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SCRIPT: Spotless Apply
This commit is contained in:
PJ Reiniger
committed by
Peter Johnson
Peter Johnson
parent
c89910b7c6
commit
c48b722dac
@@ -7,11 +7,11 @@ package org.wpilib.examples.addressableled;
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import static org.wpilib.units.Units.Meters;
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import static org.wpilib.units.Units.MetersPerSecond;
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import org.wpilib.units.measure.Distance;
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import org.wpilib.hardware.led.AddressableLED;
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import org.wpilib.hardware.led.AddressableLEDBuffer;
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import org.wpilib.hardware.led.LEDPattern;
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import org.wpilib.opmode.TimedRobot;
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import org.wpilib.units.measure.Distance;
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public class Robot extends TimedRobot {
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private final AddressableLED m_led;
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@@ -4,24 +4,24 @@
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package org.wpilib.examples.apriltagsvision;
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import org.wpilib.vision.apriltag.AprilTagDetection;
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import org.wpilib.vision.apriltag.AprilTagDetector;
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import org.wpilib.vision.apriltag.AprilTagPoseEstimator;
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import org.wpilib.vision.stream.CameraServer;
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import org.wpilib.vision.camera.CvSink;
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import org.wpilib.vision.camera.CvSource;
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import org.wpilib.vision.camera.UsbCamera;
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import java.util.ArrayList;
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import org.opencv.core.Mat;
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import org.opencv.core.Point;
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import org.opencv.core.Scalar;
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import org.opencv.imgproc.Imgproc;
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import org.wpilib.math.geometry.Rotation3d;
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import org.wpilib.math.geometry.Transform3d;
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import org.wpilib.networktables.IntegerArrayPublisher;
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import org.wpilib.networktables.NetworkTable;
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import org.wpilib.networktables.NetworkTableInstance;
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import org.wpilib.opmode.TimedRobot;
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import java.util.ArrayList;
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import org.opencv.core.Mat;
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import org.opencv.core.Point;
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import org.opencv.core.Scalar;
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import org.opencv.imgproc.Imgproc;
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import org.wpilib.vision.apriltag.AprilTagDetection;
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import org.wpilib.vision.apriltag.AprilTagDetector;
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import org.wpilib.vision.apriltag.AprilTagPoseEstimator;
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import org.wpilib.vision.camera.CvSink;
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import org.wpilib.vision.camera.CvSource;
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import org.wpilib.vision.camera.UsbCamera;
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import org.wpilib.vision.stream.CameraServer;
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/**
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* This is a demo program showing the detection of AprilTags. The image is acquired from the USB
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@@ -4,11 +4,11 @@
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package org.wpilib.examples.arcadedrive;
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import org.wpilib.util.sendable.SendableRegistry;
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import org.wpilib.driverstation.Joystick;
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import org.wpilib.opmode.TimedRobot;
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import org.wpilib.drive.DifferentialDrive;
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import org.wpilib.driverstation.Joystick;
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import org.wpilib.hardware.motor.PWMSparkMax;
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import org.wpilib.opmode.TimedRobot;
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import org.wpilib.util.sendable.SendableRegistry;
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/**
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* This is a demo program showing the use of the DifferentialDrive class. Runs the motors with
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@@ -4,11 +4,11 @@
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package org.wpilib.examples.arcadedrivexboxcontroller;
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import org.wpilib.util.sendable.SendableRegistry;
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import org.wpilib.opmode.TimedRobot;
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import org.wpilib.driverstation.XboxController;
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import org.wpilib.drive.DifferentialDrive;
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import org.wpilib.driverstation.XboxController;
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import org.wpilib.hardware.motor.PWMSparkMax;
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import org.wpilib.opmode.TimedRobot;
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import org.wpilib.util.sendable.SendableRegistry;
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/**
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* This is a demo program showing the use of the DifferentialDrive class. Runs the motors with split
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@@ -5,8 +5,8 @@
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package org.wpilib.examples.armsimulation;
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import org.wpilib.driverstation.Joystick;
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import org.wpilib.opmode.TimedRobot;
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import org.wpilib.examples.armsimulation.subsystems.Arm;
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import org.wpilib.opmode.TimedRobot;
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/** This is a sample program to demonstrate the use of arm simulation with existing code. */
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public class Robot extends TimedRobot {
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@@ -4,14 +4,12 @@
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package org.wpilib.examples.armsimulation.subsystems;
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import org.wpilib.examples.armsimulation.Constants;
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import org.wpilib.hardware.motor.PWMSparkMax;
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import org.wpilib.hardware.rotation.Encoder;
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import org.wpilib.math.controller.PIDController;
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import org.wpilib.math.system.plant.DCMotor;
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import org.wpilib.math.util.Units;
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import org.wpilib.hardware.rotation.Encoder;
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import org.wpilib.util.Preferences;
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import org.wpilib.system.RobotController;
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import org.wpilib.examples.armsimulation.Constants;
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import org.wpilib.hardware.motor.PWMSparkMax;
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import org.wpilib.simulation.BatterySim;
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import org.wpilib.simulation.EncoderSim;
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import org.wpilib.simulation.RoboRioSim;
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@@ -20,8 +18,10 @@ import org.wpilib.smartdashboard.Mechanism2d;
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import org.wpilib.smartdashboard.MechanismLigament2d;
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import org.wpilib.smartdashboard.MechanismRoot2d;
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import org.wpilib.smartdashboard.SmartDashboard;
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import org.wpilib.system.RobotController;
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import org.wpilib.util.Color;
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import org.wpilib.util.Color8Bit;
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import org.wpilib.util.Preferences;
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public class Arm implements AutoCloseable {
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// The P gain for the PID controller that drives this arm.
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@@ -4,15 +4,15 @@
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package org.wpilib.examples.differentialdrivebot;
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import org.wpilib.hardware.imu.OnboardIMU;
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import org.wpilib.hardware.motor.PWMSparkMax;
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import org.wpilib.hardware.rotation.Encoder;
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import org.wpilib.math.controller.PIDController;
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import org.wpilib.math.controller.SimpleMotorFeedforward;
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import org.wpilib.math.kinematics.ChassisSpeeds;
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import org.wpilib.math.kinematics.DifferentialDriveKinematics;
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import org.wpilib.math.kinematics.DifferentialDriveOdometry;
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import org.wpilib.math.kinematics.DifferentialDriveWheelSpeeds;
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import org.wpilib.hardware.rotation.Encoder;
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import org.wpilib.hardware.imu.OnboardIMU;
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import org.wpilib.hardware.motor.PWMSparkMax;
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/** Represents a differential drive style drivetrain. */
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public class Drivetrain {
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@@ -4,9 +4,9 @@
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package org.wpilib.examples.differentialdrivebot;
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import org.wpilib.driverstation.XboxController;
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import org.wpilib.math.filter.SlewRateLimiter;
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import org.wpilib.opmode.TimedRobot;
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import org.wpilib.driverstation.XboxController;
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public class Robot extends TimedRobot {
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private final XboxController m_controller = new XboxController(0);
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@@ -4,10 +4,9 @@
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package org.wpilib.examples.differentialdriveposeestimator;
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import org.wpilib.vision.apriltag.AprilTagFieldLayout;
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import org.wpilib.vision.apriltag.AprilTagFields;
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import org.wpilib.math.util.ComputerVisionUtil;
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import org.wpilib.math.linalg.VecBuilder;
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import org.wpilib.hardware.imu.OnboardIMU;
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import org.wpilib.hardware.motor.PWMSparkMax;
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import org.wpilib.hardware.rotation.Encoder;
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import org.wpilib.math.controller.PIDController;
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import org.wpilib.math.controller.SimpleMotorFeedforward;
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import org.wpilib.math.estimator.DifferentialDrivePoseEstimator;
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@@ -20,22 +19,23 @@ import org.wpilib.math.geometry.Translation3d;
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import org.wpilib.math.kinematics.ChassisSpeeds;
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import org.wpilib.math.kinematics.DifferentialDriveKinematics;
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import org.wpilib.math.kinematics.DifferentialDriveWheelSpeeds;
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import org.wpilib.math.linalg.VecBuilder;
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import org.wpilib.math.numbers.N2;
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import org.wpilib.math.system.LinearSystem;
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import org.wpilib.math.system.plant.DCMotor;
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import org.wpilib.math.system.plant.LinearSystemId;
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import org.wpilib.math.util.ComputerVisionUtil;
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import org.wpilib.math.util.Units;
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import org.wpilib.networktables.DoubleArrayEntry;
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import org.wpilib.networktables.DoubleArrayTopic;
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import org.wpilib.hardware.rotation.Encoder;
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import org.wpilib.hardware.imu.OnboardIMU;
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import org.wpilib.system.RobotController;
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import org.wpilib.system.Timer;
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import org.wpilib.hardware.motor.PWMSparkMax;
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import org.wpilib.simulation.DifferentialDrivetrainSim;
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import org.wpilib.simulation.EncoderSim;
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import org.wpilib.smartdashboard.Field2d;
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import org.wpilib.smartdashboard.SmartDashboard;
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import org.wpilib.system.RobotController;
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import org.wpilib.system.Timer;
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import org.wpilib.vision.apriltag.AprilTagFieldLayout;
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import org.wpilib.vision.apriltag.AprilTagFields;
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/** Represents a differential drive style drivetrain. */
