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[wpimath] Move Java classes to edu.wpi.first.math (#3316)

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This commit is contained in:
Noam Zaks
2021-05-01 15:53:30 +00:00
committed by GitHub
parent 6b50323b07
commit c8ff626fe2
212 changed files with 918 additions and 921 deletions
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2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidcommand/ReplaceMeProfiledPIDCommand.java
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@@ -4,8 +4,8 @@
package edu.wpi.first.wpilibj.commands.profiledpidcommand;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.ProfiledPIDCommand;
// NOTE: Consider using this command inline, rather than writing a subclass. For more

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/profiledpidsubsystem/ReplaceMeProfiledPIDSubsystem.java
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@@ -4,8 +4,8 @@
package edu.wpi.first.wpilibj.commands.profiledpidsubsystem;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.ProfiledPIDSubsystem;
public class ReplaceMeProfiledPIDSubsystem extends ProfiledPIDSubsystem {

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trapezoidprofilecommand/ReplaceMeTrapezoidProfileCommand.java
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@@ -4,7 +4,7 @@
package edu.wpi.first.wpilibj.commands.trapezoidprofilecommand;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.TrapezoidProfileCommand;
// NOTE: Consider using this command inline, rather than writing a subclass. For more

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trapezoidprofilesubsystem/ReplaceMeTrapezoidProfileSubsystem.java
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@@ -4,7 +4,7 @@
package edu.wpi.first.wpilibj.commands.trapezoidprofilesubsystem;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.TrapezoidProfileSubsystem;
public class ReplaceMeTrapezoidProfileSubsystem extends TrapezoidProfileSubsystem {

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java
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@@ -4,12 +4,12 @@
package edu.wpi.first.wpilibj.examples.armbot.subsystems;
import edu.wpi.first.math.controller.ArmFeedforward;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.controller.ArmFeedforward;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.examples.armbot.Constants.ArmConstants;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.ProfiledPIDSubsystem;
/** A robot arm subsystem that moves with a motion profile. */

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/ArmSubsystem.java
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@@ -4,10 +4,10 @@
package edu.wpi.first.wpilibj.examples.armbotoffboard.subsystems;
import edu.wpi.first.wpilibj.controller.ArmFeedforward;
import edu.wpi.first.math.controller.ArmFeedforward;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.examples.armbotoffboard.Constants.ArmConstants;
import edu.wpi.first.wpilibj.examples.armbotoffboard.ExampleSmartMotorController;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.TrapezoidProfileSubsystem;
/** A robot arm subsystem that moves with a motion profile. */

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java
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@@ -4,6 +4,9 @@
package edu.wpi.first.wpilibj.examples.armsimulation;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotController;
@@ -14,9 +17,6 @@ import edu.wpi.first.wpilibj.simulation.BatterySim;
import edu.wpi.first.wpilibj.simulation.EncoderSim;
import edu.wpi.first.wpilibj.simulation.RoboRioSim;
import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.VecBuilder;
/** This is a sample program to demonstrate the use of elevator simulation with existing code. */
public class Robot extends TimedRobot {

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java
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@@ -4,14 +4,14 @@
package edu.wpi.first.wpilibj.examples.differentialdrivebot;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.math.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;

16
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
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@@ -4,22 +4,22 @@
package edu.wpi.first.wpilibj.examples.differentialdriveposeestimator;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.estimator.DifferentialDrivePoseEstimator;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.estimator.DifferentialDrivePoseEstimator;
import edu.wpi.first.wpilibj.examples.swervesdriveposeestimator.ExampleGlobalMeasurementSensor;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.VecBuilder;
/** Represents a differential drive style drivetrain. */
public class Drivetrain {

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java
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@@ -6,13 +6,13 @@ package edu.wpi.first.wpilibj.examples.drivedistanceoffboard;
import static edu.wpi.first.wpilibj.XboxController.Button;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.OIConstants;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.commands.DriveDistanceProfiled;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/commands/DriveDistanceProfiled.java
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@@ -4,9 +4,9 @@
package edu.wpi.first.wpilibj.examples.drivedistanceoffboard.commands;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.TrapezoidProfileCommand;
/** Drives a set distance using a motion profile. */

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java
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@@ -4,11 +4,11 @@
package edu.wpi.first.wpilibj.examples.drivedistanceoffboard.subsystems;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.ExampleSmartMotorController;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class DriveSubsystem extends SubsystemBase {

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java
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@@ -4,13 +4,13 @@
package edu.wpi.first.wpilibj.examples.elevatorprofiledpid;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
public class Robot extends TimedRobot {
private static double kDt = 0.02;

