diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Autonomous.cpp b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Autonomous.cpp index bfd47e8f86..23ccfff2b4 100644 --- a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Autonomous.cpp +++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Autonomous.cpp @@ -15,7 +15,7 @@ #include "commands/SetWristSetpoint.h" Autonomous::Autonomous(Claw* claw, Wrist* wrist, Elevator* elevator, - DriveTrain* drivetrain) { + Drivetrain* drivetrain) { SetName("Autonomous"); AddCommands( // clang-format off diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/DriveStraight.cpp b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/DriveStraight.cpp index 6163372237..60408dbf56 100644 --- a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/DriveStraight.cpp +++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/DriveStraight.cpp @@ -8,7 +8,7 @@ #include "Robot.h" -DriveStraight::DriveStraight(double distance, DriveTrain* drivetrain) +DriveStraight::DriveStraight(double distance, Drivetrain* drivetrain) : frc2::CommandHelper( frc2::PIDController(4, 0, 0), [drivetrain] { return drivetrain->GetDistance(); }, distance, diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetDistanceToBox.cpp b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetDistanceToBox.cpp index 18e9a414b3..d594797674 100644 --- a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetDistanceToBox.cpp +++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetDistanceToBox.cpp @@ -8,7 +8,7 @@ #include "Robot.h" -SetDistanceToBox::SetDistanceToBox(double distance, DriveTrain* drivetrain) +SetDistanceToBox::SetDistanceToBox(double distance, Drivetrain* drivetrain) : frc2::CommandHelper( frc2::PIDController(-2, 0, 0), [drivetrain] { return drivetrain->GetDistanceToObstacle(); }, diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/TankDrive.cpp b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/TankDrive.cpp index 3d905c30bc..a68edab730 100644 --- a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/TankDrive.cpp +++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/TankDrive.cpp @@ -9,7 +9,7 @@ #include "Robot.h" TankDrive::TankDrive(std::function left, - std::function right, DriveTrain* drivetrain) + std::function right, Drivetrain* drivetrain) : m_left(std::move(left)), m_right(std::move(right)), m_drivetrain(drivetrain) { diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/DriveTrain.cpp b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Drivetrain.cpp similarity index 88% rename from wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/DriveTrain.cpp rename to wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Drivetrain.cpp index ec344237db..fa0a6659e3 100644 --- a/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/DriveTrain.cpp +++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Drivetrain.cpp @@ -2,14 +2,14 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -#include "subsystems/DriveTrain.h" +#include "subsystems/Drivetrain.h" #include #include #include #include -DriveTrain::DriveTrain() { +Drivetrain::Drivetrain() { // We need to invert one side of the drivetrain so that positive voltages // result in both sides moving forward. Depending on how your robot's // gearbox is constructed, you might have to invert the left side instead. @@ -30,7 +30,7 @@ DriveTrain::DriveTrain() { m_rightEncoder.SetDistancePerPulse(units::foot_t{4_in}.to() * wpi::numbers::pi / 360.0); #endif - SetName("DriveTrain"); + SetName("Drivetrain"); // Let's show everything on the LiveWindow AddChild("Front_Left Motor", &m_frontLeft); AddChild("Rear Left Motor", &m_rearLeft); @@ -42,7 +42,7 @@ DriveTrain::DriveTrain() { AddChild("Gyro", &m_gyro); } -void DriveTrain::Log() { +void Drivetrain::Log() { frc::SmartDashboard::PutNumber("Left Distance", m_leftEncoder.GetDistance()); frc::SmartDashboard::PutNumber("Right Distance", m_rightEncoder.GetDistance()); @@ -51,29 +51,29 @@ void DriveTrain::Log() { frc::SmartDashboard::PutNumber("Gyro", m_gyro.GetAngle()); } -void DriveTrain::Drive(double left, double right) { +void Drivetrain::Drive(double left, double right) { m_robotDrive.TankDrive(left, right); } -double DriveTrain::GetHeading() { +double