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

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This commit is contained in:
Thad House
2018-12-31 13:45:09 -08:00
committed by Peter Johnson
parent 3635116049
commit c12d7729e3
32 changed files with 96 additions and 95 deletions
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6
wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp
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@@ -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};

4
wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h
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@@ -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};
};

10
wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/DriveTrain.h
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@@ -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};

4
wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Elevator.h
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@@ -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

4
wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h
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@@ -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

6
wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
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@@ -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};

6
wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
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@@ -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};

10
wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp
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@@ -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};

10
wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
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@@ -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};

4
wpilibcExamples/src/main/cpp/examples/MotorControl/cpp/Robot.cpp
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@@ -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

4
wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp
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@@ -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};
};

4
wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Collector.h
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@@ -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};

10
wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/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/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};

4
wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Pivot.h
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@@ -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};
};

4
wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp
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@@ -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.

8
wpilibcExamples/src/main/cpp/examples/ShuffleBoard/cpp/Robot.cpp
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@@ -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};

6
wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp
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@@ -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};
};

6
wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp
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@@ -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};

6
wpilibcExamples/src/main/cpp/templates/sample/include/Robot.h
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@@ -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};