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java
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@@ -4,6 +4,9 @@
package edu.wpi.first.wpilibj.examples.elevatorsimulation;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotController;
@@ -14,9 +17,6 @@ import edu.wpi.first.wpilibj.simulation.BatterySim;
import edu.wpi.first.wpilibj.simulation.ElevatorSim;
import edu.wpi.first.wpilibj.simulation.EncoderSim;
import edu.wpi.first.wpilibj.simulation.RoboRioSim;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.VecBuilder;
/** This is a sample program to demonstrate the use of elevator simulation with existing code. */
public class Robot extends TimedRobot {

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java
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@@ -4,10 +4,10 @@
package edu.wpi.first.wpilibj.examples.elevatortrapezoidprofile;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
public class Robot extends TimedRobot {
private static double kDt = 0.02;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java
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@@ -4,9 +4,9 @@
package edu.wpi.first.wpilibj.examples.frisbeebot.subsystems;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.ShooterConstants;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.PIDSubsystem;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngleProfiled.java
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@@ -4,10 +4,10 @@
package edu.wpi.first.wpilibj.examples.gyrodrivecommands.commands;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.gyrodrivecommands.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj2.command.ProfiledPIDCommand;
/** A command that will turn the robot to the specified angle using a motion profile. */

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
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@@ -4,15 +4,15 @@
package edu.wpi.first.wpilibj.examples.mecanumbot;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.MecanumDriveKinematics;
import edu.wpi.first.math.kinematics.MecanumDriveOdometry;
import edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics;
import edu.wpi.first.wpilibj.kinematics.MecanumDriveOdometry;
import edu.wpi.first.wpilibj.kinematics.MecanumDriveWheelSpeeds;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;

8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Constants.java
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@@ -4,10 +4,10 @@
package edu.wpi.first.wpilibj.examples.mecanumcontrollercommand;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.MecanumDriveKinematics;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
/**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean

12
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java
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@@ -4,6 +4,12 @@
package edu.wpi.first.wpilibj.examples.mecanumcontrollercommand;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.XboxController.Button;
@@ -13,12 +19,6 @@ import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.AutoCon
import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.OIConstants;
import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.trajectory.Trajectory;
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.MecanumControllerCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;

8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java
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@@ -4,15 +4,15 @@
package edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.subsystems;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.kinematics.MecanumDriveMotorVoltages;
import edu.wpi.first.math.kinematics.MecanumDriveOdometry;
import edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds;
import edu.wpi.first.wpilibj.ADXRS450_Gyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.drive.MecanumDrive;
import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.DriveConstants;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.interfaces.Gyro;
import edu.wpi.first.wpilibj.kinematics.MecanumDriveMotorVoltages;
import edu.wpi.first.wpilibj.kinematics.MecanumDriveOdometry;
import edu.wpi.first.wpilibj.kinematics.MecanumDriveWheelSpeeds;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.SubsystemBase;

18
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
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@@ -4,22 +4,22 @@
package edu.wpi.first.wpilibj.examples.mecanumdriveposeestimator;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.estimator.MecanumDrivePoseEstimator;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.MecanumDriveKinematics;
import edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.estimator.MecanumDrivePoseEstimator;
import edu.wpi.first.wpilibj.examples.swervesdriveposeestimator.ExampleGlobalMeasurementSensor;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics;
import edu.wpi.first.wpilibj.kinematics.MecanumDriveWheelSpeeds;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.VecBuilder;
/** Represents a mecanum drive style drivetrain. */
@SuppressWarnings("PMD.TooManyFields")

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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/ExampleGlobalMeasurementSensor.java
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@@ -4,11 +4,11 @@
package edu.wpi.first.wpilibj.examples.mecanumdriveposeestimator;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.math.StateSpaceUtil;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.math.StateSpaceUtil;
import edu.wpi.first.math.util.Units;
/** This dummy class represents a global measurement sensor, such as a computer vision solution. */
public final class ExampleGlobalMeasurementSensor {

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java
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@@ -4,7 +4,7 @@
package edu.wpi.first.wpilibj.examples.ramsetecommand;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
/**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean

18
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
View File

@@ -6,22 +6,22 @@ package edu.wpi.first.wpilibj.examples.ramsetecommand;
import static edu.wpi.first.wpilibj.XboxController.Button;
import edu.wpi.first.math.controller.RamseteController;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import edu.wpi.first.math.trajectory.constraint.DifferentialDriveVoltageConstraint;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.RamseteController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.AutoConstants;
import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.OIConstants;
import edu.wpi.first.wpilibj.examples.ramsetecommand.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.trajectory.Trajectory;
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveVoltageConstraint;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.RamseteCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
View File