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public class Drivetrain {
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@@ -4,10 +4,10 @@
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package org.wpilib.examples.differentialdriveposeestimator;
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import org.wpilib.math.util.StateSpaceUtil;
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import org.wpilib.math.linalg.VecBuilder;
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import org.wpilib.math.geometry.Pose2d;
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import org.wpilib.math.geometry.Rotation2d;
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import org.wpilib.math.linalg.VecBuilder;
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import org.wpilib.math.util.StateSpaceUtil;
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import org.wpilib.math.util.Units;
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/** This dummy class represents a global measurement sensor, such as a computer vision solution. */
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@@ -4,11 +4,11 @@
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package org.wpilib.examples.differentialdriveposeestimator;
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import org.wpilib.driverstation.XboxController;
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import org.wpilib.math.filter.SlewRateLimiter;
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import org.wpilib.networktables.DoubleArrayTopic;
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import org.wpilib.networktables.NetworkTableInstance;
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import org.wpilib.opmode.TimedRobot;
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import org.wpilib.driverstation.XboxController;
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public class Robot extends TimedRobot {
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private final NetworkTableInstance m_inst = NetworkTableInstance.getDefault();
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@@ -4,10 +4,10 @@
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package org.wpilib.examples.digitalcommunication;
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import org.wpilib.hardware.discrete.DigitalOutput;
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import org.wpilib.driverstation.DriverStation;
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import org.wpilib.opmode.TimedRobot;
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import java.util.Optional;
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import org.wpilib.driverstation.DriverStation;
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import org.wpilib.hardware.discrete.DigitalOutput;
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import org.wpilib.opmode.TimedRobot;
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/**
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* This is a sample program demonstrating how to communicate to a light controller from the robot
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@@ -4,9 +4,9 @@
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package org.wpilib.examples.drivedistanceoffboard;
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import org.wpilib.opmode.TimedRobot;
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import org.wpilib.command2.Command;
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import org.wpilib.command2.CommandScheduler;
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import org.wpilib.opmode.TimedRobot;
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/**
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* The methods in this class are called automatically corresponding to each mode, as described in
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@@ -4,12 +4,12 @@
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package org.wpilib.examples.drivedistanceoffboard;
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import org.wpilib.driverstation.XboxController;
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import org.wpilib.examples.drivedistanceoffboard.Constants.OIConstants;
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import org.wpilib.examples.drivedistanceoffboard.subsystems.DriveSubsystem;
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import org.wpilib.command2.Command;
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import org.wpilib.command2.Commands;
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import org.wpilib.command2.button.CommandXboxController;
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import org.wpilib.driverstation.XboxController;
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import org.wpilib.examples.drivedistanceoffboard.Constants.OIConstants;
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import org.wpilib.examples.drivedistanceoffboard.subsystems.DriveSubsystem;
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/**
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* This class is where the bulk of the robot should be declared. Since Command-based is a
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@@ -4,17 +4,17 @@
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package org.wpilib.examples.drivedistanceoffboard.subsystems;
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import org.wpilib.math.controller.SimpleMotorFeedforward;
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import org.wpilib.math.trajectory.TrapezoidProfile;
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import org.wpilib.math.trajectory.TrapezoidProfile.State;
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import org.wpilib.util.sendable.SendableRegistry;
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import org.wpilib.system.RobotController;
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import org.wpilib.system.Timer;
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import org.wpilib.command2.Command;
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import org.wpilib.command2.SubsystemBase;
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import org.wpilib.drive.DifferentialDrive;
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import org.wpilib.examples.drivedistanceoffboard.Constants.DriveConstants;
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import org.wpilib.examples.drivedistanceoffboard.ExampleSmartMotorController;
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import org.wpilib.command2.Command;
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import org.wpilib.command2.SubsystemBase;
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import org.wpilib.math.controller.SimpleMotorFeedforward;
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import org.wpilib.math.trajectory.TrapezoidProfile;
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import org.wpilib.math.trajectory.TrapezoidProfile.State;
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import org.wpilib.system.RobotController;
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import org.wpilib.system.Timer;
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import org.wpilib.util.sendable.SendableRegistry;
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public class DriveSubsystem extends SubsystemBase {
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// The motors on the left side of the drive.
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@@ -4,8 +4,8 @@
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package org.wpilib.examples.dutycycleencoder;
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import org.wpilib.math.util.MathUtil;
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import org.wpilib.hardware.rotation.DutyCycleEncoder;
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import org.wpilib.math.util.MathUtil;
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import org.wpilib.opmode.TimedRobot;
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import org.wpilib.smartdashboard.SmartDashboard;
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@@ -4,9 +4,9 @@
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package org.wpilib.examples.elevatorexponentialprofile;
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import org.wpilib.driverstation.Joystick;
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import org.wpilib.math.controller.SimpleMotorFeedforward;
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import org.wpilib.math.trajectory.ExponentialProfile;
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import org.wpilib.driverstation.Joystick;
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import org.wpilib.opmode.TimedRobot;
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public class Robot extends TimedRobot {
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@@ -5,8 +5,8 @@
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package org.wpilib.examples.elevatorexponentialsimulation;
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import org.wpilib.driverstation.Joystick;
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import org.wpilib.opmode.TimedRobot;
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import org.wpilib.examples.elevatorexponentialsimulation.subsystems.Elevator;
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import org.wpilib.opmode.TimedRobot;
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/** This is a sample program to demonstrate the use of elevator simulation. */
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public class Robot extends TimedRobot {
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@@ -4,15 +4,14 @@
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package org.wpilib.examples.elevatorexponentialsimulation.subsystems;
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import org.wpilib.examples.elevatorexponentialsimulation.Constants;
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import org.wpilib.hardware.motor.PWMSparkMax;
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import org.wpilib.hardware.rotation.Encoder;
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import org.wpilib.math.controller.ElevatorFeedforward;
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import org.wpilib.math.controller.PIDController;
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import org.wpilib.math.system.plant.DCMotor;
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import org.wpilib.math.trajectory.ExponentialProfile;
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import org.wpilib.math.util.Units;
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import org.wpilib.hardware.rotation.Encoder;
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import org.wpilib.system.RobotController;
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import org.wpilib.examples.elevatorexponentialsimulation.Constants;
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import org.wpilib.hardware.motor.PWMSparkMax;
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import org.wpilib.simulation.BatterySim;
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import org.wpilib.simulation.ElevatorSim;
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import org.wpilib.simulation.EncoderSim;
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@@ -22,6 +21,7 @@ import org.wpilib.smartdashboard.Mechanism2d;
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import org.wpilib.smartdashboard.MechanismLigament2d;
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import org.wpilib.smartdashboard.MechanismRoot2d;
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import org.wpilib.smartdashboard.SmartDashboard;
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import org.wpilib.system.RobotController;
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public class Elevator implements AutoCloseable {
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// This gearbox represents a gearbox containing 4 Vex 775pro motors.
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@@ -4,13 +4,13 @@
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package org.wpilib.examples.elevatorprofiledpid;
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import org.wpilib.driverstation.Joystick;
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import org.wpilib.hardware.motor.PWMSparkMax;
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import org.wpilib.hardware.rotation.Encoder;
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import org.wpilib.math.controller.ElevatorFeedforward;
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import org.wpilib.math.controller.ProfiledPIDController;
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import org.wpilib.math.trajectory.TrapezoidProfile;
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import org.wpilib.hardware.rotation.Encoder;
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import org.wpilib.driverstation.Joystick;
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import org.wpilib.opmode.TimedRobot;
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import org.wpilib.hardware.motor.PWMSparkMax;
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public class Robot extends TimedRobot {
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private static double kDt = 0.02;
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@@ -5,8 +5,8 @@
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package org.wpilib.examples.elevatorsimulation;
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import org.wpilib.driverstation.Joystick;
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import org.wpilib.opmode.TimedRobot;
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import org.wpilib.examples.elevatorsimulation.subsystems.Elevator;
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import org.wpilib.opmode.TimedRobot;
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/** This is a sample program to demonstrate the use of elevator simulation. */
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public class Robot extends TimedRobot {
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@@ -4,14 +4,13 @@
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package org.wpilib.examples.elevatorsimulation.subsystems;
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import org.wpilib.examples.elevatorsimulation.Constants;
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import org.wpilib.hardware.motor.PWMSparkMax;
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import org.wpilib.hardware.rotation.Encoder;
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import org.wpilib.math.controller.ElevatorFeedforward;
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import org.wpilib.math.controller.ProfiledPIDController;
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import org.wpilib.math.system.plant.DCMotor;
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import org.wpilib.math.trajectory.TrapezoidProfile;
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import org.wpilib.hardware.rotation.Encoder;
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import org.wpilib.system.RobotController;
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import org.wpilib.examples.elevatorsimulation.Constants;
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import org.wpilib.hardware.motor.PWMSparkMax;
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import org.wpilib.simulation.BatterySim;
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import org.wpilib.simulation.ElevatorSim;
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import org.wpilib.simulation.EncoderSim;
|
||||
@@ -21,6 +20,7 @@ import org.wpilib.smartdashboard.Mechanism2d;
|
||||
import org.wpilib.smartdashboard.MechanismLigament2d;
|
||||
import org.wpilib.smartdashboard.MechanismRoot2d;
|
||||
import org.wpilib.smartdashboard.SmartDashboard;
|
||||
import org.wpilib.system.RobotController;
|
||||
|
||||
public class Elevator implements AutoCloseable {
|
||||
// This gearbox represents a gearbox containing 4 Vex 775pro motors.
