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

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This commit is contained in:
Thad House
2018-05-15 21:25:24 -07:00
committed by Peter Johnson
parent d564e19ef3
commit cff475c1fc
112 changed files with 108 additions and 99 deletions
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22
wpilibcExamples/src/main/cpp/examples/PacGoat/include/Commands/CheckForHotGoal.h Normal file
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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 <Commands/Command.h>
/**
* This command looks for the hot goal and waits until it's detected or timed
* out. The timeout is because it's better to shoot and get some autonomous
* points than get none. When called sequentially, this command will block until
* the hot goal is detected or until it is timed out.
*/
class CheckForHotGoal : public frc::Command {
public:
explicit CheckForHotGoal(double time);
bool IsFinished() override;
};

22
wpilibcExamples/src/main/cpp/examples/PacGoat/include/Commands/CloseClaw.h Normal file
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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 <Commands/InstantCommand.h>
/**
* Close the claw.
*
* NOTE: It doesn't wait for the claw to close since there is no sensor to
* detect that.
*/
class CloseClaw : public frc::InstantCommand {
public:
CloseClaw();
void Initialize() override;
};

18
wpilibcExamples/src/main/cpp/examples/PacGoat/include/Commands/Collect.h Normal file
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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 <Commands/CommandGroup.h>
/**
* Get the robot set to collect balls.
*/
class Collect : public frc::CommandGroup {
public:
Collect();
};

19
wpilibcExamples/src/main/cpp/examples/PacGoat/include/Commands/DriveAndShootAutonomous.h Normal file
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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 <Commands/CommandGroup.h>
/**
* Drive over the line and then shoot the ball. If the hot goal is not detected,
* it will wait briefly.
*/
class DriveAndShootAutonomous : public frc::CommandGroup {
public:
DriveAndShootAutonomous();
};

34
wpilibcExamples/src/main/cpp/examples/PacGoat/include/Commands/DriveForward.h Normal file
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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 <Commands/Command.h>
/**
* This command drives the robot over a given distance with simple proportional
* control This command will drive a given distance limiting to a maximum speed.
*/
class DriveForward : public frc::Command {
public:
DriveForward();
explicit DriveForward(double dist);
DriveForward(double dist, double maxSpeed);
void Initialize() override;
void Execute() override;
bool IsFinished() override;
void End() override;
private:
double m_driveForwardSpeed;
double m_distance;
double m_error = 0;
static constexpr double kTolerance = 0.1;
static constexpr double kP = -1.0 / 5.0;
void init(double dist, double maxSpeed);
};

22
wpilibcExamples/src/main/cpp/examples/PacGoat/include/Commands/DriveWithJoystick.h Normal file
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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 <Commands/Command.h>
/**
* This command allows PS3 joystick to drive the robot. It is always running
* except when interrupted by another command.
*/
class DriveWithJoystick : public frc::Command {
public:
DriveWithJoystick();
void Execute() override;
bool IsFinished() override;
void End() override;
};

20
wpilibcExamples/src/main/cpp/examples/PacGoat/include/Commands/ExtendShooter.h Normal file
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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 <Commands/TimedCommand.h>
/**
* Extend the shooter and then retract it after a second.
*/
class ExtendShooter : public frc::TimedCommand {
public:
ExtendShooter();
void Initialize() override;
void End() override;
};

19
wpilibcExamples/src/main/cpp/examples/PacGoat/include/Commands/LowGoal.h Normal file
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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 <Commands/CommandGroup.h>
/**
* Spit the ball out into the low goal assuming that the robot is in front of
* it.
*/
class LowGoal : public frc::CommandGroup {
public:
LowGoal();
};

20
wpilibcExamples/src/main/cpp/examples/PacGoat/include/Commands/OpenClaw.h Normal file
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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 <Commands/Command.h>
/**
* Opens the claw
*/
class OpenClaw : public frc::Command {
public:
OpenClaw();
void Initialize() override;
bool IsFinished() override;
};

24
wpilibcExamples/src/main/cpp/examples/PacGoat/include/Commands/SetCollectionSpeed.h Normal file
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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 <Commands/InstantCommand.h>
/**
* This command sets the collector rollers spinning at the given speed. Since
* there is no sensor for detecting speed, it finishes immediately. As a result,
* the spinners may still be adjusting their speed.
*/
class SetCollectionSpeed : public frc::InstantCommand {
public:
explicit SetCollectionSpeed(double speed);
void Initialize() override;
private:
double m_speed;
};

