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Revert changes preventing old user code from compiling.

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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
This commit is contained in:
James Kuszmaul
2015-07-24 19:19:40 -04:00
parent ef1e81f93e
commit f65e697107
84 changed files with 218 additions and 218 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/PIDSubsystem.cpp
View File

@@ -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:

2
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/PIDSubsystem.h
View File

@@ -8,7 +8,7 @@ class $classname: public PIDSubsystem
{
public:
$classname();
double ReturnPIDInput() const;
double ReturnPIDInput();
void UsePIDOutput(double output);
void InitDefaultCommand();
};

8
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/Robot.cpp
View File

@@ -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();
}
};

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

@@ -40,7 +40,7 @@ void DriveStraight::Interrupted() {
DriveStraightPIDSource::~DriveStraightPIDSource() {}
double DriveStraightPIDSource::PIDGet() const {
double DriveStraightPIDSource::PIDGet() {
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() const;
double PIDGet();
};
class DriveStraightPIDOutput: public PIDOutput {

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

@@ -40,7 +40,7 @@ void SetDistanceToBox::Interrupted() {
SetDistanceToBoxPIDSource::~SetDistanceToBoxPIDSource() {}
double SetDistanceToBoxPIDSource::PIDGet() const {
double SetDistanceToBoxPIDSource::PIDGet() {
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() const;
double PIDGet();
};
class SetDistanceToBoxPIDOutput: public PIDOutput {

6
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Robot.cpp
View File

@@ -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)

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

@@ -28,7 +28,7 @@ public:
private:
Autonomous autonomousCommand;
LiveWindow &lw = LiveWindow::GetInstance();
LiveWindow *lw = LiveWindow::GetInstance();
void RobotInit();
void AutonomousInit();

16
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/DriveTrain.cpp
View File

@@ -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);
}
/**

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() const {
double Elevator::ReturnPIDInput() {
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() const;
double ReturnPIDInput();
/**

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

@@ -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();
}

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

@@ -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

4
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GettingStarted/src/Robot.cpp
View File

@@ -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();
}
};

6
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Robot.cpp
View File

@@ -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() {

6
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Collector.cpp
View File

@@ -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() {

6
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/DriveTrain.cpp
View File

@@ -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() {

12
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Pivot.cpp
View File

@@ -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();
}

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

@@ -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

2
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Pneumatics.cpp
View File

@@ -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);
}
/**

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

@@ -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()

4
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/iterative/Robot.cpp
View File

@@ -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();
}
};