|
||||
|
||||
@@ -4,9 +4,9 @@
|
||||
|
||||
package org.wpilib.examples.elevatortrapezoidprofile;
|
||||
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.math.controller.SimpleMotorFeedforward;
|
||||
import org.wpilib.math.trajectory.TrapezoidProfile;
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
|
||||
public class Robot extends TimedRobot {
|
||||
|
||||
@@ -4,14 +4,14 @@
|
||||
|
||||
package org.wpilib.examples.eventloop;
|
||||
|
||||
import org.wpilib.math.controller.PIDController;
|
||||
import org.wpilib.math.controller.SimpleMotorFeedforward;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.event.BooleanEvent;
|
||||
import org.wpilib.event.EventLoop;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.math.controller.PIDController;
|
||||
import org.wpilib.math.controller.SimpleMotorFeedforward;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
|
||||
public class Robot extends TimedRobot {
|
||||
public static final double SHOT_VELOCITY = 200; // rpm
|
||||
|
||||
@@ -4,6 +4,9 @@
|
||||
|
||||
package org.wpilib.examples.flywheelbangbangcontroller;
|
||||
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.math.controller.BangBangController;
|
||||
import org.wpilib.math.controller.SimpleMotorFeedforward;
|
||||
import org.wpilib.math.numbers.N1;
|
||||
@@ -11,14 +14,11 @@ import org.wpilib.math.system.LinearSystem;
|
||||
import org.wpilib.math.system.plant.DCMotor;
|
||||
import org.wpilib.math.system.plant.LinearSystemId;
|
||||
import org.wpilib.math.util.Units;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.system.RobotController;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.simulation.EncoderSim;
|
||||
import org.wpilib.simulation.FlywheelSim;
|
||||
import org.wpilib.smartdashboard.SmartDashboard;
|
||||
import org.wpilib.system.RobotController;
|
||||
|
||||
/**
|
||||
* This is a sample program to demonstrate the use of a BangBangController with a flywheel to
|
||||
|
||||
@@ -4,12 +4,12 @@
|
||||
|
||||
package org.wpilib.examples.gettingstarted;
|
||||
|
||||
import org.wpilib.util.sendable.SendableRegistry;
|
||||
import org.wpilib.drive.DifferentialDrive;
|
||||
import org.wpilib.driverstation.XboxController;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.system.Timer;
|
||||
import org.wpilib.driverstation.XboxController;
|
||||
import org.wpilib.drive.DifferentialDrive;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.util.sendable.SendableRegistry;
|
||||
|
||||
/**
|
||||
* The methods in this class are called automatically corresponding to each mode, as described in
|
||||
|
||||
@@ -4,12 +4,12 @@
|
||||
|
||||
package org.wpilib.examples.gyro;
|
||||
|
||||
import org.wpilib.util.sendable.SendableRegistry;
|
||||
import org.wpilib.drive.DifferentialDrive;
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.hardware.imu.OnboardIMU;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.drive.DifferentialDrive;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.util.sendable.SendableRegistry;
|
||||
|
||||
/**
|
||||
* This is a sample program to demonstrate how to use a gyro sensor to make a robot drive straight.
|
||||
|
||||
@@ -4,12 +4,12 @@
|
||||
|
||||
package org.wpilib.examples.gyromecanum;
|
||||
|
||||
import org.wpilib.util.sendable.SendableRegistry;
|
||||
import org.wpilib.drive.MecanumDrive;
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.hardware.imu.OnboardIMU;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.drive.MecanumDrive;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.util.sendable.SendableRegistry;
|
||||
|
||||
/**
|
||||
* This is a sample program that uses mecanum drive with a gyro sensor to maintain rotation vectors
|
||||
|
||||
@@ -4,11 +4,11 @@
|
||||
|
||||
package org.wpilib.examples.hatchbotinlined;
|
||||
|
||||
import org.wpilib.system.DataLogManager;
|
||||
import org.wpilib.driverstation.DriverStation;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.CommandScheduler;
|
||||
import org.wpilib.driverstation.DriverStation;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.system.DataLogManager;
|
||||
|
||||
/**
|
||||
* The methods in this class are called automatically corresponding to each mode, as described in
|
||||
|
||||
@@ -4,6 +4,9 @@
|
||||
|
||||
package org.wpilib.examples.hatchbotinlined;
|
||||
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.Commands;
|
||||
import org.wpilib.command2.button.CommandPS4Controller;
|
||||
import org.wpilib.driverstation.PS4Controller;
|
||||
import org.wpilib.examples.hatchbotinlined.Constants.OIConstants;
|
||||
import org.wpilib.examples.hatchbotinlined.commands.Autos;
|
||||
@@ -11,9 +14,6 @@ import org.wpilib.examples.hatchbotinlined.subsystems.DriveSubsystem;
|
||||
import org.wpilib.examples.hatchbotinlined.subsystems.HatchSubsystem;
|
||||
import org.wpilib.smartdashboard.SendableChooser;
|
||||
import org.wpilib.smartdashboard.SmartDashboard;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.Commands;
|
||||
import org.wpilib.command2.button.CommandPS4Controller;
|
||||
|
||||
/**
|
||||
* This class is where the bulk of the robot should be declared. Since Command-based is a
|
||||
|
||||
@@ -4,12 +4,12 @@
|
||||
|
||||
package org.wpilib.examples.hatchbotinlined.commands;
|
||||
|
||||
import org.wpilib.examples.hatchbotinlined.Constants.AutoConstants;
|
||||
import org.wpilib.examples.hatchbotinlined.subsystems.DriveSubsystem;
|
||||
import org.wpilib.examples.hatchbotinlined.subsystems.HatchSubsystem;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.Commands;
|
||||
import org.wpilib.command2.FunctionalCommand;
|
||||
import org.wpilib.examples.hatchbotinlined.Constants.AutoConstants;
|
||||
import org.wpilib.examples.hatchbotinlined.subsystems.DriveSubsystem;
|
||||
import org.wpilib.examples.hatchbotinlined.subsystems.HatchSubsystem;
|
||||
|
||||
/** Container for auto command factories. */
|
||||
public final class Autos {
|
||||
|
||||
@@ -4,13 +4,13 @@
|
||||
|
||||
package org.wpilib.examples.hatchbotinlined.subsystems;
|
||||
|
||||
import org.wpilib.util.sendable.SendableBuilder;
|
||||
import org.wpilib.util.sendable.SendableRegistry;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.command2.SubsystemBase;
|
||||
import org.wpilib.drive.DifferentialDrive;
|
||||
import org.wpilib.examples.hatchbotinlined.Constants.DriveConstants;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.command2.SubsystemBase;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.util.sendable.SendableBuilder;
|
||||
import org.wpilib.util.sendable.SendableRegistry;
|
||||
|
||||
public class DriveSubsystem extends SubsystemBase {
|
||||
// The motors on the left side of the drive.
