diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/ExampleSmartMotorController.h b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/ExampleSmartMotorController.h index 7c8d261a64..f0e888d1c1 100644 --- a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/ExampleSmartMotorController.h +++ b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/ExampleSmartMotorController.h @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2019 FIRST. All Rights Reserved. */ +/* Copyright (c) 2019-2020 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. */ @@ -48,9 +48,9 @@ class ExampleSmartMotorController : public frc::SpeedController { /** * Places this motor controller in follower mode. * - * @param master The master to follow. + * @param leader The leader to follow. */ - void Follow(ExampleSmartMotorController master) {} + void Follow(ExampleSmartMotorController leader) {} /** * Returns the encoder distance. diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h index d93172dc5c..f601689e05 100644 --- a/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h +++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h @@ -60,13 +60,13 @@ class Drivetrain { static constexpr double kWheelRadius = 0.0508; // meters static constexpr int kEncoderResolution = 4096; - frc::PWMVictorSPX m_leftMaster{1}; + frc::PWMVictorSPX m_leftLeader{1}; frc::PWMVictorSPX m_leftFollower{2}; - frc::PWMVictorSPX m_rightMaster{3}; + frc::PWMVictorSPX m_rightLeader{3}; frc::PWMVictorSPX m_rightFollower{4}; - frc::SpeedControllerGroup m_leftGroup{m_leftMaster, m_leftFollower}; - frc::SpeedControllerGroup m_rightGroup{m_rightMaster, m_rightFollower}; + frc::SpeedControllerGroup m_leftGroup{m_leftLeader, m_leftFollower}; + frc::SpeedControllerGroup m_rightGroup{m_rightLeader, m_rightFollower}; frc::Encoder m_leftEncoder{0, 1}; frc::Encoder m_rightEncoder{2, 3}; diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/subsystems/DriveSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/subsystems/DriveSubsystem.cpp index cd8b3e4e29..d0bdef6b6e 100644 --- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/subsystems/DriveSubsystem.cpp +++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/subsystems/DriveSubsystem.cpp @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2019 FIRST. All Rights Reserved. */ +/* Copyright (c) 2019-2020 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. */ @@ -10,16 +10,16 @@ using namespace DriveConstants; DriveSubsystem::DriveSubsystem() - : m_leftMaster{kLeftMotor1Port}, - m_leftSlave{kLeftMotor2Port}, - m_rightMaster{kRightMotor1Port}, - m_rightSlave{kRightMotor2Port}, + : m_leftLeader{kLeftMotor1Port}, + m_leftFollower{kLeftMotor2Port}, + m_rightLeader{kRightMotor1Port}, + m_rightFollower{kRightMotor2Port}, m_feedforward{ks, kv, ka} { - m_leftSlave.Follow(m_leftMaster); - m_rightSlave.Follow(m_rightMaster); + m_leftFollower.Follow(m_leftLeader); + m_rightFollower.Follow(m_rightLeader); - m_leftMaster.SetPID(kp, 0, 0); - m_rightMaster.SetPID(kp, 0, 0); + m_leftLeader.SetPID(kp, 0, 0); + m_rightLeader.SetPID(kp, 0, 0); } void DriveSubsystem::Periodic() { @@ -29,10 +29,10 @@ void DriveSubsystem::Periodic() { void DriveSubsystem::SetDriveStates( frc::TrapezoidProfile::State left, frc::TrapezoidProfile::State right) { - m_leftMaster.SetSetpoint(ExampleSmartMotorController::PIDMode::kPosition, + m_leftLeader.SetSetpoint(ExampleSmartMotorController::PIDMode::kPosition, left.position.to(), m_feedforward.Calculate(left.velocity) / 12_V); - m_rightMaster.SetSetpoint(ExampleSmartMotorController::PIDMode::kPosition, + m_rightLeader.SetSetpoint(ExampleSmartMotorController::PIDMode::kPosition, right.position.to(), m_feedforward.Calculate(right.velocity) / 12_V); } @@ -42,16 +42,16 @@ void DriveSubsystem::ArcadeDrive(double fwd, double rot) { } void DriveSubsystem::ResetEncoders() { - m_leftMaster.ResetEncoder(); - m_rightMaster.ResetEncoder(); + m_leftLeader.ResetEncoder(); + m_rightLeader.ResetEncoder(); } units::meter_t DriveSubsystem::GetLeftEncoderDistance() { - return units::meter_t(m_leftMaster.GetEncoderDistance()); + return units::meter_t(m_leftLeader.GetEncoderDistance()); } units::meter_t DriveSubsystem::GetRightEncoderDistance() { - return units::meter_t(m_rightMaster.GetEncoderDistance()); + return units::meter_t(m_rightLeader.GetEncoderDistance()); } void DriveSubsystem::SetMaxOutput(double maxOutput) { diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/ExampleSmartMotorController.h b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/ExampleSmartMotorController.h index 7c8d261a64..f0e888d1c1 100644 --- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/ExampleSmartMotorController.h +++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/ExampleSmartMotorController.h @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2019 FIRST. All Rights Reserved. */ +/* Copyright (c) 2019-2020 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. */ @@ -48,9 +48,9 @@ class ExampleSmartMotorController : public frc::SpeedController { /** * Places this motor controller in follower mode. * - * @param master The master to follow. + * @param leader The leader to follow. */ - void Follow(ExampleSmartMotorController master) {} + void Follow(ExampleSmartMotorController leader) {} /** * Returns the encoder