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Replace deprecated API usage in C++ examples

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Since there is a new version of GearsBot using the new command-based
API, the old GearsBot is just removed.

PR #1842 is being included to verify this PR is correct.
This commit is contained in:
Tyler Veness
2019-08-27 21:21:05 -07:00
committed by Peter Johnson
parent d6b9c7e148
commit c9f9feff1f
61 changed files with 20 additions and 2220 deletions
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30
wpilibcExamples/src/main/cpp/examples/GearsBot/include/OI.h
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc/Joystick.h>
#include <frc/buttons/JoystickButton.h>
class OI {
public:
OI();
frc::Joystick& GetJoystick();
private:
frc::Joystick m_joy{0};
// Create some buttons
frc::JoystickButton m_dUp{&m_joy, 5};
frc::JoystickButton m_dRight{&m_joy, 6};
frc::JoystickButton m_dDown{&m_joy, 7};
frc::JoystickButton m_dLeft{&m_joy, 8};
frc::JoystickButton m_l2{&m_joy, 9};
frc::JoystickButton m_r2{&m_joy, 10};
frc::JoystickButton m_l1{&m_joy, 11};
frc::JoystickButton m_r1{&m_joy, 12};
};

41
wpilibcExamples/src/main/cpp/examples/GearsBot/include/Robot.h
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@@ -1,41 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc/TimedRobot.h>
#include <frc/commands/Command.h>
#include <frc/commands/Scheduler.h>
#include <frc/livewindow/LiveWindow.h>
#include <frc/smartdashboard/SmartDashboard.h>
#include "OI.h"
#include "commands/Autonomous.h"
#include "subsystems/Claw.h"
#include "subsystems/DriveTrain.h"
#include "subsystems/Elevator.h"
#include "subsystems/Wrist.h"
class Robot : public frc::TimedRobot {
public:
static DriveTrain drivetrain;
static Elevator elevator;
static Wrist wrist;
static Claw claw;
static OI oi;
private:
Autonomous m_autonomousCommand;
frc::LiveWindow& m_lw = *frc::LiveWindow::GetInstance();
void RobotInit() override;
void AutonomousInit() override;
void AutonomousPeriodic() override;
void TeleopInit() override;
void TeleopPeriodic() override;
void TestPeriodic() override;
};

18
wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Autonomous.h
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc/commands/CommandGroup.h>
/**
* The main autonomous command to pickup and deliver the soda to the box.
*/
class Autonomous : public frc::CommandGroup {
public:
Autonomous();
};

22
wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/CloseClaw.h
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@@ -1,22 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc/commands/Command.h>
/**
* Opens the claw for one second. Real robots should use sensors, stalling
* motors is BAD!
*/
class CloseClaw : public frc::Command {
public:
CloseClaw();
void Initialize() override;
bool IsFinished() override;
void End() override;
};

44
wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/DriveStraight.h
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@@ -1,44 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc/PIDController.h>
#include <frc/PIDOutput.h>
#include <frc/PIDSource.h>
#include <frc/commands/Command.h>
/**
* Drive the given distance straight (negative values go backwards).
* Uses a local PID controller to run a simple PID loop that is only
* enabled while this command is running. The input is the averaged
* values of the left and right encoders.
*/
class DriveStraight : public frc::Command {
public:
explicit DriveStraight(double distance);
void Initialize() override;
bool IsFinished() override;
void End() override;
class DriveStraightPIDSource : public frc::PIDSource {
public:
virtual ~DriveStraightPIDSource() = default;
double PIDGet() override;
};
class DriveStraightPIDOutput : public frc::PIDOutput {
public:
virtual ~DriveStraightPIDOutput() = default;
void PIDWrite(double d) override;
};
private:
DriveStraightPIDSource m_source;
DriveStraightPIDOutput m_output;
frc::PIDController m_pid{4, 0, 0, &m_source, &m_output};
};

22
wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/OpenClaw.h
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@@ -1,22 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc/commands/Command.h>
/**
* Opens the claw for one second. Real robots should use sensors, stalling
* motors is BAD!
*/
class OpenClaw : public frc::Command {
public:
OpenClaw();
void Initialize() override;
bool IsFinished() override;
void End() override;
};