|
||||
|
||||
@@ -7,12 +7,12 @@ package org.wpilib.examples.hatchbotinlined.subsystems;
|
||||
import static org.wpilib.hardware.pneumatic.DoubleSolenoid.Value.kForward;
|
||||
import static org.wpilib.hardware.pneumatic.DoubleSolenoid.Value.kReverse;
|
||||
|
||||
import org.wpilib.util.sendable.SendableBuilder;
|
||||
import org.wpilib.hardware.pneumatic.DoubleSolenoid;
|
||||
import org.wpilib.hardware.pneumatic.PneumaticsModuleType;
|
||||
import org.wpilib.examples.hatchbotinlined.Constants.HatchConstants;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.SubsystemBase;
|
||||
import org.wpilib.examples.hatchbotinlined.Constants.HatchConstants;
|
||||
import org.wpilib.hardware.pneumatic.DoubleSolenoid;
|
||||
import org.wpilib.hardware.pneumatic.PneumaticsModuleType;
|
||||
import org.wpilib.util.sendable.SendableBuilder;
|
||||
|
||||
/** A hatch mechanism actuated by a single {@link org.wpilib.hardware.pneumatic.DoubleSolenoid}. */
|
||||
public class HatchSubsystem extends SubsystemBase {
|
||||
|
||||
@@ -4,11 +4,11 @@
|
||||
|
||||
package org.wpilib.examples.hatchbottraditional;
|
||||
|
||||
import org.wpilib.system.DataLogManager;
|
||||
import org.wpilib.driverstation.DriverStation;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.CommandScheduler;
|
||||
import org.wpilib.driverstation.DriverStation;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.system.DataLogManager;
|
||||
|
||||
/**
|
||||
* The methods in this class are called automatically corresponding to each mode, as described in
|
||||
|
||||
@@ -6,6 +6,8 @@ package org.wpilib.examples.hatchbottraditional;
|
||||
|
||||
import static org.wpilib.driverstation.XboxController.Button;
|
||||
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.button.JoystickButton;
|
||||
import org.wpilib.driverstation.XboxController;
|
||||
import org.wpilib.examples.hatchbottraditional.Constants.AutoConstants;
|
||||
import org.wpilib.examples.hatchbottraditional.Constants.OIConstants;
|
||||
@@ -19,8 +21,6 @@ import org.wpilib.examples.hatchbottraditional.subsystems.DriveSubsystem;
|
||||
import org.wpilib.examples.hatchbottraditional.subsystems.HatchSubsystem;
|
||||
import org.wpilib.smartdashboard.SendableChooser;
|
||||
import org.wpilib.smartdashboard.SmartDashboard;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.button.JoystickButton;
|
||||
|
||||
/**
|
||||
* This class is where the bulk of the robot should be declared. Since Command-based is a
|
||||
|
||||
@@ -4,10 +4,10 @@
|
||||
|
||||
package org.wpilib.examples.hatchbottraditional.commands;
|
||||
|
||||
import org.wpilib.command2.SequentialCommandGroup;
|
||||
import org.wpilib.examples.hatchbottraditional.Constants.AutoConstants;
|
||||
import org.wpilib.examples.hatchbottraditional.subsystems.DriveSubsystem;
|
||||
import org.wpilib.examples.hatchbottraditional.subsystems.HatchSubsystem;
|
||||
import org.wpilib.command2.SequentialCommandGroup;
|
||||
|
||||
/** A complex auto command that drives forward, releases a hatch, and then drives backward. */
|
||||
public class ComplexAuto extends SequentialCommandGroup {
|
||||
|
||||
@@ -4,9 +4,9 @@
|
||||
|
||||
package org.wpilib.examples.hatchbottraditional.commands;
|
||||
|
||||
import org.wpilib.examples.hatchbottraditional.subsystems.DriveSubsystem;
|
||||
import org.wpilib.command2.Command;
|
||||
import java.util.function.DoubleSupplier;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.examples.hatchbottraditional.subsystems.DriveSubsystem;
|
||||
|
||||
/**
|
||||
* A command to drive the robot with joystick input (passed in as {@link DoubleSupplier}s). Written
|
||||
|
||||
@@ -4,8 +4,8 @@
|
||||
|
||||
package org.wpilib.examples.hatchbottraditional.commands;
|
||||
|
||||
import org.wpilib.examples.hatchbottraditional.subsystems.DriveSubsystem;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.examples.hatchbottraditional.subsystems.DriveSubsystem;
|
||||
|
||||
public class DriveDistance extends Command {
|
||||
private final DriveSubsystem m_drive;
|
||||
|
||||
@@ -4,8 +4,8 @@
|
||||
|
||||
package org.wpilib.examples.hatchbottraditional.commands;
|
||||
|
||||
import org.wpilib.examples.hatchbottraditional.subsystems.HatchSubsystem;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.examples.hatchbottraditional.subsystems.HatchSubsystem;
|
||||
|
||||
/**
|
||||
* A simple command that grabs a hatch with the {@link HatchSubsystem}. Written explicitly for
|
||||
|
||||
@@ -4,8 +4,8 @@
|
||||
|
||||
package org.wpilib.examples.hatchbottraditional.commands;
|
||||
|
||||
import org.wpilib.examples.hatchbottraditional.subsystems.DriveSubsystem;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.examples.hatchbottraditional.subsystems.DriveSubsystem;
|
||||
|
||||
public class HalveDriveSpeed extends Command {
|
||||
private final DriveSubsystem m_drive;
|
||||
|
||||
@@ -4,8 +4,8 @@
|
||||
|
||||
package org.wpilib.examples.hatchbottraditional.commands;
|
||||
|
||||
import org.wpilib.examples.hatchbottraditional.subsystems.HatchSubsystem;
|
||||
import org.wpilib.command2.InstantCommand;
|
||||
import org.wpilib.examples.hatchbottraditional.subsystems.HatchSubsystem;
|
||||
|
||||
/** A command that releases the hatch. */
|
||||
public class ReleaseHatch extends InstantCommand {
|
||||
|
||||
@@ -4,13 +4,13 @@
|
||||
|
||||
package org.wpilib.examples.hatchbottraditional.subsystems;
|
||||
|
||||
import org.wpilib.util.sendable.SendableBuilder;
|
||||
import org.wpilib.util.sendable.SendableRegistry;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.command2.SubsystemBase;
|
||||
import org.wpilib.drive.DifferentialDrive;
|
||||
import org.wpilib.examples.hatchbottraditional.Constants.DriveConstants;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.command2.SubsystemBase;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.util.sendable.SendableBuilder;
|
||||
import org.wpilib.util.sendable.SendableRegistry;
|
||||
|
||||
public class DriveSubsystem extends SubsystemBase {
|
||||
// The motors on the left side of the drive.
|
||||
|
||||
@@ -7,11 +7,11 @@ package org.wpilib.examples.hatchbottraditional.subsystems;
|
||||
import static org.wpilib.hardware.pneumatic.DoubleSolenoid.Value.kForward;
|
||||
import static org.wpilib.hardware.pneumatic.DoubleSolenoid.Value.kReverse;
|
||||
|
||||
import org.wpilib.util.sendable.SendableBuilder;
|
||||
import org.wpilib.command2.SubsystemBase;
|
||||
import org.wpilib.examples.hatchbottraditional.Constants.HatchConstants;
|
||||
import org.wpilib.hardware.pneumatic.DoubleSolenoid;
|
||||
import org.wpilib.hardware.pneumatic.PneumaticsModuleType;
|
||||
import org.wpilib.examples.hatchbottraditional.Constants.HatchConstants;
|
||||
import org.wpilib.command2.SubsystemBase;
|
||||
import org.wpilib.util.sendable.SendableBuilder;
|
||||
|
||||
/** A hatch mechanism actuated by a single {@link DoubleSolenoid}. */
|
||||
public class HatchSubsystem extends SubsystemBase {
|
||||
|
||||
@@ -5,8 +5,8 @@
|
||||
package org.wpilib.examples.hidrumble;
|
||||
|
||||
import org.wpilib.driverstation.GenericHID.RumbleType;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.driverstation.XboxController;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
|
||||
/** This is a demo program showing the use of GenericHID's rumble feature. */
|
||||
public class Robot extends TimedRobot {
|
||||
|
||||
@@ -4,15 +4,15 @@
|
||||
|
||||
package org.wpilib.examples.httpcamera;
|
||||
|
||||
import org.wpilib.vision.stream.CameraServer;
|
||||
import org.wpilib.vision.camera.CvSink;
|
||||
import org.wpilib.vision.camera.CvSource;
|
||||
import org.wpilib.vision.camera.HttpCamera;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.opencv.core.Mat;
|
||||
import org.opencv.core.Point;
|
||||
import org.opencv.core.Scalar;
|
||||
import org.opencv.imgproc.Imgproc;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.vision.camera.CvSink;
|
||||
import org.wpilib.vision.camera.CvSource;
|
||||
import org.wpilib.vision.camera.HttpCamera;
|
||||
import org.wpilib.vision.stream.CameraServer;
|
||||
|
||||
/**
|
||||
* This is a demo program showing the use of OpenCV to do vision processing. The image is acquired
|
||||
|
||||
@@ -4,11 +4,11 @@
|
||||
|
||||
package org.wpilib.examples.i2ccommunication;
|
||||
|
||||
import java.util.Optional;
|
||||
import org.wpilib.driverstation.DriverStation;
|
||||
import org.wpilib.hardware.bus.I2C;
|
||||
import org.wpilib.hardware.bus.I2C.Port;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import java.util.Optional;
|
||||
|
||||
/**
|
||||
* This is a sample program demonstrating how to communicate to a light controller from the robot
|
||||
|
||||
@@ -4,15 +4,15 @@
|
||||
|
||||
package org.wpilib.examples.intermediatevision;
|
||||
|
||||
import org.wpilib.vision.stream.CameraServer;
|
||||
import org.wpilib.vision.camera.CvSink;
|
||||
import org.wpilib.vision.camera.CvSource;
|
||||
import org.wpilib.vision.camera.UsbCamera;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.opencv.core.Mat;
|
||||
import org.opencv.core.Point;
|
||||
import org.opencv.core.Scalar;
|
||||