@@ -4,14 +4,14 @@
package edu.wpi.first.wpilibj.examples.ramsetecommand.subsystems;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.ADXRS450_Gyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.interfaces.Gyro;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.SubsystemBase;

12
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Drivetrain.java
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@@ -4,15 +4,15 @@
package edu.wpi.first.wpilibj.examples.ramsetecontroller;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.math.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;

16
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecontroller/Robot.java
View File

@@ -4,19 +4,19 @@
package edu.wpi.first.wpilibj.examples.ramsetecontroller;
import edu.wpi.first.math.controller.RamseteController;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.SlewRateLimiter;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.controller.RamseteController;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.trajectory.Trajectory;
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj.util.Units;
import java.util.List;
public class Robot extends TimedRobot {

20
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
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@@ -4,16 +4,20 @@
package edu.wpi.first.wpilibj.examples.simpledifferentialdrivesimulation;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.math.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.math.numbers.N2;
import edu.wpi.first.math.system.LinearSystem;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.simulation.AnalogGyroSim;
@@ -21,10 +25,6 @@ import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim;
import edu.wpi.first.wpilibj.simulation.EncoderSim;
import edu.wpi.first.wpilibj.smartdashboard.Field2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.system.LinearSystem;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
import edu.wpi.first.wpiutil.math.numbers.N2;
@SuppressWarnings("PMD.TooManyFields")
public class Drivetrain {

14
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Robot.java
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@@ -4,18 +4,18 @@
package edu.wpi.first.wpilibj.examples.simpledifferentialdrivesimulation;
import edu.wpi.first.math.controller.RamseteController;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.SlewRateLimiter;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.controller.RamseteController;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.trajectory.Trajectory;
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
import java.util.List;
public class Robot extends TimedRobot {

24
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacearm/Robot.java
View File

@@ -4,23 +4,23 @@
package edu.wpi.first.wpilibj.examples.statespacearm;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.controller.LinearQuadraticRegulator;
import edu.wpi.first.math.estimator.KalmanFilter;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N2;
import edu.wpi.first.math.system.LinearSystem;
import edu.wpi.first.math.system.LinearSystemLoop;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.LinearQuadraticRegulator;
import edu.wpi.first.wpilibj.estimator.KalmanFilter;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.system.LinearSystem;
import edu.wpi.first.wpilibj.system.LinearSystemLoop;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.Nat;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.wpiutil.math.numbers.N1;
import edu.wpi.first.wpiutil.math.numbers.N2;
/**
* This is a sample program to demonstrate how to use a state-space controller to control an arm.

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/Constants.java
View File

@@ -4,11 +4,11 @@
package edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.wpilibj.system.LinearSystem;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
import edu.wpi.first.wpiutil.math.numbers.N2;
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.math.numbers.N2;
import edu.wpi.first.math.system.LinearSystem;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
/**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean

20
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java
View File

@@ -4,22 +4,20 @@
package edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation;
import static edu.wpi.first.wpilibj.XboxController.Button;
import edu.wpi.first.math.controller.RamseteController;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import edu.wpi.first.math.trajectory.constraint.DifferentialDriveVoltageConstraint;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.XboxController.Button;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.RamseteController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.trajectory.Trajectory;
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveVoltageConstraint;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.RamseteCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
View File

@@ -4,16 +4,17 @@
package edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation.subsystems;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.ADXRS450_Gyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.RobotBase;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.statespacedifferentialdrivesimulation.Constants.DriveConstants;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.simulation.ADXRS450_GyroSim;
@@ -22,7 +23,6 @@ import edu.wpi.first.wpilibj.simulation.EncoderSim;
import edu.wpi.first.wpilibj.smartdashboard.Field2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpiutil.math.VecBuilder;
public class DriveSubsystem extends SubsystemBase {
// The motors on the left side of the drive.

24
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceelevator/Robot.java
View File

@@ -4,23 +4,23 @@
package edu.wpi.first.wpilibj.examples.statespaceelevator;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.controller.LinearQuadraticRegulator;
import edu.wpi.first.math.estimator.KalmanFilter;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N2;
import edu.wpi.first.math.system.LinearSystem;
import edu.wpi.first.math.system.LinearSystemLoop;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.LinearQuadraticRegulator;
import edu.wpi.first.wpilibj.estimator.KalmanFilter;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.system.LinearSystem;
import edu.wpi.first.wpilibj.system.LinearSystemLoop;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.Nat;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.wpiutil.math.numbers.N1;
import edu.wpi.first.wpiutil.math.numbers.N2;
/**
* This is a sample program to demonstrate how to use a state-space controller to control an

20
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheel/Robot.java
View File

