From f65e697107ba07bee23dcd50546b40fad95fc404 Mon Sep 17 00:00:00 2001 From: James Kuszmaul Date: Fri, 24 Jul 2015 19:19:40 -0400 Subject: [PATCH] Revert changes preventing old user code from compiling. I'm not 100% sure whether we want these, but they are a quick find and replace to do. Basically, there are two primary things that we have done this summer that break existing user code: -Changing GetInstance() calls to return references instead of pointers. This forces users to change from doing something like LiveWindow::GetInstance()->AddSensor() to LiveWindow::GetInstance().AddSensor(). -Making PIDGet() and related calls const, forcing users to change the function signatures wherever they override them. The GetInstance() calls don't really matter to me either way, especially since there are no real ownership issues going on there, unlike the rest of the smart pointer-related changes. For the const stuff, it is certainly more correct to mandate that user PIDGet() functions be const and the such, but at the same time, I'm not sure that there is any strong need for it, and the errors generated are not the most helpful. While this wouldn't necessarily be an issue for more experienced teams or completely new teams (who don't have any old code to be reusing), it may cause issues for more average teams who aren't familiar with the intricacies of C++ anything. Change-Id: I6e7007982069292ea70e6d0fc8ca40203340df1b --- .../templates/command-based/PIDSubsystem.cpp | 2 +- .../templates/command-based/PIDSubsystem.h | 2 +- .../templates/command-based/Robot.cpp | 8 +- .../GearsBot/src/Commands/DriveStraight.cpp | 2 +- .../GearsBot/src/Commands/DriveStraight.h | 2 +- .../src/Commands/SetDistanceToBox.cpp | 2 +- .../GearsBot/src/Commands/SetDistanceToBox.h | 2 +- .../templates/examples/GearsBot/src/Robot.cpp | 6 +- .../templates/examples/GearsBot/src/Robot.h | 2 +- .../GearsBot/src/Subsystems/DriveTrain.cpp | 16 +-- .../GearsBot/src/Subsystems/Elevator.cpp | 8 +- .../GearsBot/src/Subsystems/Elevator.h | 2 +- .../GearsBot/src/Subsystems/Wrist.cpp | 8 +- .../examples/GearsBot/src/Subsystems/Wrist.h | 2 +- .../examples/GettingStarted/src/Robot.cpp | 4 +- .../templates/examples/PacGoat/src/Robot.cpp | 6 +- .../PacGoat/src/Subsystems/Collector.cpp | 6 +- .../PacGoat/src/Subsystems/DriveTrain.cpp | 6 +- .../examples/PacGoat/src/Subsystems/Pivot.cpp | 12 +- .../examples/PacGoat/src/Subsystems/Pivot.h | 2 +- .../PacGoat/src/Subsystems/Pneumatics.cpp | 2 +- .../PacGoat/src/Subsystems/Shooter.cpp | 8 +- .../resources/templates/iterative/Robot.cpp | 4 +- .../wpilibC++/include/Commands/PIDCommand.h | 6 +- .../wpilibC++/include/Commands/PIDSubsystem.h | 4 +- .../wpilibC++/include/Commands/Scheduler.h | 2 +- .../wpilibC++/include/LiveWindow/LiveWindow.h | 4 +- wpilibc/wpilibC++/include/PIDSource.h | 2 +- .../wpilibC++/src/Buttons/ButtonScheduler.cpp | 2 +- wpilibc/wpilibC++/src/Commands/Command.cpp | 2 +- wpilibc/wpilibC++/src/Commands/PIDCommand.cpp | 4 +- .../wpilibC++/src/Commands/PIDSubsystem.cpp | 2 +- wpilibc/wpilibC++/src/Commands/Scheduler.cpp | 4 +- wpilibc/wpilibC++/src/Commands/Subsystem.cpp | 2 +- .../wpilibC++/src/LiveWindow/LiveWindow.cpp | 10 +- .../include/AnalogAccelerometer.h | 2 +- .../wpilibC++Devices/include/AnalogInput.h | 2 +- .../include/AnalogPotentiometer.h | 2 +- wpilibc/wpilibC++Devices/include/CANTalon.h | 2 +- wpilibc/wpilibC++Devices/include/Encoder.h | 2 +- wpilibc/wpilibC++Devices/include/Gyro.h | 2 +- wpilibc/wpilibC++Devices/include/Ultrasonic.h | 2 +- wpilibc/wpilibC++Devices/src/ADXL345_I2C.cpp | 2 +- wpilibc/wpilibC++Devices/src/ADXL345_SPI.cpp | 2 +- .../src/AnalogAccelerometer.cpp | 4 +- wpilibc/wpilibC++Devices/src/AnalogInput.cpp | 4 +- wpilibc/wpilibC++Devices/src/AnalogOutput.cpp | 2 +- .../src/AnalogPotentiometer.cpp | 2 +- .../src/BuiltInAccelerometer.cpp | 2 +- wpilibc/wpilibC++Devices/src/CANJaguar.cpp | 2 +- wpilibc/wpilibC++Devices/src/CANTalon.cpp | 2 +- wpilibc/wpilibC++Devices/src/DigitalInput.cpp | 2 +- .../wpilibC++Devices/src/DoubleSolenoid.cpp | 2 +- wpilibc/wpilibC++Devices/src/Encoder.cpp | 4 +- wpilibc/wpilibC++Devices/src/GearTooth.cpp | 2 +- wpilibc/wpilibC++Devices/src/Gyro.cpp | 4 +- .../wpilibC++Devices/src/IterativeRobot.cpp | 14 +- wpilibc/wpilibC++Devices/src/Jaguar.cpp | 2 +- wpilibc/wpilibC++Devices/src/Relay.cpp | 2 +- wpilibc/wpilibC++Devices/src/SampleRobot.cpp | 8 +- wpilibc/wpilibC++Devices/src/Solenoid.cpp | 2 +- wpilibc/wpilibC++Devices/src/Talon.cpp | 2 +- wpilibc/wpilibC++Devices/src/TalonSRX.cpp | 2 +- wpilibc/wpilibC++Devices/src/Ultrasonic.cpp | 4 +- wpilibc/wpilibC++Devices/src/Victor.cpp | 2 +- wpilibc/wpilibC++Devices/src/VictorSP.cpp | 2 +- .../src/TestEnvironment.cpp | 2 +- .../src/command/CommandTest.cpp | 128 +++++++++--------- wpilibc/wpilibC++Sim/include/AnalogInput.h | 2 +- .../include/AnalogPotentiometer.h | 2 +- wpilibc/wpilibC++Sim/include/Encoder.h | 2 +- wpilibc/wpilibC++Sim/include/Gyro.h | 2 +- wpilibc/wpilibC++Sim/src/AnalogInput.cpp | 4 +- .../wpilibC++Sim/src/AnalogPotentiometer.cpp | 2 +- wpilibc/wpilibC++Sim/src/DoubleSolenoid.cpp | 2 +- wpilibc/wpilibC++Sim/src/Encoder.cpp | 4 +- wpilibc/wpilibC++Sim/src/Gyro.cpp | 4 +- wpilibc/wpilibC++Sim/src/IterativeRobot.cpp | 14 +- wpilibc/wpilibC++Sim/src/Jaguar.cpp | 2 +- wpilibc/wpilibC++Sim/src/Relay.cpp | 2 +- wpilibc/wpilibC++Sim/src/SampleRobot.cpp | 10 +- wpilibc/wpilibC++Sim/src/Solenoid.cpp | 2 +- wpilibc/wpilibC++Sim/src/Talon.cpp | 2 +- wpilibc/wpilibC++Sim/src/Victor.cpp | 2 +- 84 files changed, 218 insertions(+), 218 deletions(-) diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/PIDSubsystem.cpp b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/PIDSubsystem.cpp index d88641ff61..01dcf6a649 100644 --- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/PIDSubsystem.cpp +++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/PIDSubsystem.cpp @@ -12,7 +12,7 @@ $classname::$classname() : // Enable() - Enables the PID controller. } -double $classname::ReturnPIDInput() const +double $classname::ReturnPIDInput() { // Return your input value for the PID loop // e.g. a sensor, like a potentiometer: diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/PIDSubsystem.h b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/PIDSubsystem.h index 2e72a8d560..ffb573a3de 100644 --- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/PIDSubsystem.h +++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/PIDSubsystem.h @@ -8,7 +8,7 @@ class $classname: public PIDSubsystem { public: $classname(); - double ReturnPIDInput() const; + double ReturnPIDInput(); void UsePIDOutput(double output); void InitDefaultCommand(); }; diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/Robot.cpp b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/Robot.cpp index d062e4c36c..a41f36ab1e 100644 --- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/Robot.cpp +++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/Robot.cpp @@ -25,7 +25,7 @@ private: void DisabledPeriodic() { - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); } void AutonomousInit() @@ -36,7 +36,7 @@ private: void AutonomousPeriodic() { - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); } void TeleopInit() @@ -51,12 +51,12 @@ private: void TeleopPeriodic() { - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); } void TestPeriodic() { - LiveWindow::GetInstance().Run(); + LiveWindow::GetInstance()->Run(); } }; diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Commands/DriveStraight.cpp b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Commands/DriveStraight.cpp index b2ae54e911..9945514ab6 100644 --- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Commands/DriveStraight.cpp +++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Commands/DriveStraight.cpp @@ -40,7 +40,7 @@ void DriveStraight::Interrupted() { DriveStraightPIDSource::~DriveStraightPIDSource() {} -double DriveStraightPIDSource::PIDGet() const { +double DriveStraightPIDSource::PIDGet() { return Robot::drivetrain->GetDistance(); } diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Commands/DriveStraight.h b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Commands/DriveStraight.h index 69166b00ae..50cd0b8e60 100644 --- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Commands/DriveStraight.h +++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Commands/DriveStraight.h @@ -25,7 +25,7 @@ private: class DriveStraightPIDSource: public PIDSource { public: virtual ~DriveStraightPIDSource(); - double PIDGet() const; + double PIDGet(); }; class DriveStraightPIDOutput: public PIDOutput { diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Commands/SetDistanceToBox.cpp b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Commands/SetDistanceToBox.cpp index 12e6588d5b..27f70f6f38 100644 --- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Commands/SetDistanceToBox.cpp +++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Commands/SetDistanceToBox.cpp @@ -40,7 +40,7 @@ void SetDistanceToBox::Interrupted() { SetDistanceToBoxPIDSource::~SetDistanceToBoxPIDSource() {} -double SetDistanceToBoxPIDSource::PIDGet() const { +double SetDistanceToBoxPIDSource::PIDGet() { return Robot::drivetrain->GetDistanceToObstacle(); } diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Commands/SetDistanceToBox.h b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Commands/SetDistanceToBox.h index 3508a367a4..1c284884db 100644 --- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Commands/SetDistanceToBox.h +++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Commands/SetDistanceToBox.h @@ -25,7 +25,7 @@ private: class SetDistanceToBoxPIDSource: public PIDSource { public: virtual ~SetDistanceToBoxPIDSource(); - double PIDGet() const; + double PIDGet(); }; class SetDistanceToBoxPIDOutput: public PIDOutput { diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Robot.cpp b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Robot.cpp index 866ac156f9..26a2a2076b 100644 --- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Robot.cpp +++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Robot.cpp @@ -29,7 +29,7 @@ void Robot::AutonomousInit() { } void Robot::AutonomousPeriodic() { - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); } void Robot::TeleopInit() { @@ -42,11 +42,11 @@ void Robot::TeleopInit() { } void Robot::TeleopPeriodic() { - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); } void Robot::TestPeriodic() { - lw.Run(); + lw->Run(); } START_ROBOT_CLASS(Robot) diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Robot.h b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Robot.h index 45f88bea18..ee98beb2d8 100644 --- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Robot.h +++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Robot.h @@ -28,7 +28,7 @@ public: private: Autonomous autonomousCommand; - LiveWindow &lw = LiveWindow::GetInstance(); + LiveWindow *lw = LiveWindow::GetInstance(); void RobotInit(); void AutonomousInit(); diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/DriveTrain.cpp b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/DriveTrain.cpp index d3578f7d5a..f5055be04c 100644 --- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/DriveTrain.cpp +++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/DriveTrain.cpp @@ -23,14 +23,14 @@ DriveTrain::DriveTrain() #endif // 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); } /** diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/Elevator.cpp b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/Elevator.cpp index 5e8ad83586..02c558ffa5 100644 --- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/Elevator.cpp +++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/Elevator.cpp @@ -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() const { +double Elevator::ReturnPIDInput() { return pot->Get(); } diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/Elevator.h b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/Elevator.h index a428d5510c..d079de03b5 100644 --- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/Elevator.h +++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/Elevator.h @@ -29,7 +29,7 @@ public: * Use the potentiometer as the PID sensor. This method is automatically * called by the subsystem. */ - double ReturnPIDInput() const; + double ReturnPIDInput(); /** diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/Wrist.cpp b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/Wrist.cpp index 5ab9ff98bd..f09fdbb790 100644 --- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/Wrist.cpp +++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/Wrist.cpp @@ -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() const { +double Wrist::ReturnPIDInput() { return pot->Get(); } diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/Wrist.h b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/Wrist.h index f0f7593b37..e80364e7cd 100644 --- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/Wrist.h +++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/Wrist.h @@ -28,7 +28,7 @@ public: * Use the potentiometer as the PID sensor. This method is automatically * called by the subsystem. */ - double ReturnPIDInput() const; + double ReturnPIDInput(); /** * Use the motor as the PID output. This method is automatically called by diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GettingStarted/src/Robot.cpp b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GettingStarted/src/Robot.cpp index 67303df9b9..ccf2e587f9 100644 --- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GettingStarted/src/Robot.cpp +++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GettingStarted/src/Robot.cpp @@ -5,7 +5,7 @@ class Robot: public IterativeRobot RobotDrive myRobot; // robot drive system Joystick stick; // only joystick - LiveWindow &lw; + LiveWindow *lw; int autoLoopCounter; public: @@ -47,7 +47,7 @@ private: void TestPeriodic() { - lw.Run(); + lw->Run(); } }; diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Robot.cpp b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Robot.cpp index c59cbf7140..7ef891620e 100644 --- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Robot.cpp +++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Robot.cpp @@ -39,7 +39,7 @@ void Robot::AutonomousInit() { } void Robot::AutonomousPeriodic() { - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); Log(); } @@ -55,12 +55,12 @@ void Robot::TeleopInit() { } void Robot::TeleopPeriodic() { - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); Log(); } void Robot::TestPeriodic() { - LiveWindow::GetInstance().Run(); + LiveWindow::GetInstance()->Run(); } void Robot::DisabledInit() { diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Collector.cpp b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Collector.cpp index 24a060f4f9..c296e0a84b 100644 --- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Collector.cpp +++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Collector.cpp @@ -11,9 +11,9 @@ Collector::Collector() : // Put everything to the LiveWindow for testing. // XXX: LiveWindow::GetInstance()->AddActuator("Collector", "Roller Motor", (Victor) rollerMotor); - LiveWindow::GetInstance().AddSensor("Collector", "Ball Detector", ballDetector); - LiveWindow::GetInstance().AddSensor("Collector", "Claw Open Detector", openDetector); - LiveWindow::GetInstance().AddActuator("Collector", "Piston", piston); + LiveWindow::GetInstance()->AddSensor("Collector", "Ball Detector", ballDetector); + LiveWindow::GetInstance()->AddSensor("Collector", "Claw Open Detector", openDetector); + LiveWindow::GetInstance()->AddActuator("Collector", "Piston", piston); } bool Collector::HasBall() { diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/DriveTrain.cpp b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/DriveTrain.cpp index 7e1caf58f4..ae1fe2b4db 100644 --- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/DriveTrain.cpp +++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/DriveTrain.cpp @@ -44,14 +44,14 @@ DriveTrain::DriveTrain() leftEncoder->SetDistancePerPulse((4.0/*in*/*M_PI)/(360.0*12.0/*in/ft*/)); #endif - LiveWindow::GetInstance().AddSensor("DriveTrain", "Right Encoder", rightEncoder); - LiveWindow::GetInstance().AddSensor("DriveTrain", "Left Encoder", leftEncoder); + LiveWindow::GetInstance()->AddSensor("DriveTrain", "Right Encoder", rightEncoder); + LiveWindow::GetInstance()->AddSensor("DriveTrain", "Left Encoder", leftEncoder); // Configure gyro #ifdef REAL gyro->SetSensitivity(0.007); // TODO: Handle more gracefully? #endif - LiveWindow::GetInstance().AddSensor("DriveTrain", "Gyro", gyro); + LiveWindow::GetInstance()->AddSensor("DriveTrain", "Gyro", gyro); } void DriveTrain::InitDefaultCommand() { diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Pivot.cpp b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Pivot.cpp index 6b51da5bba..d6fc1ef843 100644 --- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Pivot.cpp +++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Pivot.cpp @@ -20,16 +20,16 @@ Pivot::Pivot() : #endif // Put everything to the LiveWindow for testing. - LiveWindow::GetInstance().AddSensor("Pivot", "Upper Limit Switch", upperLimitSwitch); - LiveWindow::GetInstance().AddSensor("Pivot", "Lower Limit Switch", lowerLimitSwitch); - // XXX: LiveWindow::GetInstance().AddSensor("Pivot", "Pot", (AnalogPotentiometer) pot); - // XXX: LiveWindow::GetInstance().AddActuator("Pivot", "Motor", (Victor) motor); - LiveWindow::GetInstance().AddActuator("Pivot", "PIDSubsystem Controller", GetPIDController()); + LiveWindow::GetInstance()->AddSensor("Pivot", "Upper Limit Switch", upperLimitSwitch); + LiveWindow::GetInstance()->AddSensor("Pivot", "Lower Limit Switch", lowerLimitSwitch); + // XXX: LiveWindow::GetInstance()->AddSensor("Pivot", "Pot", (AnalogPotentiometer) pot); + // XXX: LiveWindow::GetInstance()->AddActuator("Pivot", "Motor", (Victor) motor); + LiveWindow::GetInstance()->AddActuator("Pivot", "PIDSubsystem Controller", GetPIDController()); } void InitDefaultCommand() {} -double Pivot::ReturnPIDInput() const { +double Pivot::ReturnPIDInput() { return pot->Get(); } diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Pivot.h b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Pivot.h index 4c5af09755..d8f1783936 100644 --- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Pivot.h +++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Pivot.h @@ -35,7 +35,7 @@ public: /** * @return The angle read in by the potentiometer */ - double ReturnPIDInput() const; + double ReturnPIDInput(); /** * Set the motor speed based off of the PID output diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Pneumatics.cpp b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Pneumatics.cpp index d224c6aee5..a2b6bec31e 100644 --- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Pneumatics.cpp +++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Pneumatics.cpp @@ -8,7 +8,7 @@ Pneumatics::Pneumatics() : compressor = new Compressor(uint8_t(1)); // TODO: (1, 14, 1, 8); #endif - LiveWindow::GetInstance().AddSensor("Pneumatics", "Pressure Sensor", pressureSensor); + LiveWindow::GetInstance()->AddSensor("Pneumatics", "Pressure Sensor", pressureSensor); } /** diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Shooter.cpp b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Shooter.cpp index 703fd7263f..8f10c41ad5 100644 --- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Shooter.cpp +++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Shooter.cpp @@ -12,10 +12,10 @@ Shooter::Shooter() : { // Put everything to the LiveWindow for testing. - LiveWindow::GetInstance().AddSensor("Shooter", "Hot Goal Sensor", hotGoalSensor); - LiveWindow::GetInstance().AddSensor("Shooter", "Piston1 Reed Switch Front ", piston1ReedSwitchFront); - LiveWindow::GetInstance().AddSensor("Shooter", "Piston1 Reed Switch Back ", piston1ReedSwitchBack); - LiveWindow::GetInstance().AddActuator("Shooter", "Latch Piston", latchPiston); + LiveWindow::GetInstance()->AddSensor("Shooter", "Hot Goal Sensor", hotGoalSensor); + LiveWindow::GetInstance()->AddSensor("Shooter", "Piston1 Reed Switch Front ", piston1ReedSwitchFront); + LiveWindow::GetInstance()->AddSensor("Shooter", "Piston1 Reed Switch Back ", piston1ReedSwitchBack); + LiveWindow::GetInstance()->AddActuator("Shooter", "Latch Piston", latchPiston); } void Shooter::InitDefaultCommand() diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/iterative/Robot.cpp b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/iterative/Robot.cpp index b409b30e34..44af60fd59 100644 --- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/iterative/Robot.cpp +++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/iterative/Robot.cpp @@ -3,7 +3,7 @@ class Robot: public IterativeRobot { private: - LiveWindow &lw = LiveWindow::GetInstance(); + LiveWindow *lw = LiveWindow::GetInstance(); void RobotInit() { @@ -31,7 +31,7 @@ private: void TestPeriodic() { - lw.Run(); + lw->Run(); } }; diff --git a/wpilibc/wpilibC++/include/Commands/PIDCommand.h b/wpilibc/wpilibC++/include/Commands/PIDCommand.h index fd0c3c6446..a98c239550 100644 --- a/wpilibc/wpilibC++/include/Commands/PIDCommand.h +++ b/wpilibc/wpilibC++/include/Commands/PIDCommand.h @@ -32,7 +32,7 @@ class PIDCommand : public Command, public PIDOutput, public PIDSource { virtual void PIDWrite(float output); // PIDSource interface - virtual double PIDGet() const; + virtual double PIDGet(); protected: std::shared_ptr GetPIDController() const; @@ -41,9 +41,9 @@ class PIDCommand : public Command, public PIDOutput, public PIDSource { virtual void _End(); void SetSetpoint(double setpoint); double GetSetpoint() const; - double GetPosition() const; + double GetPosition(); - virtual double ReturnPIDInput() const = 0; + virtual double ReturnPIDInput() = 0; virtual void UsePIDOutput(double output) = 0; private: diff --git a/wpilibc/wpilibC++/include/Commands/PIDSubsystem.h b/wpilibc/wpilibC++/include/Commands/PIDSubsystem.h index b4cf754fd5..ff05514375 100644 --- a/wpilibc/wpilibC++/include/Commands/PIDSubsystem.h +++ b/wpilibc/wpilibC++/include/Commands/PIDSubsystem.h @@ -45,7 +45,7 @@ class PIDSubsystem : public Subsystem, public PIDOutput, public PIDSource { virtual void PIDWrite(float output); // PIDSource interface - virtual double PIDGet() const; + virtual double PIDGet(); void SetSetpoint(double setpoint); void SetSetpointRelative(double deltaSetpoint); void SetInputRange(float minimumInput, float maximumInput); @@ -61,7 +61,7 @@ class PIDSubsystem : public Subsystem, public PIDOutput, public PIDSource { protected: std::shared_ptr GetPIDController(); - virtual double ReturnPIDInput() const = 0; + virtual double ReturnPIDInput() = 0; virtual void UsePIDOutput(double output) = 0; private: diff --git a/wpilibc/wpilibC++/include/Commands/Scheduler.h b/wpilibc/wpilibC++/include/Commands/Scheduler.h index a624b5daa2..200c9517e2 100644 --- a/wpilibc/wpilibC++/include/Commands/Scheduler.h +++ b/wpilibc/wpilibC++/include/Commands/Scheduler.h @@ -27,7 +27,7 @@ class Subsystem; class Scheduler : public ErrorBase, public NamedSendable { public: - static Scheduler &GetInstance(); + static Scheduler *GetInstance(); void AddCommand(Command *command); void AddButton(ButtonScheduler *button); diff --git a/wpilibc/wpilibC++/include/LiveWindow/LiveWindow.h b/wpilibc/wpilibC++/include/LiveWindow/LiveWindow.h index 8eb5bf6ce3..5d41441423 100644 --- a/wpilibc/wpilibC++/include/LiveWindow/LiveWindow.h +++ b/wpilibc/wpilibC++/include/LiveWindow/LiveWindow.h @@ -30,7 +30,7 @@ struct LiveWindowComponent { */ class LiveWindow { public: - static LiveWindow &GetInstance(); + static LiveWindow *GetInstance(); void Run(); #if !defined(_MSC_VER) [[deprecated( @@ -90,7 +90,7 @@ class LiveWindow { std::shared_ptr m_liveWindowTable; std::shared_ptr m_statusTable; - Scheduler &m_scheduler; + Scheduler *m_scheduler; bool m_enabled = false; bool m_firstTime = true; diff --git a/wpilibc/wpilibC++/include/PIDSource.h b/wpilibc/wpilibC++/include/PIDSource.h index f0eb1cb08a..8f46ea4707 100644 --- a/wpilibc/wpilibC++/include/PIDSource.h +++ b/wpilibc/wpilibC++/include/PIDSource.h @@ -18,7 +18,7 @@ class PIDSource { public: virtual void SetPIDSourceType(PIDSourceType pidSource); PIDSourceType GetPIDSourceType() const; - virtual double PIDGet() const = 0; + virtual double PIDGet() = 0; protected: PIDSourceType m_pidSource = PIDSourceType::kDisplacement; diff --git a/wpilibc/wpilibC++/src/Buttons/ButtonScheduler.cpp b/wpilibc/wpilibC++/src/Buttons/ButtonScheduler.cpp index 43c7c148f9..ddc9025fe4 100644 --- a/wpilibc/wpilibC++/src/Buttons/ButtonScheduler.cpp +++ b/wpilibc/wpilibC++/src/Buttons/ButtonScheduler.cpp @@ -12,4 +12,4 @@ ButtonScheduler::ButtonScheduler(bool last, Trigger *button, Command *orders) : m_pressedLast(last), m_button(button), m_command(orders) {} -void ButtonScheduler::Start() { Scheduler::GetInstance().AddButton(this); } +void ButtonScheduler::Start() { Scheduler::GetInstance()->AddButton(this); } diff --git a/wpilibc/wpilibC++/src/Commands/Command.cpp b/wpilibc/wpilibC++/src/Commands/Command.cpp index 78e05f7d1c..38c2f26598 100644 --- a/wpilibc/wpilibC++/src/Commands/Command.cpp +++ b/wpilibc/wpilibC++/src/Commands/Command.cpp @@ -152,7 +152,7 @@ void Command::Start() { CommandIllegalUse, "Can not start a command that is part of a command group"); - Scheduler::GetInstance().AddCommand(this); + Scheduler::GetInstance()->AddCommand(this); } /** diff --git a/wpilibc/wpilibC++/src/Commands/PIDCommand.cpp b/wpilibc/wpilibC++/src/Commands/PIDCommand.cpp index 16b7fa6645..c6ac919669 100644 --- a/wpilibc/wpilibC++/src/Commands/PIDCommand.cpp +++ b/wpilibc/wpilibC++/src/Commands/PIDCommand.cpp @@ -50,7 +50,7 @@ void PIDCommand::SetSetpointRelative(double deltaSetpoint) { void PIDCommand::PIDWrite(float output) { UsePIDOutput(output); } -double PIDCommand::PIDGet() const { return ReturnPIDInput(); } +double PIDCommand::PIDGet() { return ReturnPIDInput(); } std::shared_ptr PIDCommand::GetPIDController() const { return m_controller; @@ -62,7 +62,7 @@ void PIDCommand::SetSetpoint(double setpoint) { double PIDCommand::GetSetpoint() const { return m_controller->GetSetpoint(); } -double PIDCommand::GetPosition() const { return ReturnPIDInput(); } +double PIDCommand::GetPosition() { return ReturnPIDInput(); } std::string PIDCommand::GetSmartDashboardType() const { return "PIDCommand"; } void PIDCommand::InitTable(std::shared_ptr table) { diff --git a/wpilibc/wpilibC++/src/Commands/PIDSubsystem.cpp b/wpilibc/wpilibC++/src/Commands/PIDSubsystem.cpp index e5fe6107d1..e48319abff 100644 --- a/wpilibc/wpilibC++/src/Commands/PIDSubsystem.cpp +++ b/wpilibc/wpilibC++/src/Commands/PIDSubsystem.cpp @@ -216,7 +216,7 @@ double PIDSubsystem::GetRate() { return ReturnPIDInput(); } void PIDSubsystem::PIDWrite(float output) { UsePIDOutput(output); } -double PIDSubsystem::PIDGet() const { return ReturnPIDInput(); } +double PIDSubsystem::PIDGet() { return ReturnPIDInput(); } std::string PIDSubsystem::GetSmartDashboardType() const { return "PIDCommand"; } void PIDSubsystem::InitTable(std::shared_ptr table) { diff --git a/wpilibc/wpilibC++/src/Commands/Scheduler.cpp b/wpilibc/wpilibC++/src/Commands/Scheduler.cpp index 525b70456a..caeeff273e 100644 --- a/wpilibc/wpilibC++/src/Commands/Scheduler.cpp +++ b/wpilibc/wpilibC++/src/Commands/Scheduler.cpp @@ -23,9 +23,9 @@ Scheduler::Scheduler() { * Returns the {@link Scheduler}, creating it if one does not exist. * @return the {@link Scheduler} */ -Scheduler &Scheduler::GetInstance() { +Scheduler *Scheduler::GetInstance() { static Scheduler instance; - return instance; + return &instance; } void Scheduler::SetEnabled(bool enabled) { m_enabled = enabled; } diff --git a/wpilibc/wpilibC++/src/Commands/Subsystem.cpp b/wpilibc/wpilibC++/src/Commands/Subsystem.cpp index 60c48ca65e..0b4b92ffd0 100644 --- a/wpilibc/wpilibC++/src/Commands/Subsystem.cpp +++ b/wpilibc/wpilibC++/src/Commands/Subsystem.cpp @@ -17,7 +17,7 @@ */ Subsystem::Subsystem(const std::string &name) { m_name = name; - Scheduler::GetInstance().RegisterSubsystem(this); + Scheduler::GetInstance()->RegisterSubsystem(this); } /** * Initialize the default command for this subsystem diff --git a/wpilibc/wpilibC++/src/LiveWindow/LiveWindow.cpp b/wpilibc/wpilibC++/src/LiveWindow/LiveWindow.cpp index 6355aa6833..0d89620551 100644 --- a/wpilibc/wpilibC++/src/LiveWindow/LiveWindow.cpp +++ b/wpilibc/wpilibC++/src/LiveWindow/LiveWindow.cpp @@ -9,9 +9,9 @@ * regardless of * how many times GetInstance is called. */ -LiveWindow &LiveWindow::GetInstance() { +LiveWindow *LiveWindow::GetInstance() { static LiveWindow instance; - return instance; + return &instance; } /** @@ -34,8 +34,8 @@ void LiveWindow::SetEnabled(bool enabled) { InitializeLiveWindowComponents(); m_firstTime = false; } - m_scheduler.SetEnabled(false); - m_scheduler.RemoveAll(); + m_scheduler->SetEnabled(false); + m_scheduler->RemoveAll(); for (auto& elem : m_components) { elem.first->StartLiveWindowMode(); } @@ -43,7 +43,7 @@ void LiveWindow::SetEnabled(bool enabled) { for (auto& elem : m_components) { elem.first->StopLiveWindowMode(); } - m_scheduler.SetEnabled(true); + m_scheduler->SetEnabled(true); } m_enabled = enabled; m_statusTable->PutBoolean("LW Enabled", m_enabled); diff --git a/wpilibc/wpilibC++Devices/include/AnalogAccelerometer.h b/wpilibc/wpilibC++Devices/include/AnalogAccelerometer.h index 9c17a8e983..aa18e6e308 100644 --- a/wpilibc/wpilibC++Devices/include/AnalogAccelerometer.h +++ b/wpilibc/wpilibC++Devices/include/AnalogAccelerometer.h @@ -38,7 +38,7 @@ class AnalogAccelerometer : public SensorBase, float GetAcceleration() const; void SetSensitivity(float sensitivity); void SetZero(float zero); - double PIDGet() const override; + double PIDGet() override; void UpdateTable() override; void StartLiveWindowMode() override; diff --git a/wpilibc/wpilibC++Devices/include/AnalogInput.h b/wpilibc/wpilibC++Devices/include/AnalogInput.h index 85314b01e1..24870dc938 100644 --- a/wpilibc/wpilibC++Devices/include/AnalogInput.h +++ b/wpilibc/wpilibC++Devices/include/AnalogInput.h @@ -67,7 +67,7 @@ class AnalogInput : public SensorBase, static void SetSampleRate(float samplesPerSecond); static float GetSampleRate(); - double PIDGet() const override; + double PIDGet() override; void UpdateTable() override; void StartLiveWindowMode() override; diff --git a/wpilibc/wpilibC++Devices/include/AnalogPotentiometer.h b/wpilibc/wpilibC++Devices/include/AnalogPotentiometer.h index 12910bd8c4..3d27ea3dd6 100644 --- a/wpilibc/wpilibC++Devices/include/AnalogPotentiometer.h +++ b/wpilibc/wpilibC++Devices/include/AnalogPotentiometer.h @@ -61,7 +61,7 @@ class AnalogPotentiometer : public Potentiometer, public LiveWindowSendable { * * @return The current reading. */ - virtual double PIDGet() const override; + virtual double PIDGet() override; /* * Live Window code, only does anything if live window is activated. diff --git a/wpilibc/wpilibC++Devices/include/CANTalon.h b/wpilibc/wpilibC++Devices/include/CANTalon.h index 9108451b71..0c7ab779ec 100644 --- a/wpilibc/wpilibC++Devices/include/CANTalon.h +++ b/wpilibc/wpilibC++Devices/include/CANTalon.h @@ -50,7 +50,7 @@ class CANTalon : public MotorSafety, virtual void PIDWrite(float output) override; // PIDSource interface - virtual double PIDGet() const override; + virtual double PIDGet() override; // MotorSafety interface virtual void SetExpiration(float timeout) override; diff --git a/wpilibc/wpilibC++Devices/include/Encoder.h b/wpilibc/wpilibC++Devices/include/Encoder.h index 7396eb0326..7fae4c9fa0 100644 --- a/wpilibc/wpilibC++Devices/include/Encoder.h +++ b/wpilibc/wpilibC++Devices/include/Encoder.h @@ -83,7 +83,7 @@ class Encoder : public SensorBase, void SetReverseDirection(bool reverseDirection); void SetSamplesToAverage(int samplesToAverage); int GetSamplesToAverage() const; - double PIDGet() const override; + double PIDGet() override; void SetIndexSource(uint32_t channel, IndexingType type = kResetOnRisingEdge); [[deprecated("Raw pointers are deprecated; use references instead.")]] diff --git a/wpilibc/wpilibC++Devices/include/Gyro.h b/wpilibc/wpilibC++Devices/include/Gyro.h index df9434066e..46eb128b68 100644 --- a/wpilibc/wpilibC++Devices/include/Gyro.h +++ b/wpilibc/wpilibC++Devices/include/Gyro.h @@ -53,7 +53,7 @@ class Gyro : public SensorBase, public PIDSource, public LiveWindowSendable { void InitGyro(); // PIDSource interface - double PIDGet() const override; + double PIDGet() override; void UpdateTable() override; void StartLiveWindowMode() override; diff --git a/wpilibc/wpilibC++Devices/include/Ultrasonic.h b/wpilibc/wpilibC++Devices/include/Ultrasonic.h index a648f1d90c..59f28fdcd0 100644 --- a/wpilibc/wpilibC++Devices/include/Ultrasonic.h +++ b/wpilibc/wpilibC++Devices/include/Ultrasonic.h @@ -69,7 +69,7 @@ class Ultrasonic : public SensorBase, bool IsEnabled() const { return m_enabled; } void SetEnabled(bool enable) { m_enabled = enable; } - double PIDGet() const override; + double PIDGet() override; void SetPIDSourceType(PIDSourceType pidSource) override; void SetDistanceUnits(DistanceUnit units); DistanceUnit GetDistanceUnits() const; diff --git a/wpilibc/wpilibC++Devices/src/ADXL345_I2C.cpp b/wpilibc/wpilibC++Devices/src/ADXL345_I2C.cpp index e1cb4467d1..000d4b8570 100644 --- a/wpilibc/wpilibC++Devices/src/ADXL345_I2C.cpp +++ b/wpilibc/wpilibC++Devices/src/ADXL345_I2C.cpp @@ -30,7 +30,7 @@ ADXL345_I2C::ADXL345_I2C(Port port, Range range) : I2C(port, kAddress) { HALReport(HALUsageReporting::kResourceType_ADXL345, HALUsageReporting::kADXL345_I2C, 0); - LiveWindow::GetInstance().AddSensor("ADXL345_I2C", port, this); + LiveWindow::GetInstance()->AddSensor("ADXL345_I2C", port, this); } /** {@inheritdoc} */ diff --git a/wpilibc/wpilibC++Devices/src/ADXL345_SPI.cpp b/wpilibc/wpilibC++Devices/src/ADXL345_SPI.cpp index 0b2f0089f7..7fb3b71528 100644 --- a/wpilibc/wpilibC++Devices/src/ADXL345_SPI.cpp +++ b/wpilibc/wpilibC++Devices/src/ADXL345_SPI.cpp @@ -39,7 +39,7 @@ ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range) : SPI(port) { HALReport(HALUsageReporting::kResourceType_ADXL345, HALUsageReporting::kADXL345_SPI); - LiveWindow::GetInstance().AddSensor("ADXL345_SPI", port, this); + LiveWindow::GetInstance()->AddSensor("ADXL345_SPI", port, this); } /** {@inheritdoc} */ diff --git a/wpilibc/wpilibC++Devices/src/AnalogAccelerometer.cpp b/wpilibc/wpilibC++Devices/src/AnalogAccelerometer.cpp index 8ee07bd668..d5567f3b2e 100644 --- a/wpilibc/wpilibC++Devices/src/AnalogAccelerometer.cpp +++ b/wpilibc/wpilibC++Devices/src/AnalogAccelerometer.cpp @@ -16,7 +16,7 @@ void AnalogAccelerometer::InitAccelerometer() { HALReport(HALUsageReporting::kResourceType_Accelerometer, m_analogInput->GetChannel()); - LiveWindow::GetInstance().AddSensor("Accelerometer", + LiveWindow::GetInstance()->AddSensor("Accelerometer", m_analogInput->GetChannel(), this); } @@ -110,7 +110,7 @@ void AnalogAccelerometer::SetZero(float zero) { m_zeroGVoltage = zero; } * * @return The current acceleration in Gs. */ -double AnalogAccelerometer::PIDGet() const { return GetAcceleration(); } +double AnalogAccelerometer::PIDGet() { return GetAcceleration(); } void AnalogAccelerometer::UpdateTable() { if (m_table != nullptr) { diff --git a/wpilibc/wpilibC++Devices/src/AnalogInput.cpp b/wpilibc/wpilibC++Devices/src/AnalogInput.cpp index 2239f008ad..54214a894e 100644 --- a/wpilibc/wpilibC++Devices/src/AnalogInput.cpp +++ b/wpilibc/wpilibC++Devices/src/AnalogInput.cpp @@ -47,7 +47,7 @@ AnalogInput::AnalogInput(uint32_t channel) { m_port = initializeAnalogInputPort(port, &status); wpi_setErrorWithContext(status, getHALErrorMessage(status)); - LiveWindow::GetInstance().AddSensor("AnalogInput", channel, this); + LiveWindow::GetInstance()->AddSensor("AnalogInput", channel, this); HALReport(HALUsageReporting::kResourceType_AnalogChannel, channel); } @@ -394,7 +394,7 @@ float AnalogInput::GetSampleRate() { * * @return The average voltage. */ -double AnalogInput::PIDGet() const { +double AnalogInput::PIDGet() { if (StatusIsFatal()) return 0.0; return GetAverageVoltage(); } diff --git a/wpilibc/wpilibC++Devices/src/AnalogOutput.cpp b/wpilibc/wpilibC++Devices/src/AnalogOutput.cpp index 19eee52985..8ec5ede8dc 100644 --- a/wpilibc/wpilibC++Devices/src/AnalogOutput.cpp +++ b/wpilibc/wpilibC++Devices/src/AnalogOutput.cpp @@ -42,7 +42,7 @@ AnalogOutput::AnalogOutput(uint32_t channel) { m_port = initializeAnalogOutputPort(port, &status); wpi_setErrorWithContext(status, getHALErrorMessage(status)); - LiveWindow::GetInstance().AddActuator("AnalogOutput", m_channel, this); + LiveWindow::GetInstance()->AddActuator("AnalogOutput", m_channel, this); HALReport(HALUsageReporting::kResourceType_AnalogOutput, m_channel); } diff --git a/wpilibc/wpilibC++Devices/src/AnalogPotentiometer.cpp b/wpilibc/wpilibC++Devices/src/AnalogPotentiometer.cpp index 052715dd1b..a944312ec1 100644 --- a/wpilibc/wpilibC++Devices/src/AnalogPotentiometer.cpp +++ b/wpilibc/wpilibC++Devices/src/AnalogPotentiometer.cpp @@ -66,7 +66,7 @@ double AnalogPotentiometer::Get() const { * * @return The current reading. */ -double AnalogPotentiometer::PIDGet() const { return Get(); } +double AnalogPotentiometer::PIDGet() { return Get(); } /** * @return the Smart Dashboard Type diff --git a/wpilibc/wpilibC++Devices/src/BuiltInAccelerometer.cpp b/wpilibc/wpilibC++Devices/src/BuiltInAccelerometer.cpp index d5450a850e..a504524ed0 100644 --- a/wpilibc/wpilibC++Devices/src/BuiltInAccelerometer.cpp +++ b/wpilibc/wpilibC++Devices/src/BuiltInAccelerometer.cpp @@ -18,7 +18,7 @@ BuiltInAccelerometer::BuiltInAccelerometer(Range range) { HALReport(HALUsageReporting::kResourceType_Accelerometer, 0, 0, "Built-in accelerometer"); - LiveWindow::GetInstance().AddSensor((std::string) "BuiltInAccel", 0, this); + LiveWindow::GetInstance()->AddSensor((std::string) "BuiltInAccel", 0, this); } /** {@inheritdoc} */ diff --git a/wpilibc/wpilibC++Devices/src/CANJaguar.cpp b/wpilibc/wpilibC++Devices/src/CANJaguar.cpp index 608a9663e7..ddfba620f2 100644 --- a/wpilibc/wpilibC++Devices/src/CANJaguar.cpp +++ b/wpilibc/wpilibC++Devices/src/CANJaguar.cpp @@ -147,7 +147,7 @@ void CANJaguar::InitCANJaguar() { } HALReport(HALUsageReporting::kResourceType_CANJaguar, m_deviceNumber, m_controlMode); - LiveWindow::GetInstance().AddActuator("CANJaguar", m_deviceNumber, this); + LiveWindow::GetInstance()->AddActuator("CANJaguar", m_deviceNumber, this); } /** diff --git a/wpilibc/wpilibC++Devices/src/CANTalon.cpp b/wpilibc/wpilibC++Devices/src/CANTalon.cpp index 9b267eceaa..a7bc529d59 100644 --- a/wpilibc/wpilibC++Devices/src/CANTalon.cpp +++ b/wpilibc/wpilibC++Devices/src/CANTalon.cpp @@ -70,7 +70,7 @@ void CANTalon::PIDWrite(float output) { * * @return The current sensor value of the Talon. */ -double CANTalon::PIDGet() const { return Get(); } +double CANTalon::PIDGet() { return Get(); } /** * Gets the current status of the Talon (usually a sensor value). diff --git a/wpilibc/wpilibC++Devices/src/DigitalInput.cpp b/wpilibc/wpilibC++Devices/src/DigitalInput.cpp index cdfa009f66..acbe186854 100644 --- a/wpilibc/wpilibC++Devices/src/DigitalInput.cpp +++ b/wpilibc/wpilibC++Devices/src/DigitalInput.cpp @@ -33,7 +33,7 @@ DigitalInput::DigitalInput(uint32_t channel) { allocateDIO(m_digital_ports[channel], true, &status); wpi_setErrorWithContext(status, getHALErrorMessage(status)); - LiveWindow::GetInstance().AddSensor("DigitalInput", channel, this); + LiveWindow::GetInstance()->AddSensor("DigitalInput", channel, this); HALReport(HALUsageReporting::kResourceType_DigitalInput, channel); } diff --git a/wpilibc/wpilibC++Devices/src/DoubleSolenoid.cpp b/wpilibc/wpilibC++Devices/src/DoubleSolenoid.cpp index 63ff0aa586..1ef56916db 100644 --- a/wpilibc/wpilibC++Devices/src/DoubleSolenoid.cpp +++ b/wpilibc/wpilibC++Devices/src/DoubleSolenoid.cpp @@ -79,7 +79,7 @@ DoubleSolenoid::DoubleSolenoid(uint8_t moduleNumber, uint32_t forwardChannel, m_moduleNumber); HALReport(HALUsageReporting::kResourceType_Solenoid, m_reverseChannel, m_moduleNumber); - LiveWindow::GetInstance().AddActuator("DoubleSolenoid", m_moduleNumber, + LiveWindow::GetInstance()->AddActuator("DoubleSolenoid", m_moduleNumber, m_forwardChannel, this); } diff --git a/wpilibc/wpilibC++Devices/src/Encoder.cpp b/wpilibc/wpilibC++Devices/src/Encoder.cpp index 10dcb66358..d999e19088 100644 --- a/wpilibc/wpilibC++Devices/src/Encoder.cpp +++ b/wpilibc/wpilibC++Devices/src/Encoder.cpp @@ -69,7 +69,7 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) { } HALReport(HALUsageReporting::kResourceType_Encoder, m_index, encodingType); - LiveWindow::GetInstance().AddSensor("Encoder", + LiveWindow::GetInstance()->AddSensor("Encoder", m_aSource->GetChannelForRouting(), this); } @@ -480,7 +480,7 @@ int Encoder::GetSamplesToAverage() const { * * @return The current value of the selected source parameter. */ -double Encoder::PIDGet() const { +double Encoder::PIDGet() { if (StatusIsFatal()) return 0.0; switch (GetPIDSourceType()) { case PIDSourceType::kDisplacement: diff --git a/wpilibc/wpilibC++Devices/src/GearTooth.cpp b/wpilibc/wpilibC++Devices/src/GearTooth.cpp index b9625b2478..b659125ca4 100644 --- a/wpilibc/wpilibC++Devices/src/GearTooth.cpp +++ b/wpilibc/wpilibC++Devices/src/GearTooth.cpp @@ -30,7 +30,7 @@ void GearTooth::EnableDirectionSensing(bool directionSensitive) { GearTooth::GearTooth(uint32_t channel, bool directionSensitive) : Counter(channel) { EnableDirectionSensing(directionSensitive); - LiveWindow::GetInstance().AddSensor("GearTooth", channel, this); + LiveWindow::GetInstance()->AddSensor("GearTooth", channel, this); } /** diff --git a/wpilibc/wpilibC++Devices/src/Gyro.cpp b/wpilibc/wpilibC++Devices/src/Gyro.cpp index 89c16834c8..291a4ce8dd 100644 --- a/wpilibc/wpilibC++Devices/src/Gyro.cpp +++ b/wpilibc/wpilibC++Devices/src/Gyro.cpp @@ -65,7 +65,7 @@ void Gyro::InitGyro() { SetPIDSourceType(PIDSourceType::kDisplacement); HALReport(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel()); - LiveWindow::GetInstance().AddSensor("Gyro", m_analog->GetChannel(), this); + LiveWindow::GetInstance()->AddSensor("Gyro", m_analog->GetChannel(), this); } /** @@ -195,7 +195,7 @@ void Gyro::SetDeadband(float volts) { * * @return The PIDOutput (angle or rate, defaults to angle) */ -double Gyro::PIDGet() const { +double Gyro::PIDGet() { switch (GetPIDSourceType()) { case PIDSourceType::kRate: return GetRate(); diff --git a/wpilibc/wpilibC++Devices/src/IterativeRobot.cpp b/wpilibc/wpilibC++Devices/src/IterativeRobot.cpp index d367615369..9a2110d4d8 100644 --- a/wpilibc/wpilibC++Devices/src/IterativeRobot.cpp +++ b/wpilibc/wpilibC++Devices/src/IterativeRobot.cpp @@ -31,7 +31,7 @@ void IterativeRobot::StartCompetition() { HALReport(HALUsageReporting::kResourceType_Framework, HALUsageReporting::kFramework_Iterative); - LiveWindow &lw = LiveWindow::GetInstance(); + LiveWindow *lw = LiveWindow::GetInstance(); // first and one-time initialization SmartDashboard::init(); NetworkTable::GetTable("LiveWindow") @@ -46,14 +46,14 @@ void IterativeRobot::StartCompetition() { HALNetworkCommunicationObserveUserProgramStarting(); // loop forever, calling the appropriate mode-dependent function - lw.SetEnabled(false); + lw->SetEnabled(false); while (true) { // Call the appropriate function depending upon the current robot mode if (IsDisabled()) { // call DisabledInit() if we are now just entering disabled mode from // either a different mode or from power-on if (!m_disabledInitialized) { - lw.SetEnabled(false); + lw->SetEnabled(false); DisabledInit(); m_disabledInitialized = true; // reset the initialization flags for the other modes @@ -67,7 +67,7 @@ void IterativeRobot::StartCompetition() { // call AutonomousInit() if we are now just entering autonomous mode from // either a different mode or from power-on if (!m_autonomousInitialized) { - lw.SetEnabled(false); + lw->SetEnabled(false); AutonomousInit(); m_autonomousInitialized = true; // reset the initialization flags for the other modes @@ -81,7 +81,7 @@ void IterativeRobot::StartCompetition() { // call TestInit() if we are now just entering test mode from // either a different mode or from power-on if (!m_testInitialized) { - lw.SetEnabled(true); + lw->SetEnabled(true); TestInit(); m_testInitialized = true; // reset the initialization flags for the other modes @@ -95,14 +95,14 @@ void IterativeRobot::StartCompetition() { // call TeleopInit() if we are now just entering teleop mode from // either a different mode or from power-on if (!m_teleopInitialized) { - lw.SetEnabled(false); + lw->SetEnabled(false); TeleopInit(); m_teleopInitialized = true; // reset the initialization flags for the other modes m_disabledInitialized = false; m_autonomousInitialized = false; m_testInitialized = false; - Scheduler::GetInstance().SetEnabled(true); + Scheduler::GetInstance()->SetEnabled(true); } HALNetworkCommunicationObserveUserProgramTeleop(); TeleopPeriodic(); diff --git a/wpilibc/wpilibC++Devices/src/Jaguar.cpp b/wpilibc/wpilibC++Devices/src/Jaguar.cpp index 2351874912..9b02302eb9 100644 --- a/wpilibc/wpilibC++Devices/src/Jaguar.cpp +++ b/wpilibc/wpilibC++Devices/src/Jaguar.cpp @@ -30,7 +30,7 @@ Jaguar::Jaguar(uint32_t channel) : SafePWM(channel) { SetZeroLatch(); HALReport(HALUsageReporting::kResourceType_Jaguar, GetChannel()); - LiveWindow::GetInstance().AddActuator("Jaguar", GetChannel(), this); + LiveWindow::GetInstance()->AddActuator("Jaguar", GetChannel(), this); } /** diff --git a/wpilibc/wpilibC++Devices/src/Relay.cpp b/wpilibc/wpilibC++Devices/src/Relay.cpp index 05dc167412..8d48812755 100644 --- a/wpilibc/wpilibC++Devices/src/Relay.cpp +++ b/wpilibc/wpilibC++Devices/src/Relay.cpp @@ -62,7 +62,7 @@ Relay::Relay(uint32_t channel, Relay::Direction direction) setRelayReverse(m_relay_ports[m_channel], false, &status); wpi_setErrorWithContext(status, getHALErrorMessage(status)); - LiveWindow::GetInstance().AddActuator("Relay", 1, m_channel, this); + LiveWindow::GetInstance()->AddActuator("Relay", 1, m_channel, this); } /** diff --git a/wpilibc/wpilibC++Devices/src/SampleRobot.cpp b/wpilibc/wpilibC++Devices/src/SampleRobot.cpp index 2fa9bebc5b..eb2d0bbc85 100644 --- a/wpilibc/wpilibC++Devices/src/SampleRobot.cpp +++ b/wpilibc/wpilibC++Devices/src/SampleRobot.cpp @@ -101,7 +101,7 @@ void SampleRobot::RobotMain() { m_robotMainOverridden = false; } * robot to be enabled again. */ void SampleRobot::StartCompetition() { - LiveWindow &lw = LiveWindow::GetInstance(); + LiveWindow *lw = LiveWindow::GetInstance(); HALReport(HALUsageReporting::kResourceType_Framework, HALUsageReporting::kFramework_Simple); @@ -115,7 +115,7 @@ void SampleRobot::StartCompetition() { if (!m_robotMainOverridden) { // first and one-time initialization - lw.SetEnabled(false); + lw->SetEnabled(false); RobotInit(); while (true) { @@ -130,12 +130,12 @@ void SampleRobot::StartCompetition() { m_ds.InAutonomous(false); while (IsAutonomous() && IsEnabled()) m_ds.WaitForData(); } else if (IsTest()) { - lw.SetEnabled(true); + lw->SetEnabled(true); m_ds.InTest(true); Test(); m_ds.InTest(false); while (IsTest() && IsEnabled()) m_ds.WaitForData(); - lw.SetEnabled(false); + lw->SetEnabled(false); } else { m_ds.InOperatorControl(true); OperatorControl(); diff --git a/wpilibc/wpilibC++Devices/src/Solenoid.cpp b/wpilibc/wpilibC++Devices/src/Solenoid.cpp index b6d0669be1..fd9c6450e6 100644 --- a/wpilibc/wpilibC++Devices/src/Solenoid.cpp +++ b/wpilibc/wpilibC++Devices/src/Solenoid.cpp @@ -48,7 +48,7 @@ Solenoid::Solenoid(uint8_t moduleNumber, uint32_t channel) return; } - LiveWindow::GetInstance().AddActuator("Solenoid", m_moduleNumber, m_channel, + LiveWindow::GetInstance()->AddActuator("Solenoid", m_moduleNumber, m_channel, this); HALReport(HALUsageReporting::kResourceType_Solenoid, m_channel, m_moduleNumber); diff --git a/wpilibc/wpilibC++Devices/src/Talon.cpp b/wpilibc/wpilibC++Devices/src/Talon.cpp index b9be294a7f..1270af839b 100644 --- a/wpilibc/wpilibC++Devices/src/Talon.cpp +++ b/wpilibc/wpilibC++Devices/src/Talon.cpp @@ -35,7 +35,7 @@ Talon::Talon(uint32_t channel) : SafePWM(channel) { SetZeroLatch(); HALReport(HALUsageReporting::kResourceType_Talon, GetChannel()); - LiveWindow::GetInstance().AddActuator("Talon", GetChannel(), this); + LiveWindow::GetInstance()->AddActuator("Talon", GetChannel(), this); } /** diff --git a/wpilibc/wpilibC++Devices/src/TalonSRX.cpp b/wpilibc/wpilibC++Devices/src/TalonSRX.cpp index ea00cd440e..6e6115f872 100644 --- a/wpilibc/wpilibC++Devices/src/TalonSRX.cpp +++ b/wpilibc/wpilibC++Devices/src/TalonSRX.cpp @@ -34,7 +34,7 @@ TalonSRX::TalonSRX(uint32_t channel) : SafePWM(channel) { SetZeroLatch(); HALReport(HALUsageReporting::kResourceType_TalonSRX, GetChannel()); - LiveWindow::GetInstance().AddActuator("TalonSRX", GetChannel(), this); + LiveWindow::GetInstance()->AddActuator("TalonSRX", GetChannel(), this); } /** diff --git a/wpilibc/wpilibC++Devices/src/Ultrasonic.cpp b/wpilibc/wpilibC++Devices/src/Ultrasonic.cpp index e81b990fc1..5ddf0f645b 100644 --- a/wpilibc/wpilibC++Devices/src/Ultrasonic.cpp +++ b/wpilibc/wpilibC++Devices/src/Ultrasonic.cpp @@ -81,7 +81,7 @@ void Ultrasonic::Initialize() { static int instances = 0; instances++; HALReport(HALUsageReporting::kResourceType_Ultrasonic, instances); - LiveWindow::GetInstance().AddSensor("Ultrasonic", + LiveWindow::GetInstance()->AddSensor("Ultrasonic", m_echoChannel->GetChannel(), this); } @@ -305,7 +305,7 @@ double Ultrasonic::GetRangeMM() const { return GetRangeInches() * 25.4; } * * @return The range in DistanceUnit */ -double Ultrasonic::PIDGet() const { +double Ultrasonic::PIDGet() { switch (m_units) { case Ultrasonic::kInches: return GetRangeInches(); diff --git a/wpilibc/wpilibC++Devices/src/Victor.cpp b/wpilibc/wpilibC++Devices/src/Victor.cpp index f20e1904d9..30202db528 100644 --- a/wpilibc/wpilibC++Devices/src/Victor.cpp +++ b/wpilibc/wpilibC++Devices/src/Victor.cpp @@ -35,7 +35,7 @@ Victor::Victor(uint32_t channel) : SafePWM(channel) { SetRaw(m_centerPwm); SetZeroLatch(); - LiveWindow::GetInstance().AddActuator("Victor", GetChannel(), this); + LiveWindow::GetInstance()->AddActuator("Victor", GetChannel(), this); HALReport(HALUsageReporting::kResourceType_Victor, GetChannel()); } diff --git a/wpilibc/wpilibC++Devices/src/VictorSP.cpp b/wpilibc/wpilibC++Devices/src/VictorSP.cpp index 81af2c3d91..5341ccfb93 100644 --- a/wpilibc/wpilibC++Devices/src/VictorSP.cpp +++ b/wpilibc/wpilibC++Devices/src/VictorSP.cpp @@ -39,7 +39,7 @@ VictorSP::VictorSP(uint32_t channel) : SafePWM(channel) { SetZeroLatch(); HALReport(HALUsageReporting::kResourceType_VictorSP, GetChannel()); - LiveWindow::GetInstance().AddActuator("VictorSP", GetChannel(), this); + LiveWindow::GetInstance()->AddActuator("VictorSP", GetChannel(), this); } /** diff --git a/wpilibc/wpilibC++IntegrationTests/src/TestEnvironment.cpp b/wpilibc/wpilibC++IntegrationTests/src/TestEnvironment.cpp index b727e3f295..d65493a86a 100644 --- a/wpilibc/wpilibC++IntegrationTests/src/TestEnvironment.cpp +++ b/wpilibc/wpilibC++IntegrationTests/src/TestEnvironment.cpp @@ -30,7 +30,7 @@ class TestEnvironment : public testing::Environment { station returns that the robot is enabled, to ensure that tests will be able to run on the hardware. */ HALNetworkCommunicationObserveUserProgramStarting(); - LiveWindow::GetInstance().SetEnabled(false); + LiveWindow::GetInstance()->SetEnabled(false); std::cout << "Waiting for enable" << std::endl; diff --git a/wpilibc/wpilibC++IntegrationTests/src/command/CommandTest.cpp b/wpilibc/wpilibC++IntegrationTests/src/command/CommandTest.cpp index 15dd774e7b..3e16021fd1 100644 --- a/wpilibc/wpilibC++IntegrationTests/src/command/CommandTest.cpp +++ b/wpilibc/wpilibC++IntegrationTests/src/command/CommandTest.cpp @@ -18,7 +18,7 @@ class CommandTest : public testing::Test { protected: virtual void SetUp() override { RobotState::SetImplementation(DriverStation::GetInstance()); - Scheduler::GetInstance().SetEnabled(true); + Scheduler::GetInstance()->SetEnabled(true); } /** @@ -30,7 +30,7 @@ class CommandTest : public testing::Test { * is called outside of the * scope of the test. */ - void TeardownScheduler() { Scheduler::GetInstance().ResetAll(); } + void TeardownScheduler() { Scheduler::GetInstance()->ResetAll(); } void AssertCommandState(MockCommand &command, int initialize, int execute, int isFinished, int end, int interrupted) { @@ -72,24 +72,24 @@ TEST_F(CommandTest, ParallelCommands) { commandGroup.Start(); AssertCommandState(command1, 0, 0, 0, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command1, 0, 0, 0, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command1, 1, 1, 1, 0, 0); AssertCommandState(command2, 1, 1, 1, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command1, 1, 2, 2, 0, 0); AssertCommandState(command2, 1, 2, 2, 0, 0); command1.SetHasFinished(true); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command1, 1, 3, 3, 1, 0); AssertCommandState(command2, 1, 3, 3, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command1, 1, 3, 3, 1, 0); AssertCommandState(command2, 1, 4, 4, 0, 0); command2.SetHasFinished(true); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command1, 1, 3, 3, 1, 0); AssertCommandState(command2, 1, 5, 5, 1, 0); @@ -102,17 +102,17 @@ TEST_F(CommandTest, RunAndTerminate) { MockCommand command; command.Start(); AssertCommandState(command, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command, 1, 1, 1, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command, 1, 2, 2, 0, 0); command.SetHasFinished(true); AssertCommandState(command, 1, 2, 2, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command, 1, 3, 3, 1, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command, 1, 3, 3, 1, 0); TeardownScheduler(); @@ -122,19 +122,19 @@ TEST_F(CommandTest, RunAndCancel) { MockCommand command; command.Start(); AssertCommandState(command, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command, 1, 1, 1, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command, 1, 2, 2, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command, 1, 3, 3, 0, 0); command.Cancel(); AssertCommandState(command, 1, 3, 3, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command, 1, 3, 3, 0, 1); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command, 1, 3, 3, 0, 1); TeardownScheduler(); @@ -165,34 +165,34 @@ TEST_F(CommandTest, ThreeCommandOnSubSystem) { AssertCommandState(command2, 0, 0, 0, 0, 0); AssertCommandState(command3, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command1, 0, 0, 0, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); AssertCommandState(command3, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command1, 1, 1, 1, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); AssertCommandState(command3, 0, 0, 0, 0, 0); Wait(1); // command 1 timeout - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command1, 1, 1, 1, 0, 1); AssertCommandState(command2, 1, 1, 1, 0, 0); AssertCommandState(command3, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command1, 1, 1, 1, 0, 1); AssertCommandState(command2, 1, 2, 2, 0, 0); AssertCommandState(command3, 0, 0, 0, 0, 0); Wait(2); // command 2 timeout - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command1, 1, 1, 1, 0, 1); AssertCommandState(command2, 1, 2, 2, 0, 1); AssertCommandState(command3, 1, 1, 1, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command1, 1, 1, 1, 0, 1); AssertCommandState(command2, 1, 2, 2, 0, 1); AssertCommandState(command3, 1, 2, 2, 0, 0); @@ -201,12 +201,12 @@ TEST_F(CommandTest, ThreeCommandOnSubSystem) { AssertCommandState(command2, 1, 2, 2, 0, 1); AssertCommandState(command3, 1, 2, 2, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command1, 1, 1, 1, 0, 1); AssertCommandState(command2, 1, 2, 2, 0, 1); AssertCommandState(command3, 1, 3, 3, 1, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command1, 1, 1, 1, 0, 1); AssertCommandState(command2, 1, 2, 2, 0, 1); AssertCommandState(command3, 1, 3, 3, 1, 0); @@ -230,19 +230,19 @@ TEST_F(CommandTest, OneCommandSupersedingAnotherBecauseOfDependencies) { AssertCommandState(command1, 0, 0, 0, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command1, 0, 0, 0, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command1, 1, 1, 1, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command1, 1, 2, 2, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command1, 1, 3, 3, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); @@ -250,19 +250,19 @@ TEST_F(CommandTest, OneCommandSupersedingAnotherBecauseOfDependencies) { AssertCommandState(command1, 1, 3, 3, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command1, 1, 4, 4, 0, 1); AssertCommandState(command2, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command1, 1, 4, 4, 0, 1); AssertCommandState(command2, 1, 1, 1, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command1, 1, 4, 4, 0, 1); AssertCommandState(command2, 1, 2, 2, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command1, 1, 4, 4, 0, 1); AssertCommandState(command2, 1, 3, 3, 0, 0); @@ -287,19 +287,19 @@ TEST_F(CommandTest, AssertCommandState(command1, 0, 0, 0, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command1, 0, 0, 0, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command1, 1, 1, 1, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command1, 1, 2, 2, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command1, 1, 3, 3, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); @@ -307,7 +307,7 @@ TEST_F(CommandTest, AssertCommandState(command1, 1, 3, 3, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command1, 1, 4, 4, 0, 0); AssertCommandState(command2, 0, 0, 0, 0, 0); @@ -331,18 +331,18 @@ TEST_F(CommandTest, TwoSecondTimeout) { command.Start(); AssertCommandState(command, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command, 1, 1, 1, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command, 1, 2, 2, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command, 1, 3, 3, 0, 0); Wait(2); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command, 1, 4, 4, 1, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(command, 1, 4, 4, 1, 0); TeardownScheduler(); @@ -359,35 +359,35 @@ TEST_F(CommandTest, DefaultCommandWhereTheInteruptingCommandEndsItself) { subsystem.Init(&defaultCommand); AssertCommandState(defaultCommand, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(defaultCommand, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(defaultCommand, 1, 1, 1, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(defaultCommand, 1, 2, 2, 0, 0); anotherCommand.Start(); AssertCommandState(defaultCommand, 1, 2, 2, 0, 0); AssertCommandState(anotherCommand, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(defaultCommand, 1, 3, 3, 0, 1); AssertCommandState(anotherCommand, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(defaultCommand, 1, 3, 3, 0, 1); AssertCommandState(anotherCommand, 1, 1, 1, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(defaultCommand, 1, 3, 3, 0, 1); AssertCommandState(anotherCommand, 1, 2, 2, 0, 0); anotherCommand.SetHasFinished(true); AssertCommandState(defaultCommand, 1, 3, 3, 0, 1); AssertCommandState(anotherCommand, 1, 2, 2, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(defaultCommand, 1, 3, 3, 0, 1); AssertCommandState(anotherCommand, 1, 3, 3, 1, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(defaultCommand, 2, 4, 4, 0, 1); AssertCommandState(anotherCommand, 1, 3, 3, 1, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(defaultCommand, 2, 5, 5, 0, 1); AssertCommandState(anotherCommand, 1, 3, 3, 1, 0); @@ -405,35 +405,35 @@ TEST_F(CommandTest, DefaultCommandsInterruptingCommandCanceled) { subsystem.Init(&defaultCommand); subsystem.InitDefaultCommand(); AssertCommandState(defaultCommand, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(defaultCommand, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(defaultCommand, 1, 1, 1, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(defaultCommand, 1, 2, 2, 0, 0); anotherCommand.Start(); AssertCommandState(defaultCommand, 1, 2, 2, 0, 0); AssertCommandState(anotherCommand, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(defaultCommand, 1, 3, 3, 0, 1); AssertCommandState(anotherCommand, 0, 0, 0, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(defaultCommand, 1, 3, 3, 0, 1); AssertCommandState(anotherCommand, 1, 1, 1, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(defaultCommand, 1, 3, 3, 0, 1); AssertCommandState(anotherCommand, 1, 2, 2, 0, 0); anotherCommand.Cancel(); AssertCommandState(defaultCommand, 1, 3, 3, 0, 1); AssertCommandState(anotherCommand, 1, 2, 2, 0, 0); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(defaultCommand, 1, 3, 3, 0, 1); AssertCommandState(anotherCommand, 1, 2, 2, 0, 1); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(defaultCommand, 2, 4, 4, 0, 1); AssertCommandState(anotherCommand, 1, 2, 2, 0, 1); - Scheduler::GetInstance().Run(); + Scheduler::GetInstance()->Run(); AssertCommandState(defaultCommand, 2, 5, 5, 0, 1); AssertCommandState(anotherCommand, 1, 2, 2, 0, 1); diff --git a/wpilibc/wpilibC++Sim/include/AnalogInput.h b/wpilibc/wpilibC++Sim/include/AnalogInput.h index dd85922b01..9ce15d31c2 100644 --- a/wpilibc/wpilibC++Sim/include/AnalogInput.h +++ b/wpilibc/wpilibC++Sim/include/AnalogInput.h @@ -37,7 +37,7 @@ public: uint32_t GetChannel() const; - double PIDGet() const override; + double PIDGet() override; void UpdateTable() override; void StartLiveWindowMode() override; diff --git a/wpilibc/wpilibC++Sim/include/AnalogPotentiometer.h b/wpilibc/wpilibC++Sim/include/AnalogPotentiometer.h index 90a62f7d8a..786f36f757 100644 --- a/wpilibc/wpilibC++Sim/include/AnalogPotentiometer.h +++ b/wpilibc/wpilibC++Sim/include/AnalogPotentiometer.h @@ -51,7 +51,7 @@ public: * * @return The current reading. */ - virtual double PIDGet() const override; + virtual double PIDGet() override; /* diff --git a/wpilibc/wpilibC++Sim/include/Encoder.h b/wpilibc/wpilibC++Sim/include/Encoder.h index b573522a1f..89b1b3a303 100644 --- a/wpilibc/wpilibC++Sim/include/Encoder.h +++ b/wpilibc/wpilibC++Sim/include/Encoder.h @@ -54,7 +54,7 @@ public: void SetSamplesToAverage(int samplesToAverage); int GetSamplesToAverage() const; void SetPIDSourceType(PIDSourceType pidSource); - double PIDGet() const override; + double PIDGet() override; void UpdateTable() override; void StartLiveWindowMode() override; diff --git a/wpilibc/wpilibC++Sim/include/Gyro.h b/wpilibc/wpilibC++Sim/include/Gyro.h index 3eae6e8bc6..9503738ab3 100644 --- a/wpilibc/wpilibC++Sim/include/Gyro.h +++ b/wpilibc/wpilibC++Sim/include/Gyro.h @@ -42,7 +42,7 @@ public: // PIDSource interface void SetPIDSourceType(PIDSourceType pidSource) override; - double PIDGet() const override; + double PIDGet() override; void UpdateTable() override; void StartLiveWindowMode() override; diff --git a/wpilibc/wpilibC++Sim/src/AnalogInput.cpp b/wpilibc/wpilibC++Sim/src/AnalogInput.cpp