Moves C++ templates and examples to match gradle setup (#1065)

wpilibcExamples/src/main/cpp/examples/GearsBot/include/Commands/Autonomous.h

@@ -0,0 +1,18 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <Commands/CommandGroup.h>
+
+/**
+ * The main autonomous command to pickup and deliver the soda to the box.
+ */
+class Autonomous : public frc::CommandGroup {
+ public:
+  Autonomous();
+};

wpilibcExamples/src/main/cpp/examples/GearsBot/include/Commands/CloseClaw.h

@@ -0,0 +1,22 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <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;
+};

wpilibcExamples/src/main/cpp/examples/GearsBot/include/Commands/DriveStraight.h

@@ -0,0 +1,44 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <Commands/Command.h>
+#include <PIDController.h>
+#include <PIDOutput.h>
+#include <PIDSource.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};
+};

wpilibcExamples/src/main/cpp/examples/GearsBot/include/Commands/OpenClaw.h

@@ -0,0 +1,22 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <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;
+};

wpilibcExamples/src/main/cpp/examples/GearsBot/include/Commands/Pickup.h

@@ -0,0 +1,19 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <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();
+};

wpilibcExamples/src/main/cpp/examples/GearsBot/include/Commands/Place.h

@@ -0,0 +1,18 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <Commands/CommandGroup.h>
+
+/**
+ * Place a held soda can onto the platform.
+ */
+class Place : public frc::CommandGroup {
+ public:
+  Place();
+};

wpilibcExamples/src/main/cpp/examples/GearsBot/include/Commands/PrepareToPickup.h

@@ -0,0 +1,18 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <Commands/CommandGroup.h>
+
+/**
+ * Make sure the robot is in a state to pickup soda cans.
+ */
+class PrepareToPickup : public frc::CommandGroup {
+ public:
+  PrepareToPickup();
+};

wpilibcExamples/src/main/cpp/examples/GearsBot/include/Commands/SetDistanceToBox.h

@@ -0,0 +1,44 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <Commands/Command.h>
+#include <PIDController.h>
+#include <PIDOutput.h>
+#include <PIDSource.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};
+};

wpilibcExamples/src/main/cpp/examples/GearsBot/include/Commands/SetElevatorSetpoint.h

@@ -0,0 +1,27 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <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;
+};

wpilibcExamples/src/main/cpp/examples/GearsBot/include/Commands/SetWristSetpoint.h

@@ -0,0 +1,25 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <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;
+};

wpilibcExamples/src/main/cpp/examples/GearsBot/include/Commands/TankDriveWithJoystick.h

@@ -0,0 +1,21 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <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;
+};

wpilibcExamples/src/main/cpp/examples/GearsBot/include/OI.h

@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <Buttons/JoystickButton.h>
+#include <Joystick.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};
+};

wpilibcExamples/src/main/cpp/examples/GearsBot/include/Robot.h

@@ -0,0 +1,41 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <Commands/Command.h>
+#include <Commands/Scheduler.h>
+#include <IterativeRobot.h>
+#include <LiveWindow/LiveWindow.h>
+#include <SmartDashboard/SmartDashboard.h>
+
+#include "Commands/Autonomous.h"
+#include "OI.h"
+#include "Subsystems/Claw.h"
+#include "Subsystems/DriveTrain.h"
+#include "Subsystems/Elevator.h"
+#include "Subsystems/Wrist.h"
+
+class Robot : public frc::IterativeRobot {
+ 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;
+};

wpilibcExamples/src/main/cpp/examples/GearsBot/include/Subsystems/Claw.h

@@ -0,0 +1,51 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <Commands/Subsystem.h>
+#include <DigitalInput.h>
+#include <Spark.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::Spark m_motor{7};
+  frc::DigitalInput m_contact{5};
+};

wpilibcExamples/src/main/cpp/examples/GearsBot/include/Subsystems/DriveTrain.h

@@ -0,0 +1,84 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <AnalogGyro.h>
+#include <AnalogInput.h>
+#include <Commands/Subsystem.h>
+#include <Drive/DifferentialDrive.h>
+#include <Encoder.h>
+#include <Spark.h>
+#include <SpeedControllerGroup.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::Spark m_frontLeft{1};
+  frc::Spark m_rearLeft{2};
+  frc::SpeedControllerGroup m_left{m_frontLeft, m_rearLeft};
+
+  frc::Spark m_frontRight{3};
+  frc::Spark 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};
+};

wpilibcExamples/src/main/cpp/examples/GearsBot/include/Subsystems/Elevator.h

@@ -0,0 +1,59 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <AnalogPotentiometer.h>
+#include <Commands/PIDSubsystem.h>
+#include <Spark.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::Spark 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;
+};

wpilibcExamples/src/main/cpp/examples/GearsBot/include/Subsystems/Wrist.h

@@ -0,0 +1,55 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <AnalogPotentiometer.h>
+#include <Commands/PIDSubsystem.h>
+#include <Spark.h>
+
+/**
+ * The wrist subsystem is like the elevator, but with a rotational joint instead
+ * of a linear joint.
+ */
+class Wrist : public 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::Spark 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;
+};