@@ -4,21 +4,21 @@
package edu.wpi.first.wpilibj.examples.statespaceflywheel;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.controller.LinearQuadraticRegulator;
import edu.wpi.first.math.estimator.KalmanFilter;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.system.LinearSystem;
import edu.wpi.first.math.system.LinearSystemLoop;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.LinearQuadraticRegulator;
import edu.wpi.first.wpilibj.estimator.KalmanFilter;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.system.LinearSystem;
import edu.wpi.first.wpilibj.system.LinearSystemLoop;
import edu.wpi.first.wpilibj.system.plant.DCMotor;
import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.Nat;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.wpiutil.math.numbers.N1;
/**
* This is a sample program to demonstrate how to use a state-space controller to control a

18
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespaceflywheelsysid/Robot.java
View File

@@ -4,20 +4,20 @@
package edu.wpi.first.wpilibj.examples.statespaceflywheelsysid;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.controller.LinearQuadraticRegulator;
import edu.wpi.first.math.estimator.KalmanFilter;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.system.LinearSystem;
import edu.wpi.first.math.system.LinearSystemLoop;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.LinearQuadraticRegulator;
import edu.wpi.first.wpilibj.estimator.KalmanFilter;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.system.LinearSystem;
import edu.wpi.first.wpilibj.system.LinearSystemLoop;
import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.Nat;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.wpiutil.math.numbers.N1;
/**
* This is a sample program to demonstrate how to use a state-space controller to control a

8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java
View File

@@ -4,11 +4,11 @@
package edu.wpi.first.wpilibj.examples.swervebot;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.kinematics.SwerveDriveOdometry;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
import edu.wpi.first.wpilibj.kinematics.SwerveDriveOdometry;
/** Represents a swerve drive style drivetrain. */
public class Drivetrain {

8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
View File

@@ -4,15 +4,15 @@
package edu.wpi.first.wpilibj.examples.swervebot;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
public class SwerveModule {
private static final double kWheelRadius = 0.0508;

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Constants.java
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@@ -4,9 +4,9 @@
package edu.wpi.first.wpilibj.examples.swervecontrollercommand;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
/**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean

12
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
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@@ -4,6 +4,12 @@
package edu.wpi.first.wpilibj.examples.swervecontrollercommand;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.controller.PIDController;
@@ -12,12 +18,6 @@ import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.AutoCons
import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.OIConstants;
import edu.wpi.first.wpilibj.examples.swervecontrollercommand.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.trajectory.Trajectory;
import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SwerveControllerCommand;

12
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.java
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@@ -4,15 +4,15 @@
package edu.wpi.first.wpilibj.examples.swervecontrollercommand.subsystems;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.kinematics.SwerveDriveOdometry;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.wpilibj.ADXRS450_Gyro;
import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.DriveConstants;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.interfaces.Gyro;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
import edu.wpi.first.wpilibj.kinematics.SwerveDriveOdometry;
import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
@SuppressWarnings("PMD.ExcessiveImports")

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
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@@ -4,14 +4,14 @@
package edu.wpi.first.wpilibj.examples.swervecontrollercommand.subsystems;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.ModuleConstants;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
public class SwerveModule {
private final Spark m_driveMotor;

14
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/Drivetrain.java
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@@ -4,15 +4,15 @@
package edu.wpi.first.wpilibj.examples.swervesdriveposeestimator;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.estimator.SwerveDrivePoseEstimator;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.VecBuilder;
/** Represents a swerve drive style drivetrain. */
public class Drivetrain {

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/ExampleGlobalMeasurementSensor.java
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@@ -4,11 +4,11 @@
package edu.wpi.first.wpilibj.examples.swervesdriveposeestimator;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.math.StateSpaceUtil;
import edu.wpi.first.wpilibj.util.Units;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.math.StateSpaceUtil;
import edu.wpi.first.math.util.Units;
/** This dummy class represents a global measurement sensor, such as a computer vision solution. */
public final class ExampleGlobalMeasurementSensor {

8
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervesdriveposeestimator/SwerveModule.java
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@@ -4,15 +4,15 @@
package edu.wpi.first.wpilibj.examples.swervesdriveposeestimator;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
public class SwerveModule {
private static final double kWheelRadius = 0.0508;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
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@@ -4,8 +4,8 @@
package edu.wpi.first.wpilibj.examples.ultrasonic;
import edu.wpi.first.math.filter.MedianFilter;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.MedianFilter;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
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@@ -4,8 +4,8 @@
package edu.wpi.first.wpilibj.examples.ultrasonicpid;
import edu.wpi.first.math.filter.MedianFilter;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.MedianFilter;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;