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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
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java
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@@ -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);

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
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@@ -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();

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java
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@@ -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);

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java
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@@ -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.

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java
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@@ -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.

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Robot.java
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@@ -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);
}

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrolencoder/Robot.java
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@@ -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

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java
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@@ -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);

7
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Robot.java
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@@ -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;

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Robot.java
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@@ -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);
}

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
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@@ -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

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
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@@ -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());

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Robot.java
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@@ -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<>();