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Replace deprecated API usage in C++ examples

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json
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@@ -220,16 +220,6 @@
"gradlebase": "java"
,"mainclass": "Main"
},
{
"name": "GearsBot",
"description": "A fully functional example CommandBased program for WPIs GearsBot robot. This code can run on your computer if it supports simulation.",
"tags": [
"Complete Robot"
],
"foldername": "gearsbot",
"gradlebase": "java",
"mainclass": "Main"
},
{
"name": "GearsBot (New)",
"description": "A fully functional example CommandBased program for WPIs GearsBot robot, ported to the new CommandBased library. This code can run on your computer if it supports simulation.",

29
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Main.java
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@@ -1,29 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all.
* Unless you know what you are doing, do not modify this file except to
* change the parameter class to the startRobot call.
*/
public final class Main {
private Main() {
}
/**
* Main initialization function. Do not perform any initialization here.
*
* <p>If you change your main robot class, change the parameter type.
*/
public static void main(String... args) {
RobotBase.startRobot(Robot::new);
}
}

72
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/OI.java
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@@ -1,72 +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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.buttons.JoystickButton;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.Autonomous;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.CloseClaw;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.OpenClaw;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.Pickup;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.Place;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.PrepareToPickup;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.SetElevatorSetpoint;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.SetWristSetpoint;
/**
* This class is the glue that binds the controls on the physical operator
* interface to the commands and command groups that allow control of the robot.
*/
public class OI {
private final Joystick m_joystick = new Joystick(0);
/**
* Construct the OI and all of the buttons on it.
*/
public OI() {
// Put Some buttons on the SmartDashboard
SmartDashboard.putData("Elevator Bottom", new SetElevatorSetpoint(0));
SmartDashboard.putData("Elevator Platform", new SetElevatorSetpoint(0.2));
SmartDashboard.putData("Elevator Top", new SetElevatorSetpoint(0.3));
SmartDashboard.putData("Wrist Horizontal", new SetWristSetpoint(0));
SmartDashboard.putData("Raise Wrist", new SetWristSetpoint(-45));
SmartDashboard.putData("Open Claw", new OpenClaw());
SmartDashboard.putData("Close Claw", new CloseClaw());
SmartDashboard.putData("Deliver Soda", new Autonomous());
// Create some buttons
final JoystickButton dpadUp = new JoystickButton(m_joystick, 5);
final JoystickButton dpadRight = new JoystickButton(m_joystick, 6);
final JoystickButton dpadDown = new JoystickButton(m_joystick, 7);
final JoystickButton dpadLeft = new JoystickButton(m_joystick, 8);
final JoystickButton l2 = new JoystickButton(m_joystick, 9);
final JoystickButton r2 = new JoystickButton(m_joystick, 10);
final JoystickButton l1 = new JoystickButton(m_joystick, 11);
final JoystickButton r1 = new JoystickButton(m_joystick, 12);
// Connect the buttons to commands
dpadUp.whenPressed(new SetElevatorSetpoint(0.2));
dpadDown.whenPressed(new SetElevatorSetpoint(-0.2));
dpadRight.whenPressed(new CloseClaw());
dpadLeft.whenPressed(new OpenClaw());
r1.whenPressed(new PrepareToPickup());
r2.whenPressed(new Pickup());
l1.whenPressed(new Place());
l2.whenPressed(new Autonomous());
}
public Joystick getJoystick() {
return m_joystick;
}
}