distance. diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/subsystems/DriveSubsystem.h b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/subsystems/DriveSubsystem.h index f68cbbd5ca..900995f4db 100644 --- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/subsystems/DriveSubsystem.h +++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/subsystems/DriveSubsystem.h @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2019 FIRST. All Rights Reserved. */ +/* Copyright (c) 2019-2020 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. */ @@ -77,14 +77,14 @@ class DriveSubsystem : public frc2::SubsystemBase { // declared private and exposed only through public methods. // The motor controllers - ExampleSmartMotorController m_leftMaster; - ExampleSmartMotorController m_leftSlave; - ExampleSmartMotorController m_rightMaster; - ExampleSmartMotorController m_rightSlave; + ExampleSmartMotorController m_leftLeader; + ExampleSmartMotorController m_leftFollower; + ExampleSmartMotorController m_rightLeader; + ExampleSmartMotorController m_rightFollower; // A feedforward component for the drive frc::SimpleMotorFeedforward m_feedforward; // The robot's drive - frc::DifferentialDrive m_drive{m_leftMaster, m_rightMaster}; + frc::DifferentialDrive m_drive{m_leftLeader, m_rightLeader}; }; diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/include/ExampleSmartMotorController.h b/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/include/ExampleSmartMotorController.h index 7c8d261a64..f0e888d1c1 100644 --- a/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/include/ExampleSmartMotorController.h +++ b/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/include/ExampleSmartMotorController.h @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2019 FIRST. All Rights Reserved. */ +/* Copyright (c) 2019-2020 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. */ @@ -48,9 +48,9 @@ class ExampleSmartMotorController : public frc::SpeedController { /** * Places this motor controller in follower mode. * - * @param master The master to follow. + * @param leader The leader to follow. */ - void Follow(ExampleSmartMotorController master) {} + void Follow(ExampleSmartMotorController leader) {} /** * Returns the encoder distance. diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/ExampleSmartMotorController.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/ExampleSmartMotorController.java index 0fa7daedd1..153a25436b 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/ExampleSmartMotorController.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/ExampleSmartMotorController.java @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2019 FIRST. All Rights Reserved. */ +/* Copyright (c) 2019-2020 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. */ @@ -53,9 +53,9 @@ public class ExampleSmartMotorController implements SpeedController { /** * Places this motor controller in follower mode. * - * @param master The master to follow. + * @param leader The leader to follow. */ - public void follow(ExampleSmartMotorController master) { + public void follow(ExampleSmartMotorController leader) { } /** diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java index 7e681365b0..1be450cdc5 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java @@ -31,18 +31,18 @@ public class Drivetrain { private static final double kWheelRadius = 0.0508; // meters private static final int kEncoderResolution = 4096; - private final SpeedController m_leftMaster = new PWMVictorSPX(1); + private final SpeedController m_leftLeader = new PWMVictorSPX(1); private final SpeedController m_leftFollower = new PWMVictorSPX(2); - private final SpeedController m_rightMaster = new PWMVictorSPX(3); + private final SpeedController m_rightLeader = new PWMVictorSPX(3); private final SpeedController m_rightFollower = new PWMVictorSPX(4); private final Encoder m_leftEncoder = new Encoder(0, 1); private final Encoder m_rightEncoder = new Encoder(2, 3); private final SpeedControllerGroup m_leftGroup - = new SpeedControllerGroup(m_leftMaster, m_leftFollower); + = new SpeedControllerGroup(m_leftLeader, m_leftFollower); private final SpeedControllerGroup m_rightGroup - = new SpeedControllerGroup(m_rightMaster, m_rightFollower); + = new SpeedControllerGroup(m_rightLeader, m_rightFollower); private final AnalogGyro m_gyro = new AnalogGyro(0); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/ExampleSmartMotorController.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/ExampleSmartMotorController.java index 6e1902048d..e2fb7c8166 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/ExampleSmartMotorController.