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

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

@@ -0,0 +1,79 @@
+/*----------------------------------------------------------------------------*/
+/* 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};
+};