark.h>
+#include <frc/PWMVictorSPX.h>
 #include <frc/TimedRobot.h>
 #include <frc/drive/MecanumDrive.h>
 
@@ -38,10 +38,10 @@ class Robot : public frc::TimedRobot {
 
   static constexpr int kJoystickChannel = 0;
 
-  frc::Spark m_frontLeft{kFrontLeftChannel};
-  frc::Spark m_rearLeft{kRearLeftChannel};
-  frc::Spark m_frontRight{kFrontRightChannel};
-  frc::Spark m_rearRight{kRearRightChannel};
+  frc::PWMVictorSPX m_frontLeft{kFrontLeftChannel};
+  frc::PWMVictorSPX m_rearLeft{kRearLeftChannel};
+  frc::PWMVictorSPX m_frontRight{kFrontRightChannel};
+  frc::PWMVictorSPX m_rearRight{kRearRightChannel};
   frc::MecanumDrive m_robotDrive{m_frontLeft, m_rearLeft, m_frontRight,
                                  m_rearRight};
 

wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp

@@ -6,7 +6,7 @@
 /*----------------------------------------------------------------------------*/
 
 #include <frc/Joystick.h>
-#include <frc/Spark.h>
+#include <frc/PWMVictorSPX.h>
 #include <frc/TimedRobot.h>
 
 /**
@@ -23,7 +23,7 @@ class Robot : public frc::TimedRobot {
 
  private:
   frc::Joystick m_stick{0};
-  frc::Spark m_motor{0};
+  frc::PWMVictorSPX m_motor{0};
 };
 
 #ifndef RUNNING_FRC_TESTS

wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp

@@ -7,7 +7,7 @@
 
 #include <frc/Encoder.h>
 #include <frc/Joystick.h>
-#include <frc/Spark.h>
+#include <frc/PWMVictorSPX.h>
 #include <frc/TimedRobot.h>
 #include <frc/smartdashboard/SmartDashboard.h>
 
@@ -44,7 +44,7 @@ class Robot : public frc::TimedRobot {
 
  private:
   frc::Joystick m_stick{0};
-  frc::Spark m_motor{0};
+  frc::PWMVictorSPX m_motor{0};
   frc::Encoder m_encoder{0, 1};
 };
 

wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Collector.h

@@ -8,8 +8,8 @@
 #pragma once
 
 #include <frc/DigitalInput.h>
+#include <frc/PWMVictorSPX.h>
 #include <frc/Solenoid.h>
-#include <frc/Spark.h>
 #include <frc/commands/Subsystem.h>
 
 /**
@@ -69,7 +69,7 @@ class Collector : public frc::Subsystem {
 
  private:
   // Subsystem devices
-  frc::Spark m_rollerMotor{6};
+  frc::PWMVictorSPX m_rollerMotor{6};
   frc::DigitalInput m_ballDetector{10};
   frc::Solenoid m_piston{1};
   frc::DigitalInput m_openDetector{6};

wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/DriveTrain.h

@@ -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/commands/Subsystem.h>
 #include <frc/drive/DifferentialDrive.h>
@@ -63,12 +63,12 @@ class DriveTrain : public frc::Subsystem {
 
  private:
   // Subsystem devices
-  frc::Spark m_frontLeftCIM{1};
-  frc::Spark m_rearLeftCIM{2};
+  frc::PWMVictorSPX m_frontLeftCIM{1};
+  frc::PWMVictorSPX m_rearLeftCIM{2};
   frc::SpeedControllerGroup m_leftCIMs{m_frontLeftCIM, m_rearLeftCIM};
 
-  frc::Spark m_frontRightCIM{3};
-  frc::Spark m_rearRightCIM{4};
+  frc::PWMVictorSPX m_frontRightCIM{3};
+  frc::PWMVictorSPX m_rearRightCIM{4};
   frc::SpeedControllerGroup m_rightCIMs{m_frontRightCIM, m_rearRightCIM};
 
   frc::DifferentialDrive m_robotDrive{m_leftCIMs, m_rightCIMs};

wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Pivot.h

@@ -9,7 +9,7 @@
 
 #include <frc/AnalogPotentiometer.h>
 #include <frc/DigitalInput.h>
-#include <frc/Spark.h>
+#include <frc/PWMVictorSPX.h>
 #include <frc/commands/PIDSubsystem.h>
 
 /**
@@ -70,5 +70,5 @@ class Pivot : public frc::PIDSubsystem {
   frc::AnalogPotentiometer m_pot{1};
 