108
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Robot.java
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@@ -1,108 +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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.Autonomous;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Elevator;
import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Wrist;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the TimedRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the manifest file in the resource
* directory.
*/
public class Robot extends TimedRobot {
Command m_autonomousCommand;
public static DriveTrain m_drivetrain;
public static Elevator m_elevator;
public static Wrist m_wrist;
public static Claw m_claw;
public static OI m_oi;
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
@Override
public void robotInit() {
// Initialize all subsystems
m_drivetrain = new DriveTrain();
m_elevator = new Elevator();
m_wrist = new Wrist();
m_claw = new Claw();
m_oi = new OI();
// instantiate the command used for the autonomous period
m_autonomousCommand = new Autonomous();
// Show what command your subsystem is running on the SmartDashboard
SmartDashboard.putData(m_drivetrain);
SmartDashboard.putData(m_elevator);
SmartDashboard.putData(m_wrist);
SmartDashboard.putData(m_claw);
}
@Override
public void autonomousInit() {
m_autonomousCommand.start(); // schedule the autonomous command (example)
}
/**
* This function is called periodically during autonomous.
*/
@Override
public void autonomousPeriodic() {
Scheduler.getInstance().run();
log();
}
@Override
public void teleopInit() {
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
m_autonomousCommand.cancel();
}
/**
* This function is called periodically during teleoperated mode.
*/
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
log();
}
/**
* This function is called periodically during test mode.
*/
@Override
public void testPeriodic() {
}
/**
* The log method puts interesting information to the SmartDashboard.
*/
private void log() {
m_wrist.log();
m_elevator.log();
m_drivetrain.log();
m_claw.log();
}
}

32
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Autonomous.java
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@@ -1,32 +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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.CommandGroup;
/**
* The main autonomous command to pickup and deliver the soda to the box.
*/
public class Autonomous extends CommandGroup {
/**
* Create a new autonomous command.
*/
public Autonomous() {
addSequential(new PrepareToPickup());
addSequential(new Pickup());
addSequential(new SetDistanceToBox(0.10));
// addSequential(new DriveStraight(4)); // Use Encoders if ultrasonic is
// broken
addSequential(new Place());
addSequential(new SetDistanceToBox(0.60));
// addSequential(new DriveStraight(-2)); // Use Encoders if ultrasonic
// is broken
addParallel(new SetWristSetpoint(-45));
addSequential(new CloseClaw());
}
}

46
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/CloseClaw.java
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@@ -1,46 +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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* Closes the claw for one second. Real robots should use sensors, stalling
* motors is BAD!
*/
public class CloseClaw extends Command {
public CloseClaw() {
requires(Robot.m_claw);
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
Robot.m_claw.close();
}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return Robot.m_claw.isGrabbing();
}
// Called once after isFinished returns true
@Override
protected void end() {
// NOTE: Doesn't stop in simulation due to lower friction causing the
// can to fall out
// + there is no need to worry about stalling the motor or crushing the
// can.
if (!Robot.isSimulation()) {
Robot.m_claw.stop();
}
}
}

62
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/DriveStraight.java
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@@ -1,62 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* 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.
*/
public class DriveStraight extends Command {
private final PIDController m_pid = new PIDController(4, 0, 0);
/**
* Create a new DriveStraight command.
* @param distance The distance to drive
*/
public DriveStraight(double distance) {
requires(Robot.m_drivetrain);
m_pid.setAbsoluteTolerance(0.01);
m_pid.setSetpoint(distance);
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
// Get everything in a safe starting state.
Robot.m_drivetrain.reset();
m_pid.reset();
}
@Override
protected void execute() {
double pidOut = m_pid.calculate(Robot.m_drivetrain.getDistance());
Robot.m_drivetrain.drive(pidOut, pidOut);
}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return m_pid.atSetpoint();
}
// Called once after isFinished returns true
@Override
protected void end() {
// Stop the wheels
Robot.m_drivetrain.drive(0, 0);
}
}

35
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/OpenClaw.java
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@@ -1,35 +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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.TimedCommand;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* Opens the claw for one second. Real robots should use sensors, stalling
* motors is BAD!
*/
public class OpenClaw extends TimedCommand {
public OpenClaw() {
super(1);
requires(Robot.m_claw);
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
Robot.m_claw.open();
}
// Called once after isFinished returns true
@Override
protected void end() {
Robot.m_claw.stop();
}
}

25
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Pickup.java
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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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.CommandGroup;
/**
* Pickup a soda can (if one is between the open claws) and get it in a safe
* state to drive around.
*/
public class Pickup extends CommandGroup {
/**
* Create a new pickup command.
*/
public Pickup() {
addSequential(new CloseClaw());
addParallel(new SetWristSetpoint(-45));
addSequential(new SetElevatorSetpoint(0.25));
}
}