import org.opencv.imgproc.Imgproc;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.vision.camera.CvSink;
|
||||
import org.wpilib.vision.camera.CvSource;
|
||||
import org.wpilib.vision.camera.UsbCamera;
|
||||
import org.wpilib.vision.stream.CameraServer;
|
||||
|
||||
/**
|
||||
* This is a demo program showing the use of OpenCV to do vision processing. The image is acquired
|
||||
|
||||
@@ -4,6 +4,9 @@
|
||||
|
||||
package org.wpilib.examples.mecanumbot;
|
||||
|
||||
import org.wpilib.hardware.imu.OnboardIMU;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.math.controller.PIDController;
|
||||
import org.wpilib.math.controller.SimpleMotorFeedforward;
|
||||
import org.wpilib.math.geometry.Translation2d;
|
||||
@@ -12,9 +15,6 @@ import org.wpilib.math.kinematics.MecanumDriveKinematics;
|
||||
import org.wpilib.math.kinematics.MecanumDriveOdometry;
|
||||
import org.wpilib.math.kinematics.MecanumDriveWheelPositions;
|
||||
import org.wpilib.math.kinematics.MecanumDriveWheelSpeeds;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.hardware.imu.OnboardIMU;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
|
||||
/** Represents a mecanum drive style drivetrain. */
|
||||
public class Drivetrain {
|
||||
|
||||
@@ -4,9 +4,9 @@
|
||||
|
||||
package org.wpilib.examples.mecanumbot;
|
||||
|
||||
import org.wpilib.driverstation.XboxController;
|
||||
import org.wpilib.math.filter.SlewRateLimiter;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.driverstation.XboxController;
|
||||
|
||||
public class Robot extends TimedRobot {
|
||||
private final XboxController m_controller = new XboxController(0);
|
||||
|
||||
@@ -4,11 +4,11 @@
|
||||
|
||||
package org.wpilib.examples.mecanumdrive;
|
||||
|
||||
import org.wpilib.util.sendable.SendableRegistry;
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.drive.MecanumDrive;
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.util.sendable.SendableRegistry;
|
||||
|
||||
/** This is a demo program showing how to use Mecanum control with the MecanumDrive class. */
|
||||
public class Robot extends TimedRobot {
|
||||
|
||||
@@ -4,7 +4,9 @@
|
||||
|
||||
package org.wpilib.examples.mecanumdriveposeestimator;
|
||||
|
||||
import org.wpilib.math.linalg.VecBuilder;
|
||||
import org.wpilib.hardware.imu.OnboardIMU;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.math.controller.PIDController;
|
||||
import org.wpilib.math.controller.SimpleMotorFeedforward;
|
||||
import org.wpilib.math.estimator.MecanumDrivePoseEstimator;
|
||||
@@ -14,11 +16,9 @@ import org.wpilib.math.kinematics.ChassisSpeeds;
|
||||
import org.wpilib.math.kinematics.MecanumDriveKinematics;
|
||||
import org.wpilib.math.kinematics.MecanumDriveWheelPositions;
|
||||
import org.wpilib.math.kinematics.MecanumDriveWheelSpeeds;
|
||||
import org.wpilib.math.linalg.VecBuilder;
|
||||
import org.wpilib.math.util.Units;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.hardware.imu.OnboardIMU;
|
||||
import org.wpilib.system.Timer;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
|
||||
/** Represents a mecanum drive style drivetrain. */
|
||||
public class Drivetrain {
|
||||
|
||||
@@ -4,10 +4,10 @@
|
||||
|
||||
package org.wpilib.examples.mecanumdriveposeestimator;
|
||||
|
||||
import org.wpilib.math.util.StateSpaceUtil;
|
||||
import org.wpilib.math.linalg.VecBuilder;
|
||||
import org.wpilib.math.geometry.Pose2d;
|
||||
import org.wpilib.math.geometry.Rotation2d;
|
||||
import org.wpilib.math.linalg.VecBuilder;
|
||||
import org.wpilib.math.util.StateSpaceUtil;
|
||||
import org.wpilib.math.util.Units;
|
||||
|
||||
/** This dummy class represents a global measurement sensor, such as a computer vision solution. */
|
||||
|
||||
@@ -4,9 +4,9 @@
|
||||
|
||||
package org.wpilib.examples.mecanumdriveposeestimator;
|
||||
|
||||
import org.wpilib.driverstation.XboxController;
|
||||
import org.wpilib.math.filter.SlewRateLimiter;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.driverstation.XboxController;
|
||||
|
||||
public class Robot extends TimedRobot {
|
||||
private final XboxController m_controller = new XboxController(0);
|
||||
|
||||
@@ -4,11 +4,11 @@
|
||||
|
||||
package org.wpilib.examples.mechanism2d;
|
||||
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.hardware.rotation.AnalogPotentiometer;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.smartdashboard.Mechanism2d;
|
||||
import org.wpilib.smartdashboard.MechanismLigament2d;
|
||||
import org.wpilib.smartdashboard.MechanismRoot2d;
|
||||
|
||||
@@ -4,10 +4,10 @@
|
||||
|
||||
package org.wpilib.examples.motorcontrol;
|
||||
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.smartdashboard.SmartDashboard;
|
||||
|
||||
/**
|
||||
|
||||
@@ -4,11 +4,11 @@
|
||||
|
||||
package org.wpilib.examples.potentiometerpid;
|
||||
|
||||
import org.wpilib.math.controller.PIDController;
|
||||
import org.wpilib.hardware.rotation.AnalogPotentiometer;
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.hardware.rotation.AnalogPotentiometer;
|
||||
import org.wpilib.math.controller.PIDController;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
|
||||
/**
|
||||
* This is a sample program to demonstrate how to use a soft potentiometer and a PID controller to
|
||||
|
||||
@@ -4,8 +4,8 @@
|
||||
|
||||
package org.wpilib.examples.quickvision;
|
||||
|
||||
import org.wpilib.vision.stream.CameraServer;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.vision.stream.CameraServer;
|
||||
|
||||
/**
|
||||
* Uses the CameraServer class to automatically capture video from a USB webcam and send it to the
|
||||
|
||||
@@ -6,6 +6,9 @@ package org.wpilib.examples.rapidreactcommandbot;
|
||||
|
||||
import static org.wpilib.command2.Commands.parallel;
|
||||
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.button.CommandXboxController;
|
||||
import org.wpilib.command2.button.Trigger;
|
||||
import org.wpilib.epilogue.Logged;
|
||||
import org.wpilib.examples.rapidreactcommandbot.Constants.AutoConstants;
|
||||
import org.wpilib.examples.rapidreactcommandbot.Constants.OIConstants;
|
||||
@@ -15,9 +18,6 @@ import org.wpilib.examples.rapidreactcommandbot.subsystems.Intake;
|
||||
import org.wpilib.examples.rapidreactcommandbot.subsystems.Pneumatics;
|
||||
import org.wpilib.examples.rapidreactcommandbot.subsystems.Shooter;
|
||||
import org.wpilib.examples.rapidreactcommandbot.subsystems.Storage;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.button.CommandXboxController;
|
||||
import org.wpilib.command2.button.Trigger;
|
||||
|
||||
/**
|
||||
* This class is where the bulk of the robot should be declared. Since Command-based is a
|
||||
|
||||
@@ -4,12 +4,12 @@
|
||||
|
||||
package org.wpilib.examples.rapidreactcommandbot;
|
||||
|
||||
import org.wpilib.epilogue.Epilogue;
|
||||
import org.wpilib.epilogue.Logged;
|
||||
import org.wpilib.system.DataLogManager;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.CommandScheduler;
|
||||
import org.wpilib.epilogue.Epilogue;
|
||||
import org.wpilib.epilogue.Logged;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.system.DataLogManager;
|
||||
|
||||
/**
|
||||
* The methods in this class are called automatically corresponding to each mode, as described in
|
||||
|
||||
@@ -4,21 +4,21 @@
|
||||
|
||||
package org.wpilib.examples.rapidreactcommandbot.subsystems;
|
||||
|
||||
import java.util.function.DoubleSupplier;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.SubsystemBase;
|
||||
import org.wpilib.drive.DifferentialDrive;
|
||||
import org.wpilib.epilogue.Logged;
|
||||
import org.wpilib.epilogue.NotLogged;
|
||||
import org.wpilib.examples.rapidreactcommandbot.Constants.DriveConstants;
|
||||
import org.wpilib.hardware.imu.OnboardIMU;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.math.controller.ProfiledPIDController;
|
||||
import org.wpilib.math.controller.SimpleMotorFeedforward;
|
||||
import org.wpilib.math.trajectory.TrapezoidProfile;
|
||||
import org.wpilib.util.sendable.SendableRegistry;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.hardware.imu.OnboardIMU;
|
||||
import org.wpilib.system.RobotController;
|
||||
import org.wpilib.drive.DifferentialDrive;
|
||||
import org.wpilib.examples.rapidreactcommandbot.Constants.DriveConstants;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.SubsystemBase;
|
||||
import java.util.function.DoubleSupplier;
|
||||
import org.wpilib.util.sendable.SendableRegistry;
|
||||
|
||||
@Logged
|
||||
public class Drive extends SubsystemBase {
|
||||
|
||||
@@ -6,13 +6,13 @@ package org.wpilib.examples.rapidreactcommandbot.subsystems;
|
||||
|
||||
import static org.wpilib.examples.rapidreactcommandbot.Constants.IntakeConstants;
|
||||
|
||||
import org.wpilib.epilogue.Logged;
|
||||
import org.wpilib.hardware.pneumatic.DoubleSolenoid;
|
||||
import org.wpilib.hardware.pneumatic.PneumaticsModuleType;
|
||||
import org.wpilib.examples.rapidreactcommandbot.Constants.IntakeConstants;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.SubsystemBase;
|
||||
import org.wpilib.epilogue.Logged;
|
||||
import org.wpilib.examples.rapidreactcommandbot.Constants.IntakeConstants;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.hardware.pneumatic.DoubleSolenoid;