Drivetrain::GetHeading() { return m_gyro.GetAngle(); } -void DriveTrain::Reset() { +void Drivetrain::Reset() { m_gyro.Reset(); m_leftEncoder.Reset(); m_rightEncoder.Reset(); } -double DriveTrain::GetDistance() { +double Drivetrain::GetDistance() { return (m_leftEncoder.GetDistance() + m_rightEncoder.GetDistance()) / 2.0; } -double DriveTrain::GetDistanceToObstacle() { +double Drivetrain::GetDistanceToObstacle() { // Really meters in simulation since it's a rangefinder... return m_rangefinder.GetAverageVoltage(); } -void DriveTrain::Periodic() { +void Drivetrain::Periodic() { Log(); } diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/RobotContainer.h b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/RobotContainer.h index 80b70eaf77..ae1ec9d159 100644 --- a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/RobotContainer.h +++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/RobotContainer.h @@ -9,7 +9,7 @@ #include "commands/Autonomous.h" #include "subsystems/Claw.h" -#include "subsystems/DriveTrain.h" +#include "subsystems/Drivetrain.h" #include "subsystems/Elevator.h" #include "subsystems/Wrist.h" @@ -33,7 +33,7 @@ class RobotContainer { Claw m_claw; Wrist m_wrist; Elevator m_elevator; - DriveTrain m_drivetrain; + Drivetrain m_drivetrain; Autonomous m_autonomousCommand; diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Autonomous.h b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Autonomous.h index f90b4b4ae2..5dae1c1462 100644 --- a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Autonomous.h +++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Autonomous.h @@ -8,7 +8,7 @@ #include #include "subsystems/Claw.h" -#include "subsystems/DriveTrain.h" +#include "subsystems/Drivetrain.h" #include "subsystems/Elevator.h" #include "subsystems/Wrist.h" @@ -19,5 +19,5 @@ class Autonomous : public frc2::CommandHelper { public: Autonomous(Claw* claw, Wrist* wrist, Elevator* elevator, - DriveTrain* drivetrain); + Drivetrain* drivetrain); }; diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/DriveStraight.h b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/DriveStraight.h index aea57ec2f8..abc598cb1b 100644 --- a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/DriveStraight.h +++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/DriveStraight.h @@ -7,7 +7,7 @@ #include #include -#include "subsystems/DriveTrain.h" +#include "subsystems/Drivetrain.h" /** * Drive the given distance straight (negative values go backwards). @@ -18,10 +18,10 @@ class DriveStraight : public frc2::CommandHelper { public: - explicit DriveStraight(double distance, DriveTrain* drivetrain); + explicit DriveStraight(double distance, Drivetrain* drivetrain); void Initialize() override; bool IsFinished() override; private: - DriveTrain* m_drivetrain; + Drivetrain* m_drivetrain; }; diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetDistanceToBox.h b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetDistanceToBox.h index 5722e60510..2104a5cdf2 100644 --- a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetDistanceToBox.h +++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetDistanceToBox.h @@ -7,7 +7,7 @@ #include #include -#include "subsystems/DriveTrain.h" +#include "subsystems/Drivetrain.h" /** * Drive until the robot is the given distance away from the box. Uses a local @@ -18,10 +18,10 @@ class SetDistanceToBox : public frc2::CommandHelper { public: - explicit SetDistanceToBox(double distance, DriveTrain* drivetrain); + explicit SetDistanceToBox(double distance, Drivetrain* drivetrain); void Initialize() override; bool IsFinished() override; private: - DriveTrain* m_drivetrain; + Drivetrain* m_drivetrain; }; diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/TankDrive.h b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/TankDrive.h index 30a87a77a8..c49fdf3079 100644 --- a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/TankDrive.h +++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/TankDrive.h @@ -7,7 +7,7 @@ #include #include -#include "subsystems/DriveTrain.h" +#include "subsystems/Drivetrain.h" /** * Have the robot drive tank style using the PS3 Joystick until interrupted. @@ -15,7 +15,7 @@ class TankDrive : public