   // Motor to move the pivot
-  frc::Spark m_motor{5};
+  frc::PWMVictorSPX m_motor{5};
 };

wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp

@@ -10,7 +10,7 @@
 #include <frc/AnalogInput.h>
 #include <frc/Joystick.h>
 #include <frc/PIDController.h>
-#include <frc/Spark.h>
+#include <frc/PWMVictorSPX.h>
 #include <frc/TimedRobot.h>
 
 /**
@@ -62,7 +62,7 @@ class Robot : public frc::TimedRobot {
 
   frc::AnalogInput m_potentiometer{kPotChannel};
   frc::Joystick m_joystick{kJoystickChannel};
-  frc::Spark m_elevatorMotor{kMotorChannel};
+  frc::PWMVictorSPX m_elevatorMotor{kMotorChannel};
 
   /* Potentiometer (AnalogInput) and elevatorMotor (Victor) can be used as a
    * PIDSource and PIDOutput respectively.

wpilibcExamples/src/main/cpp/examples/ShuffleBoard/cpp/Robot.cpp

@@ -8,7 +8,7 @@
 #include <frc/AnalogPotentiometer.h>
 #include <frc/Encoder.h>
 #include <frc/Joystick.h>
-#include <frc/Spark.h>
+#include <frc/PWMVictorSPX.h>
 #include <frc/TimedRobot.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc/shuffleboard/Shuffleboard.h>
@@ -64,9 +64,9 @@ class Robot : public frc::TimedRobot {
   }
 
  private:
-  frc::Spark m_left{0};
-  frc::Spark m_right{1};
-  frc::Spark m_elevatorMotor{2};
+  frc::PWMVictorSPX m_left{0};
+  frc::PWMVictorSPX m_right{1};
+  frc::PWMVictorSPX m_elevatorMotor{2};
 
   frc::DifferentialDrive m_robotDrive{m_left, m_right};
 

wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp

@@ -6,7 +6,7 @@
 /*----------------------------------------------------------------------------*/
 
 #include <frc/AnalogInput.h>
-#include <frc/Spark.h>
+#include <frc/PWMVictorSPX.h>
 #include <frc/TimedRobot.h>
 #include <frc/drive/DifferentialDrive.h>
 
@@ -45,8 +45,8 @@ class Robot : public frc::TimedRobot {
 
   frc::AnalogInput m_ultrasonic{kUltrasonicPort};
 
-  frc::Spark m_left{kLeftMotorPort};
-  frc::Spark m_right{kRightMotorPort};
+  frc::PWMVictorSPX m_left{kLeftMotorPort};
+  frc::PWMVictorSPX m_right{kRightMotorPort};
   frc::DifferentialDrive m_robotDrive{m_left, m_right};
 };
 

wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp

@@ -8,7 +8,7 @@
 #include <frc/AnalogInput.h>
 #include <frc/PIDController.h>
 #include <frc/PIDOutput.h>
-#include <frc/Spark.h>
+#include <frc/PWMVictorSPX.h>
 #include <frc/TimedRobot.h>
 #include <frc/drive/DifferentialDrive.h>
 
@@ -72,8 +72,8 @@ class Robot : public frc::TimedRobot {
 
   frc::AnalogInput m_ultrasonic{kUltrasonicPort};
 
-  frc::Spark m_left{kLeftMotorPort};
-  frc::Spark m_right{kRightMotorPort};
+  frc::PWMVictorSPX m_left{kLeftMotorPort};
+  frc::PWMVictorSPX m_right{kRightMotorPort};
   frc::DifferentialDrive m_robotDrive{m_left, m_right};
   MyPIDOutput m_pidOutput{m_robotDrive};
 

wpilibcExamples/src/main/cpp/templates/sample/include/Robot.h

@@ -10,8 +10,8 @@
 #include <string>
 
 #include <frc/Joystick.h>
+#include <frc/PWMVictorSPX.h>
 #include <frc/SampleRobot.h>
-#include <frc/Spark.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc/smartdashboard/SendableChooser.h>
 
@@ -37,8 +37,8 @@ class Robot : public frc::SampleRobot {
 
  private:
   // Robot drive system
-  frc::Spark m_leftMotor{0};
-  frc::Spark m_rightMotor{1};
+  frc::PWMVictorSPX m_leftMotor{0};
+  frc::PWMVictorSPX m_rightMotor{1};
   frc::DifferentialDrive m_robotDrive{m_leftMotor, m_rightMotor};
 
   frc::Joystick m_stick{0};

