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Fixed examples to build/run with new WPILib versions.

Browse Source 
Also added some references/smart pointers to a couple places
that seemed convenient to the user.

I haven't updated the constructors for RobotDrive() related
examples, pending the results of gerrit change https://usfirst.collab.net/gerrit/#/c/960/

A few things that we are noticing:
--It might be nice if ReturnPIDInput() didn't have to be const;
  when people try to override it, they have to remember to put
  the const in and if they don't, then the compiler error isn't the
  most obvious (especially since this is a change). This would also
  apply to PIDGet() in the PIDSource interface.
--SendableChooser still takes raw pointers. This could lead to an
  issue I had to debug briefly where you accidentally call
  GetSelected() on autoChooser and put the resulting raw pointer
  into a unique_ptr, which destroys the pointer when it goes out of
  scope. Specifically, I was testing the PacGoat example and
  I ended up with a situation where if auto mode was run once, it
  was fine, but if it was run twice, the selected command would
  have been destroyed by the unique_ptr. I believe that this
  just requires updating SendableChosser to take shared_ptr.
--When the samples are compiled with -pedantic, it points out that
  START_ROBOT_CLASS macro expansion results in a redundant semicolon.

Change-Id: Ib4c025a61263d0d2780d4253faa31713e15333a5
This commit is contained in:
James Kuszmaul
2015-07-24 19:19:40 -04:00
committed by Brad Miller (WPI)
parent 4f8c1dff2f
commit e017f93f16
76 changed files with 411 additions and 424 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Commands/CloseClaw.cpp
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@@ -2,7 +2,7 @@
#include "Robot.h"
CloseClaw::CloseClaw() : Command("CloseClaw") {
Requires(Robot::claw);
Requires(Robot::claw.get());
}
// Called just before this Command runs the first time

4
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Commands/DriveStraight.cpp
View File

@@ -2,7 +2,7 @@
#include "Robot.h"
DriveStraight::DriveStraight(double distance) {
Requires(Robot::drivetrain);
Requires(Robot::drivetrain.get());
pid = new PIDController(4, 0, 0, new DriveStraightPIDSource(),
new DriveStraightPIDOutput());
pid->SetAbsoluteTolerance(0.01);
@@ -40,7 +40,7 @@ void DriveStraight::Interrupted() {
DriveStraightPIDSource::~DriveStraightPIDSource() {}
double DriveStraightPIDSource::PIDGet() {
double DriveStraightPIDSource::PIDGet() const {
return Robot::drivetrain->GetDistance();
}

2
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Commands/DriveStraight.h
View File

@@ -25,7 +25,7 @@ private:
class DriveStraightPIDSource: public PIDSource {
public:
virtual ~DriveStraightPIDSource();
double PIDGet();
double PIDGet() const;
};
class DriveStraightPIDOutput: public PIDOutput {

2
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Commands/OpenClaw.cpp
View File

@@ -2,7 +2,7 @@
#include "Robot.h"
OpenClaw::OpenClaw() : Command("OpenClaw") {
Requires(Robot::claw);
Requires(Robot::claw.get());
SetTimeout(1);
}

4
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Commands/SetDistanceToBox.cpp
View File

@@ -2,7 +2,7 @@
#include "Robot.h"
SetDistanceToBox::SetDistanceToBox(double distance) {
Requires(Robot::drivetrain);
Requires(Robot::drivetrain.get());
pid = new PIDController(-2, 0, 0, new SetDistanceToBoxPIDSource(),
new SetDistanceToBoxPIDOutput());
pid->SetAbsoluteTolerance(0.01);
@@ -40,7 +40,7 @@ void SetDistanceToBox::Interrupted() {
SetDistanceToBoxPIDSource::~SetDistanceToBoxPIDSource() {}
double SetDistanceToBoxPIDSource::PIDGet() {
double SetDistanceToBoxPIDSource::PIDGet() const {
return Robot::drivetrain->GetDistanceToObstacle();
}

2
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Commands/SetDistanceToBox.h
View File

@@ -25,7 +25,7 @@ private:
class SetDistanceToBoxPIDSource: public PIDSource {
public:
virtual ~SetDistanceToBoxPIDSource();
double PIDGet();
double PIDGet() const;
};
class SetDistanceToBoxPIDOutput: public PIDOutput {

2
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Commands/SetElevatorSetpoint.cpp
View File

@@ -4,7 +4,7 @@
SetElevatorSetpoint::SetElevatorSetpoint(double setpoint) : Command("SetElevatorSetpoint") {
this->setpoint = setpoint;
Requires(Robot::elevator);
Requires(Robot::elevator.get());
}
// Called just before this Command runs the first time

2
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Commands/SetWristSetpoint.cpp
View File

@@ -3,7 +3,7 @@
SetWristSetpoint::SetWristSetpoint(double setpoint) : Command("SetWristSetpoint") {
this->setpoint = setpoint;
Requires(Robot::wrist);
Requires(Robot::wrist.get());
}
// Called just before this Command runs the first time

2
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Commands/TankDriveWithJoystick.cpp
View File