19
wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Pickup.h
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@@ -1,19 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc/commands/CommandGroup.h>
/**
* Pickup a soda can (if one is between the open claws) and
* get it in a safe state to drive around.
*/
class Pickup : public frc::CommandGroup {
public:
Pickup();
};

18
wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Place.h
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@@ -1,18 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc/commands/CommandGroup.h>
/**
* Place a held soda can onto the platform.
*/
class Place : public frc::CommandGroup {
public:
Place();
};

18
wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/PrepareToPickup.h
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@@ -1,18 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc/commands/CommandGroup.h>
/**
* Make sure the robot is in a state to pickup soda cans.
*/
class PrepareToPickup : public frc::CommandGroup {
public:
PrepareToPickup();
};

44
wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetDistanceToBox.h
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@@ -1,44 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc/PIDController.h>
#include <frc/PIDOutput.h>
#include <frc/PIDSource.h>
#include <frc/commands/Command.h>
/**
* Drive until the robot is the given distance away from the box. Uses a local
* PID controller to run a simple PID loop that is only enabled while this
* command is running. The input is the averaged values of the left and right
* encoders.
*/
class SetDistanceToBox : public frc::Command {
public:
explicit SetDistanceToBox(double distance);
void Initialize() override;
bool IsFinished() override;
void End() override;
class SetDistanceToBoxPIDSource : public frc::PIDSource {
public:
virtual ~SetDistanceToBoxPIDSource() = default;
double PIDGet() override;
};
class SetDistanceToBoxPIDOutput : public frc::PIDOutput {
public:
virtual ~SetDistanceToBoxPIDOutput() = default;
void PIDWrite(double d) override;
};
private:
SetDistanceToBoxPIDSource m_source;
SetDistanceToBoxPIDOutput m_output;
frc::PIDController m_pid{-2, 0, 0, &m_source, &m_output};
};

27
wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetElevatorSetpoint.h
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@@ -1,27 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc/commands/Command.h>
/**
* Move the elevator to a given location. This command finishes when it is
* within
* the tolerance, but leaves the PID loop running to maintain the position.
* Other
* commands using the elevator should make sure they disable PID!
*/
class SetElevatorSetpoint : public frc::Command {
public:
explicit SetElevatorSetpoint(double setpoint);
void Initialize() override;
bool IsFinished() override;
private:
double m_setpoint;
};

25
wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetWristSetpoint.h
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@@ -1,25 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc/commands/Command.h>
/**
* Move the wrist to a given angle. This command finishes when it is within
* the tolerance, but leaves the PID loop running to maintain the position.
* Other commands using the wrist should make sure they disable PID!
*/
class SetWristSetpoint : public frc::Command {
public:
explicit SetWristSetpoint(double setpoint);
void Initialize() override;
bool IsFinished() override;
private:
double m_setpoint;
};

21
wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/TankDriveWithJoystick.h
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@@ -1,21 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc/commands/Command.h>
/**
* Have the robot drive tank style using the PS3 Joystick until interrupted.
*/
class TankDriveWithJoystick : public frc::Command {
public:
TankDriveWithJoystick();
void Execute() override;
bool IsFinished() override;
void End() override;
};

51
wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h
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@@ -1,51 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc/DigitalInput.h>
#include <frc/PWMVictorSPX.h>
#include <frc/commands/Subsystem.h>
/**
* The claw subsystem is a simple system with a motor for opening and closing.
* If using stronger motors, you should probably use a sensor so that the
* motors don't stall.
*/
class Claw : public frc::Subsystem {
public:
Claw();
void InitDefaultCommand() override;
/**
* Set the claw motor to move in the open direction.
*/
void Open();
/**
* Set the claw motor to move in the close direction.
*/
void Close();
/**
* Stops the claw motor from moving.
*/
void Stop();
/**
* Return true when the robot is grabbing an object hard enough
* to trigger the limit switch.
*/
bool IsGripping();
void Log();
private:
frc::PWMVictorSPX m_motor{7};
frc::DigitalInput m_contact{5};
};