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java

@@ -11,7 +11,7 @@ import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.AnalogInput;
 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.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.command.Subsystem;
@@ -28,9 +28,9 @@ import edu.wpi.first.wpilibj.examples.gearsbot.commands.TankDriveWithJoystick;
  */
 public class DriveTrain extends Subsystem {
   private final SpeedController m_leftMotor
-      = new SpeedControllerGroup(new Spark(0), new Spark(1));
+      = new SpeedControllerGroup(new PWMVictorSPX(0), new PWMVictorSPX(1));
   private final SpeedController m_rightMotor
-      = new SpeedControllerGroup(new Spark(2), new Spark(3));
+      = new SpeedControllerGroup(new PWMVictorSPX(2), new PWMVictorSPX(3));
 
   private final DifferentialDrive m_drive
       = new DifferentialDrive(m_leftMotor, m_rightMotor);

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java

@@ -8,7 +8,7 @@
 package edu.wpi.first.wpilibj.examples.gettingstarted;
 
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -22,7 +22,7 @@ import edu.wpi.first.wpilibj.drive.DifferentialDrive;
  */
 public class Robot extends TimedRobot {
   private final DifferentialDrive m_robotDrive
-      = new DifferentialDrive(new Spark(0), new Spark(1));
+      = new DifferentialDrive(new PWMVictorSPX(0), new PWMVictorSPX(1));
   private final Joystick m_stick = new Joystick(0);
   private final Timer m_timer = new Timer();
 

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java

@@ -9,7 +9,7 @@ package edu.wpi.first.wpilibj.examples.gyro;
 
 import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 
@@ -32,8 +32,8 @@ public class Robot extends TimedRobot {
   private static final int kJoystickPort = 0;
 
   private final DifferentialDrive m_myRobot
-      = new DifferentialDrive(new Spark(kLeftMotorPort),
-      new Spark(kRightMotorPort));
+      = new DifferentialDrive(new PWMVictorSPX(kLeftMotorPort),
+      new PWMVictorSPX(kRightMotorPort));
   private final AnalogGyro m_gyro = new AnalogGyro(kGyroPort);
   private final Joystick m_joystick = new Joystick(kJoystickPort);
 

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java

@@ -9,7 +9,7 @@ package edu.wpi.first.wpilibj.examples.gyromecanum;
 
 import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.drive.MecanumDrive;
 
@@ -36,10 +36,10 @@ public class Robot extends TimedRobot {
 
   @Override
   public void robotInit() {
-    Spark frontLeft = new Spark(kFrontLeftChannel);
-    Spark rearLeft = new Spark(kRearLeftChannel);
-    Spark frontRight = new Spark(kFrontRightChannel);
-    Spark rearRight = new Spark(kRearRightChannel);
+    PWMVictorSPX frontLeft = new PWMVictorSPX(kFrontLeftChannel);
+    PWMVictorSPX rearLeft = new PWMVictorSPX(kRearLeftChannel);
+    PWMVictorSPX frontRight = new PWMVictorSPX(kFrontRightChannel);
+    PWMVictorSPX rearRight = new PWMVictorSPX(kRearRightChannel);
 
     // Invert the left side motors.
     // You may need to change or remove this to match your robot.

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

@@ -8,7 +8,7 @@
 package edu.wpi.first.wpilibj.examples.mecanumdrive;
 
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.drive.MecanumDrive;
 
@@ -29,10 +29,10 @@ public class Robot extends TimedRobot {
 
   @Override
   public void robotInit() {
-    Spark frontLeft = new Spark(kFrontLeftChannel);
-    Spark rearLeft = new Spark(kRearLeftChannel);
-    Spark frontRight = new Spark(kFrontRightChannel);
-    Spark rearRight = new Spark(kRearRightChannel);
+    PWMVictorSPX frontLeft = new PWMVictorSPX(kFrontLeftChannel);
+    PWMVictorSPX rearLeft = new PWMVictorSPX(kRearLeftChannel);
+    PWMVictorSPX frontRight = new PWMVictorSPX(kFrontRightChannel);
+    PWMVictorSPX rearRight = new PWMVictorSPX(kRearRightChannel);
 
     // Invert the left side motors.
     // You may need to change or remove this to match your robot.

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

@@ -8,7 +8,7 @@
 package edu.wpi.first.wpilibj.examples.motorcontrol;
 
 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;
 
@@ -29,7 +29,7 @@ public class Robot extends TimedRobot {
 
   @Override
   public void robotInit() {
-    m_motor = new Spark(kMotorPort);
+    m_motor = new PWMVictorSPX(kMotorPort);
     m_joystick = new Joystick(kJoystickPort);
   }
 

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

@@ -9,7 +9,7 @@ package edu.wpi.first.wpilibj.examples.motorcontrolencoder;
 
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -37,7 +37,7 @@ public class Robot extends TimedRobot {
 
