Move CameraServer and WPILib headers into their own folder

The old headers were moved into folders because doing so avoids polluting
the system include directories.

Folder names were also normalized to lowercase.

wpilibc/src/main/native/include/frc/drive/KilloughDrive.h

@@ -0,0 +1,142 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <memory>
+
+#include <wpi/raw_ostream.h>
+
+#include "frc/drive/RobotDriveBase.h"
+#include "frc/drive/Vector2d.h"
+
+namespace frc {
+
+class SpeedController;
+
+/**
+ * A class for driving Killough drive platforms.
+ *
+ * Killough drives are triangular with one omni wheel on each corner.
+ *
+ * Drive base diagram:
+ * <pre>
+ *  /_____\
+ * / \   / \
+ *    \ /
+ *    ---
+ * </pre>
+ *
+ * Each Drive() function provides different inverse kinematic relations for a
+ * Killough drive. The default wheel vectors are parallel to their respective
+ * opposite sides, but can be overridden. See the constructor for more
+ * information.
+ *
+ * This library uses the NED axes convention (North-East-Down as external
+ * reference in the world frame):
+ * http://www.nuclearprojects.com/ins/images/axis_big.png.
+ *
+ * The positive X axis points ahead, the positive Y axis points right, and the
+ * and the positive Z axis points down. Rotations follow the right-hand rule, so
+ * clockwise rotation around the Z axis is positive.
+ */
+class KilloughDrive : public RobotDriveBase {
+ public:
+  static constexpr double kDefaultLeftMotorAngle = 60.0;
+  static constexpr double kDefaultRightMotorAngle = 120.0;
+  static constexpr double kDefaultBackMotorAngle = 270.0;
+
+  /**
+   * Construct a Killough drive with the given motors and default motor angles.
+   *
+   * The default motor angles make the wheels on each corner parallel to their
+   * respective opposite sides.
+   *
+   * If a motor needs to be inverted, do so before passing it in.
+   *
+   * @param leftMotor  The motor on the left corner.
+   * @param rightMotor The motor on the right corner.
+   * @param backMotor  The motor on the back corner.
+   */
+  KilloughDrive(SpeedController& leftMotor, SpeedController& rightMotor,
+                SpeedController& backMotor);
+
+  /**
+   * Construct a Killough drive with the given motors.
+   *
+   * Angles are measured in degrees clockwise from the positive X axis.
+   *
+   * @param leftMotor       The motor on the left corner.
+   * @param rightMotor      The motor on the right corner.
+   * @param backMotor       The motor on the back corner.
+   * @param leftMotorAngle  The angle of the left wheel's forward direction of
+   *                        travel.
+   * @param rightMotorAngle The angle of the right wheel's forward direction of
+   *                        travel.
+   * @param backMotorAngle  The angle of the back wheel's forward direction of
+   *                        travel.
+   */
+  KilloughDrive(SpeedController& leftMotor, SpeedController& rightMotor,
+                SpeedController& backMotor, double leftMotorAngle,
+                double rightMotorAngle, double backMotorAngle);
+
+  ~KilloughDrive() override = default;
+
+  KilloughDrive(const KilloughDrive&) = delete;
+  KilloughDrive& operator=(const KilloughDrive&) = delete;
+
+  /**
+   * Drive method for Killough platform.
+   *
+   * Angles are measured clockwise from the positive X axis. The robot's speed
+   * is independent from its angle or rotation rate.
+   *
+   * @param ySpeed    The robot's speed along the Y axis [-1.0..1.0]. Right is
+   *                  positive.
+   * @param xSpeed    The robot's speed along the X axis [-1.0..1.0]. Forward is
+   *                  positive.
+   * @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0].
+   *                  Clockwise is positive.
+   * @param gyroAngle The current angle reading from the gyro in degrees around
+   *                  the Z axis. Use this to implement field-oriented controls.
+   */
+  void DriveCartesian(double ySpeed, double xSpeed, double zRotation,
+                      double gyroAngle = 0.0);
+
+  /**
+   * Drive method for Killough platform.
+   *
+   * Angles are measured clockwise from the positive X axis. The robot's speed
+   * is independent from its angle or rotation rate.
+   *
+   * @param magnitude The robot's speed at a given angle [-1.0..1.0]. Forward is
+   *                  positive.
+   * @param angle     The angle around the Z axis at which the robot drives in
+   *                  degrees [-180..180].
+   * @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0].
+   *                  Clockwise is positive.
+   */
+  void DrivePolar(double magnitude, double angle, double zRotation);
+
+  void StopMotor() override;
+  void GetDescription(wpi::raw_ostream& desc) const override;
+
+  void InitSendable(SendableBuilder& builder) override;
+
+ private:
+  SpeedController& m_leftMotor;
+  SpeedController& m_rightMotor;
+  SpeedController& m_backMotor;
+
+  Vector2d m_leftVec;
+  Vector2d m_rightVec;
+  Vector2d m_backVec;
+
+  bool reported = false;
+};
+
+}  // namespace frc