84
wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/DriveTrain.h
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@@ -1,84 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc/AnalogGyro.h>
#include <frc/AnalogInput.h>
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/SpeedControllerGroup.h>
#include <frc/commands/Subsystem.h>
#include <frc/drive/DifferentialDrive.h>
namespace frc {
class Joystick;
} // namespace frc
/**
* The DriveTrain subsystem incorporates the sensors and actuators attached to
* the robots chassis. These include four drive motors, a left and right encoder
* and a gyro.
*/
class DriveTrain : public frc::Subsystem {
public:
DriveTrain();
/**
* When no other command is running let the operator drive around
* using the PS3 joystick.
*/
void InitDefaultCommand() override;
/**
* The log method puts interesting information to the SmartDashboard.
*/
void Log();
/**
* Tank style driving for the DriveTrain.
* @param left Speed in range [-1,1]
* @param right Speed in range [-1,1]
*/
void Drive(double left, double right);
/**
* @return The robots heading in degrees.
*/
double GetHeading();
/**
* Reset the robots sensors to the zero states.
*/
void Reset();
/**
* @return The distance driven (average of left and right encoders).
*/
double GetDistance();
/**
* @return The distance to the obstacle detected by the rangefinder.
*/
double GetDistanceToObstacle();
private:
frc::PWMVictorSPX m_frontLeft{1};
frc::PWMVictorSPX m_rearLeft{2};
frc::SpeedControllerGroup m_left{m_frontLeft, m_rearLeft};
frc::PWMVictorSPX m_frontRight{3};
frc::PWMVictorSPX m_rearRight{4};
frc::SpeedControllerGroup m_right{m_frontRight, m_rearRight};
frc::DifferentialDrive m_robotDrive{m_left, m_right};
frc::Encoder m_leftEncoder{1, 2};
frc::Encoder m_rightEncoder{3, 4};
frc::AnalogInput m_rangefinder{6};
frc::AnalogGyro m_gyro{1};
};

59
wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Elevator.h
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@@ -1,59 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc/AnalogPotentiometer.h>
#include <frc/PWMVictorSPX.h>
#include <frc/commands/PIDSubsystem.h>
/**
* The elevator subsystem uses PID to go to a given height. Unfortunately, in
* it's current
* state PID values for simulation are different than in the real world do to
* minor differences.
*/
class Elevator : public frc::PIDSubsystem {
public:
Elevator();
void InitDefaultCommand() override;
/**
* The log method puts interesting information to the SmartDashboard.
*/
void Log();
/**
* Use the potentiometer as the PID sensor. This method is automatically
* called by the subsystem.
*/
double ReturnPIDInput() override;
/**
* Use the motor as the PID output. This method is automatically called
* by
* the subsystem.
*/
void UsePIDOutput(double d) override;
private:
frc::PWMVictorSPX m_motor{5};
// Conversion value of potentiometer varies between the real world and
// simulation
#ifndef SIMULATION
frc::AnalogPotentiometer m_pot{2, -2.0 / 5};
#else
frc::AnalogPotentiometer m_pot{2}; // Defaults to meters
#endif
static constexpr double kP_real = 4;
static constexpr double kI_real = 0.07;
static constexpr double kP_simulation = 18;
static constexpr double kI_simulation = 0.2;
};

55
wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h
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@@ -1,55 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <frc/AnalogPotentiometer.h>
#include <frc/PWMVictorSPX.h>
#include <frc/commands/PIDSubsystem.h>
/**
* The wrist subsystem is like the elevator, but with a rotational joint instead
* of a linear joint.
*/
class Wrist : public frc::PIDSubsystem {
public:
Wrist();
void InitDefaultCommand() override;
/**
* The log method puts interesting information to the SmartDashboard.
*/
void Log();
/**
* Use the potentiometer as the PID sensor. This method is automatically
* called by the subsystem.
*/
double ReturnPIDInput() override;
/**
* Use the motor as the PID output. This method is automatically called
* by
* the subsystem.
*/
void UsePIDOutput(double d) override;
private:
frc::PWMVictorSPX m_motor{6};
// Conversion value of potentiometer varies between the real world and
// simulation
#ifndef SIMULATION
frc::AnalogPotentiometer m_pot{3, -270.0 / 5};
#else
frc::AnalogPotentiometer m_pot{3}; // Defaults to degrees
#endif
static constexpr double kP_real = 1;
static constexpr double kP_simulation = 0.05;
};