   @Override
   public void robotInit() {
-    m_motor = new Spark(kMotorPort);
+    m_motor = new PWMVictorSPX(kMotorPort);
     m_joystick = new Joystick(kJoystickPort);
     m_encoder = new Encoder(kEncoderPortA, kEncoderPortB);
     // Use SetDistancePerPulse to set the multiplier for GetDistance

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

@@ -10,7 +10,7 @@ package edu.wpi.first.wpilibj.examples.potentiometerpid;
 import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.PIDController;
-import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.TimedRobot;
 
@@ -48,7 +48,7 @@ public class Robot extends TimedRobot {
   @Override
   public void robotInit() {
     m_potentiometer = new AnalogInput(kPotChannel);
-    m_elevatorMotor = new Spark(kMotorChannel);
+    m_elevatorMotor = new PWMVictorSPX(kMotorChannel);
     m_joystick = new Joystick(kJoystickChannel);
 
     m_pidController = new PIDController(kP, kI, kD, m_potentiometer, m_elevatorMotor);

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

@@ -10,7 +10,7 @@ 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.Spark;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
@@ -18,11 +18,12 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 
 public class Robot extends TimedRobot {
-  private final DifferentialDrive m_tankDrive = new DifferentialDrive(new Spark(0), new Spark(1));
+  private final DifferentialDrive m_tankDrive = new DifferentialDrive(new PWMVictorSPX(0),
+                                                                      new PWMVictorSPX(1));
   private final Encoder m_leftEncoder = new Encoder(0, 1);
   private final Encoder m_rightEncoder = new Encoder(2, 3);
 
-  private final Spark m_elevatorMotor = new Spark(2);
+  private final PWMVictorSPX m_elevatorMotor = new PWMVictorSPX(2);
   private final AnalogPotentiometer m_elevatorPot = new AnalogPotentiometer(0);
   private NetworkTableEntry m_maxSpeed;
 

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

@@ -8,7 +8,7 @@
 package edu.wpi.first.wpilibj.examples.tankdrive;
 
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 
@@ -23,7 +23,7 @@ public class Robot extends TimedRobot {
 
   @Override
   public void robotInit() {
-    m_myRobot = new DifferentialDrive(new Spark(0), new Spark(1));
+    m_myRobot = new DifferentialDrive(new PWMVictorSPX(0), new PWMVictorSPX(1));
     m_leftStick = new Joystick(0);
     m_rightStick = new Joystick(1);
   }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java

@@ -8,7 +8,7 @@
 package edu.wpi.first.wpilibj.examples.ultrasonic;
 
 import edu.wpi.first.wpilibj.AnalogInput;
-import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 
@@ -33,8 +33,8 @@ public class Robot extends TimedRobot {
 
   private final AnalogInput m_ultrasonic = new AnalogInput(kUltrasonicPort);
   private final DifferentialDrive m_robotDrive
-      = new DifferentialDrive(new Spark(kLeftMotorPort),
-      new Spark(kRightMotorPort));
+      = new DifferentialDrive(new PWMVictorSPX(kLeftMotorPort),
+      new PWMVictorSPX(kRightMotorPort));
 
   /**
    * Tells the robot to drive to a set distance (in inches) from an object

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

@@ -10,7 +10,7 @@ package edu.wpi.first.wpilibj.examples.ultrasonicpid;
 import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.PIDController;
 import edu.wpi.first.wpilibj.PIDOutput;
-import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 
@@ -43,8 +43,8 @@ public class Robot extends TimedRobot {
 
   private final AnalogInput m_ultrasonic = new AnalogInput(kUltrasonicPort);
   private final DifferentialDrive m_robotDrive
-      = new DifferentialDrive(new Spark(kLeftMotorPort),
-      new Spark(kRightMotorPort));
+      = new DifferentialDrive(new PWMVictorSPX(kLeftMotorPort),
+      new PWMVictorSPX(kRightMotorPort));
   private final PIDController m_pidController
       = new PIDController(kP, kI, kD, m_ultrasonic, new MyPidOutput());
 

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Robot.java

@@ -8,8 +8,8 @@
 package edu.wpi.first.wpilibj.templates.sample;
 
 import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.SampleRobot;
-import edu.wpi.first.wpilibj.Spark;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -37,7 +37,7 @@ public class Robot extends SampleRobot {
   private static final String kCustomAuto = "My Auto";
 
   private final DifferentialDrive m_robotDrive
-      = new DifferentialDrive(new Spark(0), new Spark(1));
+      = new DifferentialDrive(new PWMVictorSPX(0), new PWMVictorSPX(1));
   private final Joystick m_stick = new Joystick(0);
   private final SendableChooser<String> m_chooser = new SendableChooser<>();