|
||||
import org.wpilib.hardware.pneumatic.PneumaticsModuleType;
|
||||
|
||||
@Logged
|
||||
public class Intake extends SubsystemBase {
|
||||
|
||||
@@ -4,12 +4,12 @@
|
||||
|
||||
package org.wpilib.examples.rapidreactcommandbot.subsystems;
|
||||
|
||||
import org.wpilib.epilogue.Logged;
|
||||
import org.wpilib.hardware.rotation.AnalogPotentiometer;
|
||||
import org.wpilib.hardware.pneumatic.Compressor;
|
||||
import org.wpilib.hardware.pneumatic.PneumaticsModuleType;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.SubsystemBase;
|
||||
import org.wpilib.epilogue.Logged;
|
||||
import org.wpilib.hardware.pneumatic.Compressor;
|
||||
import org.wpilib.hardware.pneumatic.PneumaticsModuleType;
|
||||
import org.wpilib.hardware.rotation.AnalogPotentiometer;
|
||||
|
||||
/** Subsystem for managing the compressor, pressure sensor, etc. */
|
||||
@Logged
|
||||
|
||||
@@ -7,14 +7,14 @@ package org.wpilib.examples.rapidreactcommandbot.subsystems;
|
||||
import static org.wpilib.command2.Commands.parallel;
|
||||
import static org.wpilib.command2.Commands.waitUntil;
|
||||
|
||||
import org.wpilib.epilogue.Logged;
|
||||
import org.wpilib.math.controller.PIDController;
|
||||
import org.wpilib.math.controller.SimpleMotorFeedforward;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.examples.rapidreactcommandbot.Constants.ShooterConstants;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.SubsystemBase;
|
||||
import org.wpilib.epilogue.Logged;
|
||||
import org.wpilib.examples.rapidreactcommandbot.Constants.ShooterConstants;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.math.controller.PIDController;
|
||||
import org.wpilib.math.controller.SimpleMotorFeedforward;
|
||||
|
||||
@Logged
|
||||
public class Shooter extends SubsystemBase {
|
||||
|
||||
@@ -4,14 +4,14 @@
|
||||
|
||||
package org.wpilib.examples.rapidreactcommandbot.subsystems;
|
||||
|
||||
import org.wpilib.epilogue.Logged;
|
||||
import org.wpilib.epilogue.NotLogged;
|
||||
import org.wpilib.hardware.discrete.DigitalInput;
|
||||
import org.wpilib.examples.rapidreactcommandbot.Constants.StorageConstants;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.SubsystemBase;
|
||||
import org.wpilib.command2.button.Trigger;
|
||||
import org.wpilib.epilogue.Logged;
|
||||
import org.wpilib.epilogue.NotLogged;
|
||||
import org.wpilib.examples.rapidreactcommandbot.Constants.StorageConstants;
|
||||
import org.wpilib.hardware.discrete.DigitalInput;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
|
||||
@Logged
|
||||
public class Storage extends SubsystemBase {
|
||||
|
||||
@@ -4,9 +4,9 @@
|
||||
|
||||
package org.wpilib.examples.romireference;
|
||||
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.CommandScheduler;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
|
||||
/**
|
||||
* The methods in this class are called automatically corresponding to each mode, as described in
|
||||
|
||||
@@ -4,6 +4,9 @@
|
||||
|
||||
package org.wpilib.examples.romireference;
|
||||
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.PrintCommand;
|
||||
import org.wpilib.command2.button.Trigger;
|
||||
import org.wpilib.driverstation.GenericHID;
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.driverstation.XboxController;
|
||||
@@ -15,9 +18,6 @@ import org.wpilib.romi.OnBoardIO;
|
||||
import org.wpilib.romi.OnBoardIO.ChannelMode;
|
||||
import org.wpilib.smartdashboard.SendableChooser;
|
||||
import org.wpilib.smartdashboard.SmartDashboard;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.PrintCommand;
|
||||
import org.wpilib.command2.button.Trigger;
|
||||
|
||||
/**
|
||||
* This class is where the bulk of the robot should be declared. Since Command-based is a
|
||||
|
||||
@@ -4,9 +4,9 @@
|
||||
|
||||
package org.wpilib.examples.romireference.commands;
|
||||
|
||||
import org.wpilib.examples.romireference.subsystems.Drivetrain;
|
||||
import org.wpilib.command2.Command;
|
||||
import java.util.function.Supplier;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.examples.romireference.subsystems.Drivetrain;
|
||||
|
||||
public class ArcadeDrive extends Command {
|
||||
private final Drivetrain m_drivetrain;
|
||||
|
||||
@@ -4,8 +4,8 @@
|
||||
|
||||
package org.wpilib.examples.romireference.commands;
|
||||
|
||||
import org.wpilib.examples.romireference.subsystems.Drivetrain;
|
||||
import org.wpilib.command2.SequentialCommandGroup;
|
||||
import org.wpilib.examples.romireference.subsystems.Drivetrain;
|
||||
|
||||
public class AutonomousDistance extends SequentialCommandGroup {
|
||||
/**
|
||||
|
||||
@@ -4,8 +4,8 @@
|
||||
|
||||
package org.wpilib.examples.romireference.commands;
|
||||
|
||||
import org.wpilib.examples.romireference.subsystems.Drivetrain;
|
||||
import org.wpilib.command2.SequentialCommandGroup;
|
||||
import org.wpilib.examples.romireference.subsystems.Drivetrain;
|
||||
|
||||
public class AutonomousTime extends SequentialCommandGroup {
|
||||
/**
|
||||
|
||||
@@ -4,8 +4,8 @@
|
||||
|
||||
package org.wpilib.examples.romireference.commands;
|
||||
|
||||
import org.wpilib.examples.romireference.subsystems.Drivetrain;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.examples.romireference.subsystems.Drivetrain;
|
||||
|
||||
public class DriveDistance extends Command {
|
||||
private final Drivetrain m_drive;
|
||||
|
||||
@@ -4,8 +4,8 @@
|
||||
|
||||
package org.wpilib.examples.romireference.commands;
|
||||
|
||||
import org.wpilib.examples.romireference.subsystems.Drivetrain;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.examples.romireference.subsystems.Drivetrain;
|
||||
|
||||
public class DriveTime extends Command {
|
||||
private final double m_duration;
|
||||
|
||||
@@ -4,8 +4,8 @@
|
||||
|
||||
package org.wpilib.examples.romireference.commands;
|
||||
|
||||
import org.wpilib.examples.romireference.subsystems.Drivetrain;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.examples.romireference.subsystems.Drivetrain;
|
||||
|
||||
public class TurnDegrees extends Command {
|
||||
private final Drivetrain m_drive;
|
||||
|
||||
@@ -4,8 +4,8 @@
|
||||
|
||||
package org.wpilib.examples.romireference.commands;
|
||||
|
||||
import org.wpilib.examples.romireference.subsystems.Drivetrain;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.examples.romireference.subsystems.Drivetrain;
|
||||
|
||||
/*
|
||||
* Creates a new TurnTime command. This command will turn your robot for a
|
||||
|
||||
@@ -4,12 +4,12 @@
|
||||
|
||||
package org.wpilib.examples.romireference.subsystems;
|
||||
|
||||
import org.wpilib.util.sendable.SendableRegistry;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.command2.SubsystemBase;
|
||||
import org.wpilib.drive.DifferentialDrive;
|
||||
import org.wpilib.hardware.motor.Spark;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.romi.RomiGyro;
|
||||
import org.wpilib.command2.SubsystemBase;
|
||||
import org.wpilib.util.sendable.SendableRegistry;
|
||||
|
||||
public class Drivetrain extends SubsystemBase {
|
||||
private static final double kCountsPerRevolution = 1440.0;
|
||||
|
||||
@@ -4,9 +4,9 @@
|
||||
|
||||
package org.wpilib.examples.selectcommand;
|
||||
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.CommandScheduler;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
|
||||
/**
|
||||
* The methods in this class are called automatically corresponding to each mode, as described in
|
||||
|
||||
@@ -4,12 +4,12 @@
|
||||
|
||||
package org.wpilib.examples.selectcommand;
|
||||
|
||||
import org.wpilib.driverstation.GenericHID;
|
||||
import org.wpilib.driverstation.XboxController;
|
||||
import java.util.Map;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.PrintCommand;
|
||||
import org.wpilib.command2.SelectCommand;
|
||||
import java.util.Map;
|
||||
import org.wpilib.driverstation.GenericHID;
|
||||
import org.wpilib.driverstation.XboxController;
|
||||
|
||||
/**
|
||||
* This class is where the bulk of the robot should be declared. Since Command-based is a
|
||||
|
||||
@@ -4,6 +4,9 @@
|
||||
|
||||
package org.wpilib.examples.simpledifferentialdrivesimulation;
|
||||
|
||||
import org.wpilib.hardware.imu.OnboardIMU;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.math.controller.PIDController;
|
||||
import org.wpilib.math.controller.SimpleMotorFeedforward;
|
||||
import org.wpilib.math.geometry.Pose2d;
|
||||
@@ -15,14 +18,11 @@ import org.wpilib.math.numbers.N2;
|
||||
import org.wpilib.math.system.LinearSystem;
|
||||
import org.wpilib.math.system.plant.DCMotor;
|
||||
import org.wpilib.math.system.plant.LinearSystemId;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.hardware.imu.OnboardIMU;
|
||||
import org.wpilib.system.RobotController;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.simulation.DifferentialDrivetrainSim;
|
||||
import org.wpilib.simulation.EncoderSim;
|
||||
import org.wpilib.smartdashboard.Field2d;
|
||||
import org.wpilib.smartdashboard.SmartDashboard;
|
||||
import org.wpilib.system.RobotController;
|
||||
|
||||
public class Drivetrain {
|
||||
// 3 meters per second.