@@ -2,7 +2,7 @@
#include "Robot.h"
TankDriveWithJoystick::TankDriveWithJoystick() : Command("TankDriveWithJoystick") {
Requires(Robot::drivetrain);
Requires(Robot::drivetrain.get());
}
// Called just before this Command runs the first time

42
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Robot.cpp
View File

@@ -1,34 +1,30 @@
#include "Robot.h"
#include "Commands/Autonomous.h"
DriveTrain* Robot::drivetrain = NULL;
Elevator* Robot::elevator = NULL;
Wrist* Robot::wrist = NULL;
Claw* Robot::claw = NULL;
std::shared_ptr<DriveTrain> Robot::drivetrain;
std::shared_ptr<Elevator> Robot::elevator;
std::shared_ptr<Wrist> Robot::wrist;
std::shared_ptr<Claw> Robot::claw;
OI* Robot::oi = NULL;
std::unique_ptr<OI> Robot::oi;
void Robot::RobotInit() {
drivetrain = new DriveTrain();
elevator = new Elevator();
wrist = new Wrist();
claw = new Claw();
drivetrain.reset(new DriveTrain());
elevator.reset(new Elevator());
wrist.reset(new Wrist());
claw.reset(new Claw());
oi = new OI();
oi.reset(new OI());
autonomousCommand = new Autonomous();
lw = LiveWindow::GetInstance();
// Show what command your subsystem is running on the SmartDashboard
SmartDashboard::PutData(drivetrain);
SmartDashboard::PutData(elevator);
SmartDashboard::PutData(wrist);
SmartDashboard::PutData(claw);
// Show what command your subsystem is running on the SmartDashboard
SmartDashboard::PutData(drivetrain.get());
SmartDashboard::PutData(elevator.get());
SmartDashboard::PutData(wrist.get());
SmartDashboard::PutData(claw.get());
}
void Robot::AutonomousInit() {
autonomousCommand->Start();
autonomousCommand.Start();
std::cout << "Starting Auto" << std::endl;
}
@@ -41,7 +37,7 @@ void Robot::TeleopInit() {
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
autonomousCommand->Cancel();
autonomousCommand.Cancel();
std::cout << "Starting Teleop" << std::endl;
}
@@ -50,7 +46,7 @@ void Robot::TeleopPeriodic() {
}
void Robot::TestPeriodic() {
lw->Run();
lw.Run();
}
START_ROBOT_CLASS(Robot);
START_ROBOT_CLASS(Robot)

15
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Robot.h
View File

@@ -10,6 +10,7 @@
#include "WPILib.h"
#include "Commands/Command.h"
#include "Commands/Autonomous.h"
#include "Subsystems/DriveTrain.h"
#include "Subsystems/Elevator.h"
@@ -19,15 +20,15 @@
class Robot: public IterativeRobot {
public:
static DriveTrain* drivetrain;
static Elevator* elevator;
static Wrist* wrist;
static Claw* claw;
static OI* oi;
static std::shared_ptr<DriveTrain> drivetrain;
static std::shared_ptr<Elevator> elevator;
static std::shared_ptr<Wrist> wrist;
static std::shared_ptr<Claw> claw;
static std::unique_ptr<OI> oi;
private:
Command *autonomousCommand;
LiveWindow *lw;
Autonomous autonomousCommand;
LiveWindow &lw = LiveWindow::GetInstance();
void RobotInit();
void AutonomousInit();

35
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/DriveTrain.cpp
View File

