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

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

@@ -0,0 +1,74 @@
+/*----------------------------------------------------------------------------*/
+/* 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};
+};