|
||||
|
||||
@@ -4,6 +4,8 @@
|
||||
|
||||
package org.wpilib.examples.simpledifferentialdrivesimulation;
|
||||
|
||||
import java.util.List;
|
||||
import org.wpilib.driverstation.XboxController;
|
||||
import org.wpilib.math.controller.LTVUnicycleController;
|
||||
import org.wpilib.math.filter.SlewRateLimiter;
|
||||
import org.wpilib.math.geometry.Pose2d;
|
||||
@@ -14,8 +16,6 @@ import org.wpilib.math.trajectory.TrajectoryConfig;
|
||||
import org.wpilib.math.trajectory.TrajectoryGenerator;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.system.Timer;
|
||||
import org.wpilib.driverstation.XboxController;
|
||||
import java.util.List;
|
||||
|
||||
public class Robot extends TimedRobot {
|
||||
private final XboxController m_controller = new XboxController(0);
|
||||
|
||||
@@ -4,9 +4,9 @@
|
||||
|
||||
package org.wpilib.examples.solenoid;
|
||||
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.hardware.pneumatic.Compressor;
|
||||
import org.wpilib.hardware.pneumatic.DoubleSolenoid;
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.hardware.pneumatic.PneumaticsModuleType;
|
||||
import org.wpilib.hardware.pneumatic.Solenoid;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
|
||||
@@ -4,10 +4,12 @@
|
||||
|
||||
package org.wpilib.examples.statespacearm;
|
||||
|
||||
import org.wpilib.math.util.Nat;
|
||||
import org.wpilib.math.linalg.VecBuilder;
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.math.controller.LinearQuadraticRegulator;
|
||||
import org.wpilib.math.estimator.KalmanFilter;
|
||||
import org.wpilib.math.linalg.VecBuilder;
|
||||
import org.wpilib.math.numbers.N1;
|
||||
import org.wpilib.math.numbers.N2;
|
||||
import org.wpilib.math.system.LinearSystem;
|
||||
@@ -15,11 +17,9 @@ import org.wpilib.math.system.LinearSystemLoop;
|
||||
import org.wpilib.math.system.plant.DCMotor;
|
||||
import org.wpilib.math.system.plant.LinearSystemId;
|
||||
import org.wpilib.math.trajectory.TrapezoidProfile;
|
||||
import org.wpilib.math.util.Nat;
|
||||
import org.wpilib.math.util.Units;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
|
||||
/**
|
||||
* This is a sample program to demonstrate how to use a state-space controller to control an arm.
|
||||
|
||||
@@ -4,10 +4,12 @@
|
||||
|
||||
package org.wpilib.examples.statespaceelevator;
|
||||
|
||||
import org.wpilib.math.util.Nat;
|
||||
import org.wpilib.math.linalg.VecBuilder;
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.math.controller.LinearQuadraticRegulator;
|
||||
import org.wpilib.math.estimator.KalmanFilter;
|
||||
import org.wpilib.math.linalg.VecBuilder;
|
||||
import org.wpilib.math.numbers.N1;
|
||||
import org.wpilib.math.numbers.N2;
|
||||
import org.wpilib.math.system.LinearSystem;
|
||||
@@ -15,11 +17,9 @@ import org.wpilib.math.system.LinearSystemLoop;
|
||||
import org.wpilib.math.system.plant.DCMotor;
|
||||
import org.wpilib.math.system.plant.LinearSystemId;
|
||||
import org.wpilib.math.trajectory.TrapezoidProfile;
|
||||
import org.wpilib.math.util.Nat;
|
||||
import org.wpilib.math.util.Units;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
|
||||
/**
|
||||
* This is a sample program to demonstrate how to use a state-space controller to control an
|
||||
|
||||
@@ -4,20 +4,20 @@
|
||||
|
||||
package org.wpilib.examples.statespaceflywheel;
|
||||
|
||||
import org.wpilib.math.util.Nat;
|
||||
import org.wpilib.math.linalg.VecBuilder;
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.math.controller.LinearQuadraticRegulator;
|
||||
import org.wpilib.math.estimator.KalmanFilter;
|
||||
import org.wpilib.math.linalg.VecBuilder;
|
||||
import org.wpilib.math.numbers.N1;
|
||||
import org.wpilib.math.system.LinearSystem;
|
||||
import org.wpilib.math.system.LinearSystemLoop;
|
||||
import org.wpilib.math.system.plant.DCMotor;
|
||||
import org.wpilib.math.system.plant.LinearSystemId;
|
||||
import org.wpilib.math.util.Nat;
|
||||
import org.wpilib.math.util.Units;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
|
||||
/**
|
||||
* This is a sample program to demonstrate how to use a state-space controller to control a
|
||||
|
||||
@@ -4,19 +4,19 @@
|
||||
|
||||
package org.wpilib.examples.statespaceflywheelsysid;
|
||||
|
||||
import org.wpilib.math.util.Nat;
|
||||
import org.wpilib.math.linalg.VecBuilder;
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.math.controller.LinearQuadraticRegulator;
|
||||
import org.wpilib.math.estimator.KalmanFilter;
|
||||
import org.wpilib.math.linalg.VecBuilder;
|
||||
import org.wpilib.math.numbers.N1;
|
||||
import org.wpilib.math.system.LinearSystem;
|
||||
import org.wpilib.math.system.LinearSystemLoop;
|
||||
import org.wpilib.math.system.plant.LinearSystemId;
|
||||
import org.wpilib.math.util.Nat;
|
||||
import org.wpilib.math.util.Units;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
|
||||
/**
|
||||
* This is a sample program to demonstrate how to use a state-space controller to control a
|
||||
|
||||
@@ -4,12 +4,12 @@
|
||||
|
||||
package org.wpilib.examples.swervebot;
|
||||
|
||||
import org.wpilib.hardware.imu.OnboardIMU;
|
||||
import org.wpilib.math.geometry.Translation2d;
|
||||
import org.wpilib.math.kinematics.ChassisSpeeds;
|
||||
import org.wpilib.math.kinematics.SwerveDriveKinematics;
|
||||
import org.wpilib.math.kinematics.SwerveDriveOdometry;
|
||||
import org.wpilib.math.kinematics.SwerveModulePosition;
|
||||
import org.wpilib.hardware.imu.OnboardIMU;
|
||||
|
||||
/** Represents a swerve drive style drivetrain. */
|
||||
public class Drivetrain {
|
||||
|
||||
@@ -4,10 +4,10 @@
|
||||
|
||||
package org.wpilib.examples.swervebot;
|
||||
|
||||
import org.wpilib.math.util.MathUtil;
|
||||
import org.wpilib.math.filter.SlewRateLimiter;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.driverstation.XboxController;
|
||||
import org.wpilib.math.filter.SlewRateLimiter;
|
||||
import org.wpilib.math.util.MathUtil;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
|
||||
public class Robot extends TimedRobot {
|
||||
private final XboxController m_controller = new XboxController(0);
|
||||
|
||||
@@ -4,6 +4,8 @@
|
||||
|
||||
package org.wpilib.examples.swervebot;
|
||||
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.math.controller.PIDController;
|
||||
import org.wpilib.math.controller.ProfiledPIDController;
|
||||
import org.wpilib.math.controller.SimpleMotorFeedforward;
|
||||
@@ -11,8 +13,6 @@ import org.wpilib.math.geometry.Rotation2d;
|
||||
import org.wpilib.math.kinematics.SwerveModulePosition;
|
||||
import org.wpilib.math.kinematics.SwerveModuleState;
|
||||
import org.wpilib.math.trajectory.TrapezoidProfile;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
|
||||
public class SwerveModule {
|
||||
private static final double kWheelRadius = 0.0508;
|
||||
|
||||
@@ -4,15 +4,15 @@
|
||||
|
||||
package org.wpilib.examples.swervedriveposeestimator;
|
||||
|
||||
import org.wpilib.math.linalg.VecBuilder;
|
||||
import org.wpilib.hardware.imu.OnboardIMU;
|
||||
import org.wpilib.math.estimator.SwerveDrivePoseEstimator;
|
||||
import org.wpilib.math.geometry.Pose2d;
|
||||
import org.wpilib.math.geometry.Translation2d;
|
||||
import org.wpilib.math.kinematics.ChassisSpeeds;
|
||||
import org.wpilib.math.kinematics.SwerveDriveKinematics;
|
||||
import org.wpilib.math.kinematics.SwerveModulePosition;
|
||||
import org.wpilib.math.linalg.VecBuilder;
|
||||
import org.wpilib.math.util.Units;
|
||||
import org.wpilib.hardware.imu.OnboardIMU;
|
||||
import org.wpilib.system.Timer;
|
||||
|
||||
/** Represents a swerve drive style drivetrain. */
|
||||
|
||||
@@ -4,10 +4,10 @@
|
||||
|
||||
package org.wpilib.examples.swervedriveposeestimator;
|
||||
|
||||
import org.wpilib.math.util.StateSpaceUtil;
|
||||
import org.wpilib.math.linalg.VecBuilder;
|
||||
import org.wpilib.math.geometry.Pose2d;
|
||||
import org.wpilib.math.geometry.Rotation2d;
|
||||
import org.wpilib.math.linalg.VecBuilder;
|
||||
import org.wpilib.math.util.StateSpaceUtil;
|