25
wpilibcExamples/src/main/cpp/examples/PacGoat/include/Commands/SetPivotSetpoint.h Normal file
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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 <Commands/Command.h>
/**
* Moves the pivot 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 pivot should make sure they disable PID!
*/
class SetPivotSetpoint : public frc::Command {
public:
explicit SetPivotSetpoint(double setpoint);
void Initialize() override;
bool IsFinished() override;
private:
double m_setpoint;
};

18
wpilibcExamples/src/main/cpp/examples/PacGoat/include/Commands/Shoot.h Normal file
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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 <Commands/CommandGroup.h>
/**
* Shoot the ball at the current angle.
*/
class Shoot : public frc::CommandGroup {
public:
Shoot();
};

21
wpilibcExamples/src/main/cpp/examples/PacGoat/include/Commands/WaitForBall.h Normal file
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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 <Commands/Command.h>
/**
* Wait until the collector senses that it has the ball. This command does
* nothing and is intended to be used in command groups to wait for this
* condition.
*/
class WaitForBall : public frc::Command {
public:
WaitForBall();
bool IsFinished() override;
};

20
wpilibcExamples/src/main/cpp/examples/PacGoat/include/Commands/WaitForPressure.h Normal file
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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 <Commands/Command.h>
/**
* Wait until the pneumatics are fully pressurized. This command does nothing
* and is intended to be used in command groups to wait for this condition.
*/
class WaitForPressure : public frc::Command {
public:
WaitForPressure();
bool IsFinished() override;
};

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wpilibcExamples/src/main/cpp/examples/PacGoat/include/OI.h Normal file
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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 <Buttons/JoystickButton.h>
#include <Joystick.h>
#include "Triggers/DoubleButton.h"
class OI {
public:
OI();
frc::Joystick& GetJoystick();
private:
frc::Joystick m_joystick{0};
frc::JoystickButton m_l1{&m_joystick, 11};
frc::JoystickButton m_l2{&m_joystick, 9};
frc::JoystickButton m_r1{&m_joystick, 12};
frc::JoystickButton m_r2{&m_joystick, 10};
DoubleButton m_sticks{&m_joystick, 2, 3};
};

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wpilibcExamples/src/main/cpp/examples/PacGoat/include/Robot.h Normal file
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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 <Commands/Command.h>
#include <IterativeRobot.h>
#include <SmartDashboard/SendableChooser.h>
#include "Commands/DriveAndShootAutonomous.h"
#include "Commands/DriveForward.h"
#include "OI.h"
#include "Subsystems/Collector.h"
#include "Subsystems/DriveTrain.h"
#include "Subsystems/Pivot.h"
#include "Subsystems/Pneumatics.h"
#include "Subsystems/Shooter.h"
class Robot : public IterativeRobot {
public:
static DriveTrain drivetrain;
static Pivot pivot;
static Collector collector;
static Shooter shooter;
static Pneumatics pneumatics;
static OI oi;
private:
frc::Command* m_autonomousCommand = nullptr;
DriveAndShootAutonomous m_driveAndShootAuto;
DriveForward m_driveForwardAuto;
SendableChooser<frc::Command*> m_autoChooser;
void RobotInit() override;
void AutonomousInit() override;
void AutonomousPeriodic() override;
void TeleopInit() override;
void TeleopPeriodic() override;
void TestPeriodic() override;
void DisabledInit() override;
void DisabledPeriodic() override;
void Log();
};

