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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
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35
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PotentiometerPID/src/Robot.cpp
View File

@@ -22,25 +22,20 @@ class Robot: public SampleRobot {
//and dGain may cause dangerous, uncontrollable, or undesired behavior!
const double pGain = -5.0, iGain = -0.02, dGain = -2.0; //these may need to be positive for a non-inverted motor
PIDController *pidController;
AnalogInput *potentiometer;
Victor *elevatorMotor;
Joystick *joystick;
AnalogInput potentiometer;
Victor elevatorMotor;
Joystick joystick;
PIDController pidController;
public:
Robot() :
SampleRobot()
{
//make objects for potentiometer, the elevator motor controller, and the joystick
potentiometer = new AnalogInput(potChannel);
elevatorMotor = new Victor(motorChannel);
joystick = new Joystick(joystickChannel);
potentiometer(potChannel), elevatorMotor(motorChannel), joystick(joystickChannel),
//potentiometer (AnalogInput) and elevatorMotor (Victor) can be used as a
//PIDSource and PIDOutput respectively
pidController = new PIDController(pGain, iGain, dGain, potentiometer,
elevatorMotor);
}
//PIDSource and PIDOutput respectively.
//The PIDController has to take a pointer to the PIDSource and PIDOutput, so
//you must call &potentiometer and &elevatorMotor to get their pointers.
pidController(pGain, iGain, dGain, &potentiometer, &elevatorMotor) {}
/**
* Runs during autonomous.
@@ -54,20 +49,20 @@ public:
* The elevator setpoint is selected by a joystick button.
*/
void OperatorControl() {
pidController->SetInputRange(0, 5); //0 to 5V
pidController->SetSetpoint(setPoints[0]); //set to first setpoint
pidController.SetInputRange(0, 5); //0 to 5V
pidController.SetSetpoint(setPoints[0]); //set to first setpoint
int index = 0;
bool currentValue;
bool previousValue = false;
while (IsOperatorControl() && IsEnabled()) {
pidController->Enable(); //begin PID control
pidController.Enable(); //begin PID control
//when the button is pressed once, the selected elevator setpoint is incremented
currentValue = joystick->GetRawButton(buttonNumber);
currentValue = joystick.GetRawButton(buttonNumber);
if (currentValue && !previousValue) {
pidController->SetSetpoint(setPoints[index]);
pidController.SetSetpoint(setPoints[index]);
index = (index + 1) % (sizeof(setPoints)/8); //index of elevator setpoint wraps around
}
previousValue = currentValue;
@@ -82,4 +77,4 @@ public:
}
};
START_ROBOT_CLASS(Robot);
START_ROBOT_CLASS(Robot)