@@ -1,16 +1,12 @@
#include "DriveTrain.h"
#include "Commands/TankDriveWithJoystick.h"
DriveTrain::DriveTrain() : Subsystem("DriveTrain") {
front_left_motor = new Talon(1);
back_left_motor = new Talon(2);
front_right_motor = new Talon(3);
back_right_motor = new Talon(4);
drive = new RobotDrive(front_left_motor, back_left_motor,
front_right_motor, back_right_motor);
left_encoder = new Encoder(1, 2);
right_encoder = new Encoder(3, 4);
DriveTrain::DriveTrain()
: Subsystem("DriveTrain"), left_encoder(new Encoder(1, 2)),
right_encoder(new Encoder(3, 4)), rangefinder(new AnalogInput(6)),
gyro(new Gyro(1)) {
drive = new RobotDrive(new Talon(1), new Talon(2),
new Talon(3), new Talon(4));
// Encoders may measure differently in the real world and in
// simulation. In this example the robot moves 0.042 barleycorns
@@ -26,18 +22,15 @@ DriveTrain::DriveTrain() : Subsystem("DriveTrain") {
right_encoder->SetDistancePerPulse((double) (4.0/12.0*M_PI) / 360.0);
#endif
rangefinder = new AnalogInput(6);
gyro = new Gyro(1);
// Let's show everything on the LiveWindow
// TODO: LiveWindow::GetInstance()->AddActuator("Drive Train", "Front_Left Motor", (Talon) front_left_motor);
// TODO: LiveWindow::GetInstance()->AddActuator("Drive Train", "Back Left Motor", (Talon) back_left_motor);
// TODO: LiveWindow::GetInstance()->AddActuator("Drive Train", "Front Right Motor", (Talon) front_right_motor);
// TODO: LiveWindow::GetInstance()->AddActuator("Drive Train", "Back Right Motor", (Talon) back_right_motor);
LiveWindow::GetInstance()->AddSensor("Drive Train", "Left Encoder", left_encoder);
LiveWindow::GetInstance()->AddSensor("Drive Train", "Right Encoder", right_encoder);
LiveWindow::GetInstance()->AddSensor("Drive Train", "Rangefinder", rangefinder);
LiveWindow::GetInstance()->AddSensor("Drive Train", "Gyro", gyro);
// TODO: LiveWindow::GetInstance().AddActuator("Drive Train", "Front_Left Motor", (Talon) front_left_motor);
// TODO: LiveWindow::GetInstance().AddActuator("Drive Train", "Back Left Motor", (Talon) back_left_motor);
// TODO: LiveWindow::GetInstance().AddActuator("Drive Train", "Front Right Motor", (Talon) front_right_motor);
// TODO: LiveWindow::GetInstance().AddActuator("Drive Train", "Back Right Motor", (Talon) back_right_motor);
LiveWindow::GetInstance().AddSensor("Drive Train", "Left Encoder", left_encoder);
LiveWindow::GetInstance().AddSensor("Drive Train", "Right Encoder", right_encoder);
LiveWindow::GetInstance().AddSensor("Drive Train", "Rangefinder", rangefinder);
LiveWindow::GetInstance().AddSensor("Drive Train", "Gyro", gyro);
}
/**

8
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/DriveTrain.h
View File

@@ -10,12 +10,10 @@
*/
class DriveTrain : public Subsystem {
private:
SpeedController *front_left_motor, *back_left_motor,
*front_right_motor, *back_right_motor;
RobotDrive* drive;
Encoder *left_encoder, *right_encoder;
AnalogInput* rangefinder;
Gyro* gyro;
std::shared_ptr<Encoder> left_encoder, right_encoder;
std::shared_ptr<AnalogInput> rangefinder;
std::shared_ptr<Gyro> gyro;
public:
DriveTrain();

8
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/Elevator.cpp
View File

@@ -18,16 +18,16 @@ Elevator::Elevator() : PIDSubsystem("Elevator", kP_real, kI_real, 0.0) {
#endif
// Let's show everything on the LiveWindow
// TODO: LiveWindow::GetInstance()->AddActuator("Elevator", "Motor", (Victor) motor);
// TODO: LiveWindow::GetInstance()->AddSensor("Elevator", "Pot", (AnalogPotentiometer) pot);
LiveWindow::GetInstance()->AddActuator("Elevator", "PID", GetPIDController());
// TODO: LiveWindow::GetInstance().AddActuator("Elevator", "Motor", (Victor) motor);
// TODO: LiveWindow::GetInstance().AddSensor("Elevator", "Pot", (AnalogPotentiometer) pot);
LiveWindow::GetInstance().AddActuator("Elevator", "PID", GetPIDController());
}
void Elevator::Log() {
// TODO: SmartDashboard::PutData("Wrist Pot", (AnalogPotentiometer) pot);
}
double Elevator::ReturnPIDInput() {
double Elevator::ReturnPIDInput() const {
return pot->Get();
}

2
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/Elevator.h
View File

@@ -29,7 +29,7 @@ public:
* Use the potentiometer as the PID sensor. This method is automatically
* called by the subsystem.
*/
double ReturnPIDInput();
double ReturnPIDInput() const;
/**

8
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/Wrist.cpp
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@@ -18,16 +18,16 @@ Wrist::Wrist() : PIDSubsystem("Wrist", kP_real, 0.0, 0.0) {
#endif
// Let's show everything on the LiveWindow
// TODO: LiveWindow::GetInstance()->AddActuator("Wrist", "Motor", (Victor) motor);
// TODO: LiveWindow::GetInstance()->AddSensor("Wrist", "Pot", (AnalogPotentiometer) pot);
LiveWindow::GetInstance()->AddActuator("Wrist", "PID", GetPIDController());
// TODO: LiveWindow::GetInstance().AddActuator("Wrist", "Motor", (Victor) motor);
// TODO: LiveWindow::GetInstance().AddSensor("Wrist", "Pot", (AnalogPotentiometer) pot);
LiveWindow::GetInstance().AddActuator("Wrist", "PID", GetPIDController());
}
void Wrist::Log() {
// TODO: SmartDashboard::PutData("Wrist Angle", (AnalogPotentiometer) pot);
}
double Wrist::ReturnPIDInput() {
double Wrist::ReturnPIDInput() const {
return pot->Get();
}

2
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/Wrist.h
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@@ -28,7 +28,7 @@ public:
* Use the potentiometer as the PID sensor. This method is automatically
* called by the subsystem.
*/
double ReturnPIDInput();
double ReturnPIDInput() const;
/**
* Use the motor as the PID output. This method is automatically called by