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wpilibcExamples/src/main/cpp/examples/PacGoat/include/Subsystems/Collector.h Normal file
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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 <Commands/Subsystem.h>
#include <DigitalInput.h>
#include <Solenoid.h>
#include <Spark.h>
/**
* The Collector subsystem has one motor for the rollers, a limit switch for
* ball
* detection, a piston for opening and closing the claw, and a reed switch to
* check if the piston is open.
*/
class Collector : public frc::Subsystem {
public:
// Constants for some useful speeds
static constexpr double kForward = 1;
static constexpr double kStop = 0;
static constexpr double kReverse = -1;
Collector();
/**
* NOTE: The current simulation model uses the the lower part of the
* claw
* since the limit switch wasn't exported. At some point, this will be
* updated.
*
* @return Whether or not the robot has the ball.
*/
bool HasBall();
/**
* @param speed The speed to spin the rollers.
*/
void SetSpeed(double speed);
/**
* Stop the rollers from spinning
*/
void Stop();
/**
* @return Whether or not the claw is open.
*/
bool IsOpen();
/**
* Open the claw up. (For shooting)
*/
void Open();
/**
* Close the claw. (For collecting and driving)
*/
void Close();
/**
* No default command.
*/
void InitDefaultCommand() override;
private:
// Subsystem devices
frc::Spark m_rollerMotor{6};
frc::DigitalInput m_ballDetector{10};
frc::Solenoid m_piston{1};
frc::DigitalInput m_openDetector{6};
};

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wpilibcExamples/src/main/cpp/examples/PacGoat/include/Subsystems/DriveTrain.h Normal file
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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 <AnalogGyro.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 controls the robot's chassis and reads in
* information about it's speed and position.
*/
class DriveTrain : public frc::Subsystem {
public:
DriveTrain();
/**
* When other commands aren't using the drivetrain, allow tank drive
* with
* the joystick.
*/
void InitDefaultCommand();
/**
* @param leftAxis Left sides value
* @param rightAxis Right sides value
*/
void TankDrive(double leftAxis, double rightAxis);
/**
* Stop the drivetrain from moving.
*/
void Stop();
/**
* @return The encoder getting the distance and speed of left side of
* the drivetrain.
*/
Encoder& GetLeftEncoder();
/**
* @return The encoder getting the distance and speed of right side of
* the drivetrain.
*/
Encoder& GetRightEncoder();
/**
* @return The current angle of the drivetrain.
*/
double GetAngle();
private:
// Subsystem devices
frc::Spark m_frontLeftCIM{1};
frc::Spark m_rearLeftCIM{2};
frc::SpeedControllerGroup m_leftCIMs{m_frontLeftCIM, m_rearLeftCIM};
frc::Spark m_frontRightCIM{3};
frc::Spark m_rearRightCIM{4};
frc::SpeedControllerGroup m_rightCIMs{m_frontRightCIM, m_rearRightCIM};
frc::DifferentialDrive m_robotDrive{m_leftCIMs, m_rightCIMs};
frc::Encoder m_rightEncoder{1, 2, true, Encoder::k4X};
frc::Encoder m_leftEncoder{3, 4, false, Encoder::k4X};
frc::AnalogGyro m_gyro{0};
};

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wpilibcExamples/src/main/cpp/examples/PacGoat/include/Subsystems/Pivot.h Normal file
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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 <AnalogPotentiometer.h>
#include <Commands/PIDSubsystem.h>
#include <DigitalInput.h>
#include <Spark.h>
/**
* The Pivot subsystem contains the Van-door motor and the pot for PID control
* of angle of the pivot and claw.
*/
class Pivot : public frc::PIDSubsystem {
public:
// Constants for some useful angles
static constexpr double kCollect = 105;
static constexpr double kLowGoal = 90;
static constexpr double kShoot = 45;
static constexpr double kShootNear = 30;
Pivot();
/**
* No default command, if PID is enabled, the current setpoint will be
* maintained.
*/
void InitDefaultCommand() override {}
/**
* @return The angle read in by the potentiometer
*/
double ReturnPIDInput() override;
/**
* Set the motor speed based off of the PID output
*/
void UsePIDOutput(double output) override;
/**
* @return If the pivot is at its upper limit.
*/
bool IsAtUpperLimit();
/**
* @return If the pivot is at its lower limit.
*/
bool IsAtLowerLimit();
/**
* @return The current angle of the pivot.
*/
double GetAngle();
private:
// Subsystem devices
// Sensors for measuring the position of the pivot
frc::DigitalInput m_upperLimitSwitch{13};
frc::DigitalInput m_lowerLimitSwitch{12};
/* 0 degrees is vertical facing up.
* Angle increases the more forward the pivot goes.
*/
frc::AnalogPotentiometer m_pot{1};
// Motor to move the pivot
frc::Spark m_motor{5};
};