24
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Place.java
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@@ -1,24 +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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.CommandGroup;
/**
* Place a held soda can onto the platform.
*/
public class Place extends CommandGroup {
/**
* Create a new place command.
*/
public Place() {
addSequential(new SetElevatorSetpoint(0.25));
addSequential(new SetWristSetpoint(0));
addSequential(new OpenClaw());
}
}

24
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/PrepareToPickup.java
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@@ -1,24 +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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.CommandGroup;
/**
* Make sure the robot is in a state to pickup soda cans.
*/
public class PrepareToPickup extends CommandGroup {
/**
* Create a new prepare to pickup command.
*/
public PrepareToPickup() {
addParallel(new OpenClaw());
addParallel(new SetWristSetpoint(0));
addSequential(new SetElevatorSetpoint(0));
}
}

62
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetDistanceToBox.java
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@@ -1,62 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* 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.
*/
public class SetDistanceToBox extends Command {
private final PIDController m_pid = new PIDController(-2, 0, 0);
/**
* Create a new set distance to box command.
* @param distance The distance away from the box to drive to
*/
public SetDistanceToBox(double distance) {
requires(Robot.m_drivetrain);
m_pid.setAbsoluteTolerance(0.01);
m_pid.setSetpoint(distance);
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
// Get everything in a safe starting state.
Robot.m_drivetrain.reset();
m_pid.reset();
}
@Override
protected void execute() {
double pidOut = m_pid.calculate(Robot.m_drivetrain.getDistanceToObstacle());
Robot.m_drivetrain.drive(pidOut, pidOut);
}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return m_pid.atSetpoint();
}
// Called once after isFinished returns true
@Override
protected void end() {
// Stop the wheels
Robot.m_drivetrain.drive(0, 0);
}
}

40
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetElevatorSetpoint.java
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@@ -1,40 +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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* 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!
*/
public class SetElevatorSetpoint extends Command {
private final double m_setpoint;
public SetElevatorSetpoint(double setpoint) {
m_setpoint = setpoint;
requires(Robot.m_elevator);
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
Robot.m_elevator.enable();
Robot.m_elevator.setSetpoint(m_setpoint);
}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return Robot.m_elevator.onTarget();
}
}

39
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetWristSetpoint.java
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@@ -1,39 +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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* 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!
*/
public class SetWristSetpoint extends Command {
private final double m_setpoint;
public SetWristSetpoint(double setpoint) {
m_setpoint = setpoint;
requires(Robot.m_wrist);
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
Robot.m_wrist.enable();
Robot.m_wrist.setSetpoint(m_setpoint);
}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return Robot.m_wrist.onTarget();
}
}

39
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/TankDriveWithJoystick.java
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@@ -1,39 +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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* Have the robot drive tank style using the PS3 Joystick until interrupted.
*/
public class TankDriveWithJoystick extends Command {
public TankDriveWithJoystick() {
requires(Robot.m_drivetrain);
}
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
Robot.m_drivetrain.drive(Robot.m_oi.getJoystick());
}
// Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
return false; // Runs until interrupted
}
// Called once after isFinished returns true
@Override
protected void end() {
Robot.m_drivetrain.drive(0, 0);
}
}

70
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Claw.java
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@@ -1,70 +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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.command.Subsystem;
/**
* 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.
*/
public class Claw extends Subsystem {
private final Victor m_motor = new Victor(7);
private final DigitalInput m_contact = new DigitalInput(5);
/**
* Create a new claw subsystem.
*/
public Claw() {
super();
// Let's name everything on the LiveWindow
addChild("Motor", m_motor);
addChild("Limit Switch", m_contact);
}
@Override
public void initDefaultCommand() {
}
public void log() {
}
/**
* Set the claw motor to move in the open direction.
*/
public void open() {
m_motor.set(-1);
}
/**
* Set the claw motor to move in the close direction.
*/
@Override
public void close() {
m_motor.set(1);
}
/**
* Stops the claw motor from moving.
*/
public void stop() {
m_motor.set(0);
}
/**
* Return true when the robot is grabbing an object hard enough to trigger
* the limit switch.
*/
public boolean isGrabbing() {
return m_contact.get();
}
}