||||
import org.wpilib.math.util.Units;
|
||||
|
||||
/** This dummy class represents a global measurement sensor, such as a computer vision solution. */
|
||||
|
||||
@@ -4,9 +4,9 @@
|
||||
|
||||
package org.wpilib.examples.swervedriveposeestimator;
|
||||
|
||||
import org.wpilib.driverstation.XboxController;
|
||||
import org.wpilib.math.filter.SlewRateLimiter;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.driverstation.XboxController;
|
||||
|
||||
public class Robot extends TimedRobot {
|
||||
private final XboxController m_controller = new XboxController(0);
|
||||
|
||||
@@ -4,6 +4,8 @@
|
||||
|
||||
package org.wpilib.examples.swervedriveposeestimator;
|
||||
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.math.controller.PIDController;
|
||||
import org.wpilib.math.controller.ProfiledPIDController;
|
||||
import org.wpilib.math.controller.SimpleMotorFeedforward;
|
||||
@@ -11,8 +13,6 @@ import org.wpilib.math.geometry.Rotation2d;
|
||||
import org.wpilib.math.kinematics.SwerveModulePosition;
|
||||
import org.wpilib.math.kinematics.SwerveModuleState;
|
||||
import org.wpilib.math.trajectory.TrapezoidProfile;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
|
||||
public class SwerveModule {
|
||||
private static final double kWheelRadius = 0.0508;
|
||||
|
||||
@@ -4,9 +4,9 @@
|
||||
|
||||
package org.wpilib.examples.sysidroutine;
|
||||
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.CommandScheduler;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
|
||||
/**
|
||||
* The methods in this class are called automatically corresponding to each mode, as described in
|
||||
|
||||
@@ -4,13 +4,13 @@
|
||||
|
||||
package org.wpilib.examples.sysidroutine;
|
||||
|
||||
import org.wpilib.examples.sysidroutine.Constants.OIConstants;
|
||||
import org.wpilib.examples.sysidroutine.subsystems.Drive;
|
||||
import org.wpilib.examples.sysidroutine.subsystems.Shooter;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.button.CommandXboxController;
|
||||
import org.wpilib.command2.button.Trigger;
|
||||
import org.wpilib.command2.sysid.SysIdRoutine;
|
||||
import org.wpilib.examples.sysidroutine.Constants.OIConstants;
|
||||
import org.wpilib.examples.sysidroutine.subsystems.Drive;
|
||||
import org.wpilib.examples.sysidroutine.subsystems.Shooter;
|
||||
|
||||
/**
|
||||
* This class is where the bulk of the robot should be declared. Since Command-based is a
|
||||
|
||||
@@ -8,15 +8,15 @@ import static org.wpilib.units.Units.Meters;
|
||||
import static org.wpilib.units.Units.MetersPerSecond;
|
||||
import static org.wpilib.units.Units.Volts;
|
||||
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.system.RobotController;
|
||||
import org.wpilib.drive.DifferentialDrive;
|
||||
import org.wpilib.examples.sysidroutine.Constants.DriveConstants;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import java.util.function.DoubleSupplier;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.SubsystemBase;
|
||||
import org.wpilib.command2.sysid.SysIdRoutine;
|
||||
import java.util.function.DoubleSupplier;
|
||||
import org.wpilib.drive.DifferentialDrive;
|
||||
import org.wpilib.examples.sysidroutine.Constants.DriveConstants;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.system.RobotController;
|
||||
|
||||
public class Drive extends SubsystemBase {
|
||||
// The motors on the left side of the drive.
|
||||
|
||||
@@ -8,16 +8,16 @@ import static org.wpilib.units.Units.Rotations;
|
||||
import static org.wpilib.units.Units.RotationsPerSecond;
|
||||
import static org.wpilib.units.Units.Volts;
|
||||
|
||||
import org.wpilib.math.controller.PIDController;
|
||||
import org.wpilib.math.controller.SimpleMotorFeedforward;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.system.RobotController;
|
||||
import org.wpilib.examples.sysidroutine.Constants.ShooterConstants;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import java.util.function.DoubleSupplier;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.SubsystemBase;
|
||||
import org.wpilib.command2.sysid.SysIdRoutine;
|
||||
import java.util.function.DoubleSupplier;
|
||||
import org.wpilib.examples.sysidroutine.Constants.ShooterConstants;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.hardware.rotation.Encoder;
|
||||
import org.wpilib.math.controller.PIDController;
|
||||
import org.wpilib.math.controller.SimpleMotorFeedforward;
|
||||
import org.wpilib.system.RobotController;
|
||||
|
||||
public class Shooter extends SubsystemBase {
|
||||
// The motor on the shooter wheel .
|
||||
|
||||
@@ -4,11 +4,11 @@
|
||||
|
||||
package org.wpilib.examples.tankdrive;
|
||||
|
||||
import org.wpilib.util.sendable.SendableRegistry;
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.drive.DifferentialDrive;
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.util.sendable.SendableRegistry;
|
||||
|
||||
/**
|
||||
* This is a demo program showing the use of the DifferentialDrive class, specifically it contains
|
||||
|
||||
@@ -4,11 +4,11 @@
|
||||
|
||||
package org.wpilib.examples.tankdrivexboxcontroller;
|
||||
|
||||
import org.wpilib.util.sendable.SendableRegistry;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.driverstation.XboxController;
|
||||
import org.wpilib.drive.DifferentialDrive;
|
||||
import org.wpilib.driverstation.XboxController;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.util.sendable.SendableRegistry;
|
||||
|
||||
/**
|
||||
* This is a demo program showing the use of the DifferentialDrive class. Runs the motors with tank
|
||||
|
||||
@@ -5,9 +5,9 @@
|
||||
package org.wpilib.examples.unittest;
|
||||
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.examples.unittest.Constants.IntakeConstants;
|
||||
import org.wpilib.examples.unittest.subsystems.Intake;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
|
||||
/**
|
||||
* The methods in this class are called automatically corresponding to each mode, as described in
|
||||
|
||||
@@ -4,10 +4,10 @@
|
||||
|
||||
package org.wpilib.examples.unittest.subsystems;
|
||||
|
||||
import org.wpilib.hardware.pneumatic.DoubleSolenoid;
|
||||
import org.wpilib.hardware.pneumatic.PneumaticsModuleType;
|
||||
import org.wpilib.examples.unittest.Constants.IntakeConstants;
|
||||
import org.wpilib.hardware.motor.PWMSparkMax;
|
||||
import org.wpilib.hardware.pneumatic.DoubleSolenoid;
|
||||
import org.wpilib.hardware.pneumatic.PneumaticsModuleType;
|
||||
|
||||
public class Intake implements AutoCloseable {
|
||||
private final PWMSparkMax m_motor;
|
||||
|
||||
@@ -4,9 +4,9 @@
|
||||
|
||||
package org.wpilib.examples.xrpreference;
|
||||
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.CommandScheduler;
|
||||
import org.wpilib.opmode.TimedRobot;
|
||||
|
||||
/**
|
||||
* The methods in this class are called automatically corresponding to each mode, as described in
|
||||
|
||||
@@ -4,6 +4,11 @@
|
||||
|
||||
package org.wpilib.examples.xrpreference;
|
||||
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.InstantCommand;
|
||||
import org.wpilib.command2.PrintCommand;
|
||||
import org.wpilib.command2.button.JoystickButton;
|
||||
import org.wpilib.command2.button.Trigger;
|
||||
import org.wpilib.driverstation.GenericHID;
|
||||
import org.wpilib.driverstation.Joystick;
|
||||
import org.wpilib.driverstation.XboxController;
|
||||
@@ -15,11 +20,6 @@ import org.wpilib.examples.xrpreference.subsystems.Drivetrain;
|
||||
import org.wpilib.smartdashboard.SendableChooser;
|
||||
import org.wpilib.smartdashboard.SmartDashboard;
|
||||
import org.wpilib.xrp.XRPOnBoardIO;
|
||||
import org.wpilib.command2.Command;
|
||||
import org.wpilib.command2.InstantCommand;
|
||||
import org.wpilib.command2.PrintCommand;
|
||||
import org.wpilib.command2.button.JoystickButton;
|
||||
import org.wpilib.command2.button.Trigger;
|
||||
|
||||
/**
|
||||
* This class is where the bulk of the robot should be declared. Since Command-based is a
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user