53
wpilibcExamples/src/main/cpp/examples/PacGoat/include/Subsystems/Pneumatics.h Normal file
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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 <AnalogInput.h>
#include <Commands/Subsystem.h>
#include <Compressor.h>
/**
* The Pneumatics subsystem contains the compressor and a pressure sensor.
*
* NOTE: The simulator currently doesn't support the compressor or pressure
* sensors.
*/
class Pneumatics : public frc::Subsystem {
public:
Pneumatics();
/**
* No default command
*/
void InitDefaultCommand() override;
/**
* Start the compressor going. The compressor automatically starts and
* stops as it goes above and below maximum pressure.
*/
void Start();
/**
* @return Whether or not the system is fully pressurized.
*/
bool IsPressurized();
/**
* Puts the pressure on the SmartDashboard.
*/
void WritePressure();
private:
frc::AnalogInput m_pressureSensor{3};
#ifndef SIMULATION
frc::Compressor m_compressor{1}; // TODO: (1, 14, 1, 8);
#endif
static constexpr double kMaxPressure = 2.55;
};

127
wpilibcExamples/src/main/cpp/examples/PacGoat/include/Subsystems/Shooter.h Normal file
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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 <Commands/Subsystem.h>
#include <DigitalInput.h>
#include <DoubleSolenoid.h>
#include <Solenoid.h>
/**
* The Shooter subsystem handles shooting. The mechanism for shooting is
* slightly complicated because it has to pneumatic cylinders for shooting, and
* a third latch to allow the pressure to partially build up and reduce the
* effect of the airflow. For shorter shots, when full power isn't needed, only
* one cylinder fires.
*
* NOTE: Simulation currently approximates this as as single pneumatic cylinder
* and ignores the latch.
*/
class Shooter : public frc::Subsystem {
public:
Shooter();
void InitDefaultCommand() override;
/**
* Extend both solenoids to shoot.
*/
void ExtendBoth();
/**
* Retract both solenoids to prepare to shoot.
*/
void RetractBoth();
/**
* Extend solenoid 1 to shoot.
*/
void Extend1();
/**
* Retract solenoid 1 to prepare to shoot.
*/
void Retract1();
/**
* Extend solenoid 2 to shoot.
*/
void Extend2();
/**
* Retract solenoid 2 to prepare to shoot.
*/
void Retract2();
/**
* Turns off the piston1 double solenoid. This won't actuate anything
* because double solenoids preserve their state when turned off. This
* should be called in order to reduce the amount of time that the coils
* are
* powered.
*/
void Off1();
/**
* Turns off the piston1 double solenoid. This won't actuate anything
* because double solenoids preserve their state when turned off. This
* should be called in order to reduce the amount of time that the coils
* are
* powered.
*/
void Off2();
/**
* Release the latch so that we can shoot
*/
void Unlatch();
/**
* Latch so that pressure can build up and we aren't limited by air
* flow.
*/
void Latch();
/**
* Toggles the latch postions
*/
void ToggleLatchPosition();
/**
* @return Whether or not piston 1 is fully extended.
*/
bool Piston1IsExtended();
/**
* @return Whether or not piston 1 is fully retracted.
*/
bool Piston1IsRetracted();
/**
* Turns off all double solenoids. Double solenoids hold their position
* when
* they are turned off. We should turn them off whenever possible to
* extend
* the life of the coils
*/
void OffBoth();
/**
* @return Whether or not the goal is hot as read by the banner sensor
*/
bool GoalIsHot();
private:
// Devices
frc::DoubleSolenoid m_piston1{3, 4};
frc::DoubleSolenoid m_piston2{5, 6};
frc::Solenoid m_latchPiston{1, 2};
frc::DigitalInput m_piston1ReedSwitchFront{9};
frc::DigitalInput m_piston1ReedSwitchBack{11};
frc::DigitalInput m_hotGoalSensor{
7}; // NOTE: Currently ignored in simulation
};

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wpilibcExamples/src/main/cpp/examples/PacGoat/include/Triggers/DoubleButton.h Normal file
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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 <Buttons/Trigger.h>
namespace frc {
class Joystick;
} // namespace frc
class DoubleButton : public frc::Trigger {
public:
DoubleButton(frc::Joystick* joy, int button1, int button2);
bool Get();
private:
frc::Joystick& m_joy;
int m_button1;
int m_button2;
};