146
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java
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@@ -1,146 +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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.TankDriveWithJoystick;
/**
* 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.
*/
public class DriveTrain extends Subsystem {
private final SpeedController m_leftMotor
= new SpeedControllerGroup(new PWMVictorSPX(0), new PWMVictorSPX(1));
private final SpeedController m_rightMotor
= new SpeedControllerGroup(new PWMVictorSPX(2), new PWMVictorSPX(3));
private final DifferentialDrive m_drive
= new DifferentialDrive(m_leftMotor, m_rightMotor);
private final Encoder m_leftEncoder = new Encoder(1, 2);
private final Encoder m_rightEncoder = new Encoder(3, 4);
private final AnalogInput m_rangefinder = new AnalogInput(6);
private final AnalogGyro m_gyro = new AnalogGyro(1);
/**
* Create a new drive train subsystem.
*/
public DriveTrain() {
super();
// Encoders may measure differently in the real world and in
// simulation. In this example the robot moves 0.042 barleycorns
// per tick in the real world, but the simulated encoders
// simulate 360 tick encoders. This if statement allows for the
// real robot to handle this difference in devices.
if (Robot.isReal()) {
m_leftEncoder.setDistancePerPulse(0.042);
m_rightEncoder.setDistancePerPulse(0.042);
} else {
// Circumference in ft = 4in/12(in/ft)*PI
m_leftEncoder.setDistancePerPulse((4.0 / 12.0 * Math.PI) / 360.0);
m_rightEncoder.setDistancePerPulse((4.0 / 12.0 * Math.PI) / 360.0);
}
// Let's name the sensors on the LiveWindow
addChild("Drive", m_drive);
addChild("Left Encoder", m_leftEncoder);
addChild("Right Encoder", m_rightEncoder);
addChild("Rangefinder", m_rangefinder);
addChild("Gyro", m_gyro);
}
/**
* When no other command is running let the operator drive around using the
* PS3 joystick.
*/
@Override
public void initDefaultCommand() {
setDefaultCommand(new TankDriveWithJoystick());
}
/**
* The log method puts interesting information to the SmartDashboard.
*/
public void log() {
SmartDashboard.putNumber("Left Distance", m_leftEncoder.getDistance());
SmartDashboard.putNumber("Right Distance", m_rightEncoder.getDistance());
SmartDashboard.putNumber("Left Speed", m_leftEncoder.getRate());
SmartDashboard.putNumber("Right Speed", m_rightEncoder.getRate());
SmartDashboard.putNumber("Gyro", m_gyro.getAngle());
}
/**
* Tank style driving for the DriveTrain.
*
* @param left Speed in range [-1,1]
* @param right Speed in range [-1,1]
*/
public void drive(double left, double right) {
m_drive.tankDrive(left, right);
}
/**
* Tank style driving for the DriveTrain.
*
* @param joy The ps3 style joystick to use to drive tank style.
*/
public void drive(Joystick joy) {
drive(-joy.getY(), -joy.getThrottle());
}
/**
* Get the robot's heading.
*
* @return The robots heading in degrees.
*/
public double getHeading() {
return m_gyro.getAngle();
}
/**
* Reset the robots sensors to the zero states.
*/
public void reset() {
m_gyro.reset();
m_leftEncoder.reset();
m_rightEncoder.reset();
}
/**
* Get the average distance of the encoders since the last reset.
*
* @return The distance driven (average of left and right encoders).
*/
public double getDistance() {
return (m_leftEncoder.getDistance() + m_rightEncoder.getDistance()) / 2;
}
/**
* Get the distance to the obstacle.
*
* @return The distance to the obstacle detected by the rangefinder.
*/
public double getDistanceToObstacle() {
// Really meters in simulation since it's a rangefinder...
return m_rangefinder.getAverageVoltage();
}
}