index 561a6f4c03..71c48c565a 100644 --- a/wpilibc/wpilibC++Sim/src/AnalogInput.cpp +++ b/wpilibc/wpilibC++Sim/src/AnalogInput.cpp @@ -20,7 +20,7 @@ AnalogInput::AnalogInput(uint32_t channel) int n = sprintf(buffer, "analog/%d", channel); m_impl = new SimFloatInput(buffer); - LiveWindow::GetInstance().AddSensor("AnalogInput", channel, this); + LiveWindow::GetInstance()->AddSensor("AnalogInput", channel, this); } /** @@ -59,7 +59,7 @@ uint32_t AnalogInput::GetChannel() const * * @return The average voltage. */ -double AnalogInput::PIDGet() const +double AnalogInput::PIDGet() { return GetAverageVoltage(); } diff --git a/wpilibc/wpilibC++Sim/src/AnalogPotentiometer.cpp b/wpilibc/wpilibC++Sim/src/AnalogPotentiometer.cpp index e7f6b49d36..fa312c12e0 100644 --- a/wpilibc/wpilibC++Sim/src/AnalogPotentiometer.cpp +++ b/wpilibc/wpilibC++Sim/src/AnalogPotentiometer.cpp @@ -46,7 +46,7 @@ double AnalogPotentiometer::Get() const { * * @return The current reading. */ -double AnalogPotentiometer::PIDGet() const { +double AnalogPotentiometer::PIDGet() { return Get(); } diff --git a/wpilibc/wpilibC++Sim/src/DoubleSolenoid.cpp b/wpilibc/wpilibC++Sim/src/DoubleSolenoid.cpp index c4cb6c6e96..b6e45278e4 100644 --- a/wpilibc/wpilibC++Sim/src/DoubleSolenoid.cpp +++ b/wpilibc/wpilibC++Sim/src/DoubleSolenoid.cpp @@ -39,7 +39,7 @@ DoubleSolenoid::DoubleSolenoid(uint8_t moduleNumber, uint32_t forwardChannel, ui forwardChannel, moduleNumber, reverseChannel); m_impl = new SimContinuousOutput(buffer); - LiveWindow::GetInstance().AddActuator("DoubleSolenoid", moduleNumber, + LiveWindow::GetInstance()->AddActuator("DoubleSolenoid", moduleNumber, forwardChannel, this); } diff --git a/wpilibc/wpilibC++Sim/src/Encoder.cpp b/wpilibc/wpilibC++Sim/src/Encoder.cpp index ecd658bd1c..790868e5ce 100644 --- a/wpilibc/wpilibC++Sim/src/Encoder.cpp +++ b/wpilibc/wpilibC++Sim/src/Encoder.cpp @@ -35,7 +35,7 @@ void Encoder::InitEncoder(int channelA, int channelB, bool reverseDirection, Enc int32_t index = 0; m_distancePerPulse = 1.0; - LiveWindow::GetInstance().AddSensor("Encoder", channelA, this); + LiveWindow::GetInstance()->AddSensor("Encoder", channelA, this); if (channelB < channelA) { // Swap ports int channel = channelB; @@ -318,7 +318,7 @@ void Encoder::SetPIDSourceType(PIDSourceType pidSource) * * @return The current value of the selected source parameter. */ -double Encoder::PIDGet() const +double Encoder::PIDGet() { switch (m_pidSource) { diff --git a/wpilibc/wpilibC++Sim/src/Gyro.cpp b/wpilibc/wpilibC++Sim/src/Gyro.cpp index 09571b76a6..a28bb9b523 100644 --- a/wpilibc/wpilibC++Sim/src/Gyro.cpp +++ b/wpilibc/wpilibC++Sim/src/Gyro.cpp @@ -31,7 +31,7 @@ void Gyro::InitGyro(int channel) int n = sprintf(buffer, "analog/%d", channel); impl = new SimGyro(buffer); - LiveWindow::GetInstance().AddSensor("Gyro", channel, this); + LiveWindow::GetInstance()->AddSensor("Gyro", channel, this); } /** @@ -93,7 +93,7 @@ void Gyro::SetPIDSourceType(PIDSourceType pidSource) * * @return The angle in degrees. */ -double Gyro::PIDGet() const +double Gyro::PIDGet() { switch(GetPIDSourceType()){ case PIDSourceType::kRate: diff --git a/wpilibc/wpilibC++Sim/src/IterativeRobot.cpp b/wpilibc/wpilibC++Sim/src/IterativeRobot.cpp index e18d40be15..f2511df7da 100644 --- a/wpilibc/wpilibC++Sim/src/IterativeRobot.cpp +++ b/wpilibc/wpilibC++Sim/src/IterativeRobot.cpp @@ -71,14 +71,14 @@ double IterativeRobot::GetLoopsPerSec() */ void IterativeRobot::StartCompetition() { - LiveWindow &lw = LiveWindow::GetInstance(); + LiveWindow *lw = LiveWindow::GetInstance(); // first and one-time initialization SmartDashboard::init(); NetworkTable::GetTable("LiveWindow")->GetSubTable("~STATUS~")->PutBoolean("LW Enabled", false); RobotInit(); // loop forever, calling the appropriate mode-dependent function - lw.SetEnabled(false); + lw->SetEnabled(false); while (true) { // Call the appropriate function depending upon the current robot mode @@ -88,7 +88,7 @@ void IterativeRobot::StartCompetition() // either a different mode or from power-on if(!m_disabledInitialized) { - lw.SetEnabled(false); + lw->SetEnabled(false); DisabledInit(); m_disabledInitialized = true; // reset the initialization flags for the other modes @@ -108,7 +108,7 @@ void IterativeRobot::StartCompetition() // either a different mode or from power-on if(!m_autonomousInitialized) { - lw.SetEnabled(false); + lw->SetEnabled(false); AutonomousInit(); m_autonomousInitialized = true; // reset the initialization flags for the other modes @@ -128,7 +128,7 @@ void IterativeRobot::StartCompetition() // either a different mode or from power-on if(!m_testInitialized) { - lw.SetEnabled(true); + lw->SetEnabled(true); TestInit(); m_testInitialized = true; // reset the initialization flags for the other modes @@ -148,14 +148,14 @@ void IterativeRobot::StartCompetition() // either a different mode or from power-on if(!m_teleopInitialized) { - lw.SetEnabled(false); + lw->SetEnabled(false); TeleopInit(); m_teleopInitialized = true; // reset the initialization flags for the other modes m_disabledInitialized = false; m_autonomousInitialized = false; m_testInitialized = false; - Scheduler::GetInstance().SetEnabled(true); + Scheduler::GetInstance()->SetEnabled(true); } if (NextPeriodReady()) { diff --git a/wpilibc/wpilibC++Sim/src/Jaguar.cpp b/wpilibc/wpilibC++Sim/src/Jaguar.cpp index f6fafc499e..fab109d578 100644 --- a/wpilibc/wpilibC++Sim/src/Jaguar.cpp +++ b/wpilibc/wpilibC++Sim/src/Jaguar.cpp @@ -27,7 +27,7 @@ Jaguar::Jaguar(uint32_t channel) : SafePWM(channel) SetPeriodMultiplier(kPeriodMultiplier_1X); SetRaw(m_centerPwm); - LiveWindow::GetInstance().AddActuator("Jaguar", GetChannel(), this); + LiveWindow::GetInstance()->AddActuator("Jaguar", GetChannel(), this); } /** diff --git a/wpilibc/wpilibC++Sim/src/Relay.cpp b/wpilibc/wpilibC++Sim/src/Relay.cpp index 17df05f375..a86320af6d 100644 --- a/wpilibc/wpilibC++Sim/src/Relay.cpp +++ b/wpilibc/wpilibC++Sim/src/Relay.cpp @@ -32,7 +32,7 @@ Relay::Relay(uint32_t channel, Relay::Direction direction) sprintf(buf, "relay/%d", m_channel); impl = new SimContinuousOutput(buf); // TODO: Allow two different relays (targetting the different halves of a relay) to be combined to control one motor. - LiveWindow::GetInstance().AddActuator("Relay", 1, m_channel, this); + LiveWindow::GetInstance()->AddActuator("Relay", 1, m_channel, this); go_pos = go_neg = false; } diff --git a/wpilibc/wpilibC++Sim/src/SampleRobot.cpp b/wpilibc/wpilibC++Sim/src/SampleRobot.cpp index 91a80c70b6..b8f318185e 100644 --- a/wpilibc/wpilibC++Sim/src/SampleRobot.cpp +++ b/wpilibc/wpilibC++Sim/src/SampleRobot.cpp @@ -107,7 +107,7 @@ void SampleRobot::RobotMain() */ void SampleRobot::StartCompetition() { - LiveWindow &lw = LiveWindow::GetInstance(); + LiveWindow *lw = LiveWindow::GetInstance(); SmartDashboard::init(); NetworkTable::GetTable("LiveWindow")->GetSubTable("~STATUS~")->PutBoolean("LW Enabled", false); @@ -117,7 +117,7 @@ void SampleRobot::StartCompetition() if (!m_robotMainOverridden) { // first and one-time initialization - lw.SetEnabled(false); + lw->SetEnabled(false); RobotInit(); while (true) @@ -138,12 +138,12 @@ void SampleRobot::StartCompetition() } else if (IsTest()) { - lw.SetEnabled(true); + lw->SetEnabled(true); m_ds.InTest(true); Test(); m_ds.InTest(false); - while (IsTest() && IsEnabled()) sleep(1); //m_ds.WaitForData(); - lw.SetEnabled(false); + while (IsTest() && IsEnabled()) sleep(1); //m_ds.WaitForData(); + lw->SetEnabled(false); } else { diff --git a/wpilibc/wpilibC++Sim/src/Solenoid.cpp b/wpilibc/wpilibC++Sim/src/Solenoid.cpp index 26a38a9764..682995b497 100644 --- a/wpilibc/wpilibC++Sim/src/Solenoid.cpp +++ b/wpilibc/wpilibC++Sim/src/Solenoid.cpp @@ -28,7 +28,7 @@ Solenoid::Solenoid(uint8_t moduleNumber, uint32_t channel) int n = sprintf(buffer, "pneumatic/%d/%d", moduleNumber, channel); m_impl = new SimContinuousOutput(buffer); - LiveWindow::GetInstance().AddActuator("Solenoid", moduleNumber, channel, + LiveWindow::GetInstance()->AddActuator("Solenoid", moduleNumber, channel, this); } diff --git a/wpilibc/wpilibC++Sim/src/Talon.cpp b/wpilibc/wpilibC++Sim/src/Talon.cpp index 7642d2bf9d..0e9505dbf4 100644 --- a/wpilibc/wpilibC++Sim/src/Talon.cpp +++ b/wpilibc/wpilibC++Sim/src/Talon.cpp @@ -31,7 +31,7 @@ Talon::Talon(uint32_t channel) : SafePWM(channel) SetPeriodMultiplier(kPeriodMultiplier_2X); SetRaw(m_centerPwm); - LiveWindow::GetInstance().AddActuator("Talon", GetChannel(), this); + LiveWindow::GetInstance()->AddActuator("Talon", GetChannel(), this); } /** diff --git a/wpilibc/wpilibC++Sim/src/Victor.cpp b/wpilibc/wpilibC++Sim/src/Victor.cpp index dc8050218b..54ba61fd8d 100644 --- a/wpilibc/wpilibC++Sim/src/Victor.cpp +++ b/wpilibc/wpilibC++Sim/src/Victor.cpp @@ -33,7 +33,7 @@ Victor::Victor(uint32_t channel) : SafePWM(channel) SetPeriodMultiplier(kPeriodMultiplier_2X); SetRaw(m_centerPwm); - LiveWindow::GetInstance().AddActuator("Victor", GetChannel(), this); + LiveWindow::GetInstance()->AddActuator("Victor", GetChannel(), this); } /**