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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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18
wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Autonomous.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>
/**
* 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;
};