84
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Elevator.java
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@@ -1,84 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.command.PIDSubsystem;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* 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.
*/
public class Elevator extends PIDSubsystem {
private final Victor m_motor;
private final AnalogPotentiometer m_pot;
private static final double kP_real = 4;
private static final double kI_real = 0.07;
private static final double kP_simulation = 18;
private static final double kI_simulation = 0.2;
/**
* Create a new elevator subsystem.
*/
public Elevator() {
super(kP_real, kI_real, 0);
if (Robot.isSimulation()) { // Check for simulation and update PID values
getPIDController().setPID(kP_simulation, kI_simulation, 0, 0);
}
setAbsoluteTolerance(0.005);
m_motor = new Victor(5);
// Conversion value of potentiometer varies between the real world and
// simulation
if (Robot.isReal()) {
m_pot = new AnalogPotentiometer(2, -2.0 / 5);
} else {
m_pot = new AnalogPotentiometer(2); // Defaults to meters
}
// Let's name everything on the LiveWindow
addChild("Motor", m_motor);
addChild("Pot", m_pot);
}
@Override
public void initDefaultCommand() {
}
/**
* The log method puts interesting information to the SmartDashboard.
*/
public void log() {
SmartDashboard.putData("Elevator Pot", m_pot);
}
/**
* Use the potentiometer as the PID sensor. This method is automatically
* called by the subsystem.
*/
@Override
protected double returnPIDInput() {
return m_pot.get();
}
/**
* Use the motor as the PID output. This method is automatically called by
* the subsystem.
*/
@Override
protected void usePIDOutput(double power) {
m_motor.set(power);
}
}

81
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java
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@@ -1,81 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2019 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.command.PIDSubsystem;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* The wrist subsystem is like the elevator, but with a rotational joint instead
* of a linear joint.
*/
public class Wrist extends PIDSubsystem {
private final Victor m_motor;
private final AnalogPotentiometer m_pot;
private static final double kP_real = 1;
private static final double kP_simulation = 0.05;
/**
* Create a new wrist subsystem.
*/
public Wrist() {
super(kP_real, 0, 0);
if (Robot.isSimulation()) { // Check for simulation and update PID values
getPIDController().setPID(kP_simulation, 0, 0, 0);
}
setAbsoluteTolerance(2.5);
m_motor = new Victor(6);
// Conversion value of potentiometer varies between the real world and
// simulation
if (Robot.isReal()) {
m_pot = new AnalogPotentiometer(3, -270.0 / 5);
} else {
m_pot = new AnalogPotentiometer(3); // Defaults to degrees
}
// Let's name everything on the LiveWindow
addChild("Motor", m_motor);
addChild("Pot", m_pot);
}
@Override
public void initDefaultCommand() {
}
/**
* The log method puts interesting information to the SmartDashboard.
*/
public void log() {
SmartDashboard.putData("Wrist Angle", m_pot);
}
/**
* Use the potentiometer as the PID sensor. This method is automatically
* called by the subsystem.
*/
@Override
protected double returnPIDInput() {
return m_pot.get();
}
/**
* Use the motor as the PID output. This method is automatically called by
* the subsystem.
*/
@Override
protected void usePIDOutput(double power) {
m_motor.set(power);
}
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbotnew/Main.java
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@@ -9,8 +9,6 @@ package edu.wpi.first.wpilibj.examples.gearsbotnew;
import edu.wpi.first.wpilibj.RobotBase;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbotnew/subsystems/DriveTrain.java
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@@ -17,7 +17,7 @@ import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
import edu.wpi.first.wpilibj.examples.gearsbotnew.Robot;
public class DriveTrain extends SubsystemBase {
/**

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbotnew/subsystems/Elevator.java
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@@ -13,7 +13,7 @@ import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.PIDSubsystem;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
import edu.wpi.first.wpilibj.examples.gearsbotnew.Robot;
/**
* The elevator subsystem uses PID to go to a given height. Unfortunately, in it's current state PID

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbotnew/subsystems/Wrist.java
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@@ -13,7 +13,7 @@ import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.PIDSubsystem;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
import edu.wpi.first.wpilibj.examples.gearsbotnew.Robot;
/**
* The wrist subsystem is like the elevator, but with a rotational joint instead of a linear joint.