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/ExampleSmartMotorController.java @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2019 FIRST. All Rights Reserved. */ +/* Copyright (c) 2019-2020 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. */ @@ -53,9 +53,9 @@ public class ExampleSmartMotorController implements SpeedController { /** * Places this motor controller in follower mode. * - * @param master The master to follow. + * @param leader The leader to follow. */ - public void follow(ExampleSmartMotorController master) { + public void follow(ExampleSmartMotorController leader) { } /** diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java index ac5510013d..3d52adbaee 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/subsystems/DriveSubsystem.java @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2019 FIRST. All Rights Reserved. */ +/* Copyright (c) 2019-2020 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. */ @@ -17,16 +17,16 @@ import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.ExampleSmartMotorCon public class DriveSubsystem extends SubsystemBase { // The motors on the left side of the drive. - private final ExampleSmartMotorController m_leftMaster = + private final ExampleSmartMotorController m_leftLeader = new ExampleSmartMotorController(DriveConstants.kLeftMotor1Port); - private final ExampleSmartMotorController m_leftSlave = + private final ExampleSmartMotorController m_leftFollower = new ExampleSmartMotorController(DriveConstants.kLeftMotor2Port); - private final ExampleSmartMotorController m_rightMaster = + private final ExampleSmartMotorController m_rightLeader = new ExampleSmartMotorController(DriveConstants.kRightMotor1Port); - private final ExampleSmartMotorController m_rightSlave = + private final ExampleSmartMotorController m_rightFollower = new ExampleSmartMotorController(DriveConstants.kRightMotor2Port); private final SimpleMotorFeedforward m_feedforward = @@ -35,17 +35,17 @@ public class DriveSubsystem extends SubsystemBase { DriveConstants.kaVoltSecondsSquaredPerMeter); // The robot's drive - private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMaster, m_rightMaster); + private final DifferentialDrive m_drive = new DifferentialDrive(m_leftLeader, m_rightLeader); /** * Creates a new DriveSubsystem. */ public DriveSubsystem() { - m_leftSlave.follow(m_leftMaster); - m_rightSlave.follow(m_rightMaster); + m_leftFollower.follow(m_leftLeader); + m_rightFollower.follow(m_rightLeader); - m_leftMaster.setPID(DriveConstants.kp, 0, 0); - m_rightMaster.setPID(DriveConstants.kp, 0, 0); + m_leftLeader.setPID(DriveConstants.kp, 0, 0); + m_rightLeader.setPID(DriveConstants.kp, 0, 0); } /** @@ -65,10 +65,10 @@ public class DriveSubsystem extends SubsystemBase { * @param right The right wheel state. */ public void setDriveStates(TrapezoidProfile.State left, TrapezoidProfile.State right) { - m_leftMaster.setSetpoint(ExampleSmartMotorController.PIDMode.kPosition, + m_leftLeader.setSetpoint(ExampleSmartMotorController.PIDMode.kPosition, left.position, m_feedforward.calculate(left.velocity)); - m_rightMaster.setSetpoint(ExampleSmartMotorController.PIDMode.kPosition, + m_rightLeader.setSetpoint(ExampleSmartMotorController.PIDMode.kPosition, right.position, m_feedforward.calculate(right.velocity)); } @@ -79,7 +79,7 @@ public class DriveSubsystem extends SubsystemBase { * @return the left encoder distance */ public double getLeftEncoderDistance() { - return m_leftMaster.getEncoderDistance(); + return m_leftLeader.getEncoderDistance(); } /** @@ -88,15 +88,15 @@ public class DriveSubsystem extends SubsystemBase { * @return the right encoder distance */ public double getRightEncoderDistance() { - return m_rightMaster.getEncoderDistance(); + return m_rightLeader.getEncoderDistance(); } /** * Resets the drive encoders. */ public void resetEncoders() { - m_leftMaster.resetEncoder(); - m_rightMaster.resetEncoder(); + m_leftLeader.resetEncoder(); + m_rightLeader.resetEncoder(); } /** diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/ExampleSmartMotorController.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/ExampleSmartMotorController.java index d6a84ef753..94e3c77b44 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/ExampleSmartMotorController.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/ExampleSmartMotorController.java @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2019 FIRST. All Rights Reserved. */ +/* Copyright (c) 2019-2020 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. */ @@ -53,9 +53,9 @@ public class ExampleSmartMotorController implements SpeedController { /** * Places this motor controller in follower mode. * - * @param master The master to follow. + * @param leader The leader to follow. */ - public void follow(ExampleSmartMotorController master) { + public void follow(ExampleSmartMotorController leader) { } /** diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/ITestFixture.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/ITestFixture.java index df797f15bd..34659157d2 100644 --- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/ITestFixture.java +++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/ITestFixture.java @@ -1,5 +1,5 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */ +/* Copyright (c) 2008-2020 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. */ @@ -10,7 +10,7 @@ package edu.wpi.first.wpilibj.fixtures; import edu.wpi.first.wpilibj.test.TestBench; /** - * Master interface for all test fixtures. This ensures that all test fixtures have setup and + * Common interface for all test fixtures. This ensures that all test fixtures have setup and * teardown methods, to ensure that the tests run properly. Test fixtures should be modeled around * the content of a test, rather than the actual physical layout of the testing board. They should * obtain references to hardware from the {@link TestBench} class, which is a singleton. Testing