frc2::CommandHelper { public: TankDrive(std::function left, std::function right, - DriveTrain* drivetrain); + Drivetrain* drivetrain); void Execute() override; bool IsFinished() override; void End(bool interrupted) override; @@ -23,5 +23,5 @@ class TankDrive : public frc2::CommandHelper { private: std::function m_left; std::function m_right; - DriveTrain* m_drivetrain; + Drivetrain* m_drivetrain; }; diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/DriveTrain.h b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Drivetrain.h similarity index 91% rename from wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/DriveTrain.h rename to wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Drivetrain.h index f704df80ae..108a9c0f08 100644 --- a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/DriveTrain.h +++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Drivetrain.h @@ -17,13 +17,13 @@ class Joystick; } // namespace frc /** - * The DriveTrain subsystem incorporates the sensors and actuators attached to + * The Drivetrain subsystem incorporates the sensors and actuators attached to * the robots chassis. These include four drive motors, a left and right encoder * and a gyro. */ -class DriveTrain : public frc2::SubsystemBase { +class Drivetrain : public frc2::SubsystemBase { public: - DriveTrain(); + Drivetrain(); /** * The log method puts interesting information to the SmartDashboard. @@ -31,7 +31,7 @@ class DriveTrain : public frc2::SubsystemBase { void Log(); /** - * Tank style driving for the DriveTrain. + * Tank style driving for the Drivetrain. * @param left Speed in range [-1,1] * @param right Speed in range [-1,1] */ diff --git a/wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/Robot.cpp index 303f74d6ec..688560e586 100644 --- a/wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/Robot.cpp @@ -10,7 +10,7 @@ #include #include -DriveTrain Robot::drivetrain; +Drivetrain Robot::drivetrain; Pivot Robot::pivot; Collector Robot::collector; Shooter Robot::shooter; diff --git a/wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/subsystems/DriveTrain.cpp b/wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/subsystems/Drivetrain.cpp similarity index 83% rename from wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/subsystems/DriveTrain.cpp rename to wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/subsystems/Drivetrain.cpp index 22c942737d..21e35c6991 100644 --- a/wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/subsystems/DriveTrain.cpp +++ b/wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/subsystems/Drivetrain.cpp @@ -2,7 +2,7 @@ // Open Source Software; you can modify and/or share it under the terms of // the WPILib BSD license file in the root directory of this project. -#include "subsystems/DriveTrain.h" +#include "subsystems/Drivetrain.h" #include #include @@ -10,7 +10,7 @@ #include "commands/DriveWithJoystick.h" -DriveTrain::DriveTrain() : frc::Subsystem("DriveTrain") { +Drivetrain::Drivetrain() : frc::Subsystem("Drivetrain") { // AddChild("Front Left CIM", m_frontLeftCIM); // AddChild("Front Right CIM", m_frontRightCIM); // AddChild("Back Left CIM", m_backLeftCIM); @@ -46,26 +46,26 @@ DriveTrain::DriveTrain() : frc::Subsystem("DriveTrain") { AddChild("Gyro", m_gyro); } -void DriveTrain::InitDefaultCommand() { +void Drivetrain::InitDefaultCommand() { SetDefaultCommand(new DriveWithJoystick()); } -void DriveTrain::TankDrive(double leftAxis, double rightAxis) { +void Drivetrain::TankDrive(double leftAxis, double rightAxis) { m_robotDrive.TankDrive(leftAxis, rightAxis); } -void DriveTrain::Stop() { +void Drivetrain::Stop() { m_robotDrive.TankDrive(0.0, 0.0); } -frc::Encoder& DriveTrain::GetLeftEncoder() { +frc::Encoder& Drivetrain::GetLeftEncoder() { return m_leftEncoder; } -frc::Encoder& DriveTrain::GetRightEncoder() { +frc::Encoder& Drivetrain::GetRightEncoder() { return m_rightEncoder; } -double DriveTrain::GetAngle() { +double Drivetrain::GetAngle() { return m_gyro.GetAngle(); } diff --git a/wpilibcExamples/src/main/cpp/examples/PacGoat/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/PacGoat/include/Robot.h index 5a07905282..b89201daf8 100644 --- a/wpilibcExamples/src/main/cpp/examples/PacGoat/include/Robot.h +++ b/wpilibcExamples/src/main/cpp/examples/PacGoat/include/Robot.h @@ -12,14 +12,14 @@ #include "commands/DriveAndShootAutonomous.h" #include "commands/DriveForward.h" #include "subsystems/Collector.h" -#include "subsystems/DriveTrain.h" +#include "subsystems/Drivetrain.h" #include "subsystems/Pivot.h" #include "subsystems/Pneumatics.h" #include "subsystems/Shooter.h" class Robot : public frc::TimedRobot { public: - static DriveTrain drivetrain; + static Drivetrain drivetrain; static Pivot pivot; static Collector collector; static Shooter shooter; diff --git a/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/DriveTrain.h b/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Drivetrain.h similarity index 93% rename from wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/DriveTrain.h rename to wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Drivetrain.h index 65d29cd933..070bc0c7c0 100644 --- a/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/DriveTrain.h +++ b/wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Drivetrain.h @@ -16,12 +16,12 @@ class Joystick; } // namespace frc /** - * The DriveTrain subsystem controls the robot's chassis and reads in + * The Drivetrain subsystem controls the robot's chassis and reads in * information about it's speed and position. */ -class DriveTrain : public frc::Subsystem { +class Drivetrain : public frc::Subsystem { public: - DriveTrain(); + Drivetrain(); /** * When other commands aren't using the drivetrain, allow tank drive diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/RobotContainer.java index a17b640329..e4c7412c36 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/RobotContainer.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/RobotContainer.java @@ -15,7 +15,7 @@ import edu.wpi.first.wpilibj.examples.gearsbot.commands.SetElevatorSetpoint; import edu.wpi.first.wpilibj.examples.gearsbot.commands.SetWristSetpoint; import edu.wpi.first.wpilibj.examples.gearsbot.commands.TankDrive; import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw; -import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain; +import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Drivetrain; import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Elevator; import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Wrist; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; @@ -31,7 +31,7 @@ import edu.wpi.first.wpilibj2.command.button.JoystickButton; */ public class RobotContainer { // The robot's subsystems and commands are defined here... - private final DriveTrain m_drivetrain = new DriveTrain(); + private final Drivetrain m_drivetrain = new Drivetrain(); private final Elevator m_elevator = new Elevator(); private final Wrist m_wrist = new Wrist(); private final Claw m_claw = new Claw(); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Autonomous.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Autonomous.java index 9003f30ef2..599ed69a0b 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Autonomous.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Autonomous.java @@ -5,7 +5,7 @@ package edu.wpi.first.wpilibj.examples.gearsbot.commands; import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw; -import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain; +import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Drivetrain; import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Elevator; import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Wrist; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; @@ -13,7 +13,7 @@ import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; /** The main autonomous command to pickup and deliver the soda to the box. */ public class Autonomous extends SequentialCommandGroup { /** Create a new autonomous command. */ - public Autonomous(DriveTrain drive, Claw claw, Wrist wrist, Elevator elevator) { + public Autonomous(Drivetrain drive, Claw claw, Wrist wrist, Elevator elevator) { addCommands( new PrepareToPickup(claw, wrist, elevator), new Pickup(claw, wrist, elevator), diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/DriveStraight.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/DriveStraight.java index 4be4ac1335..ed47cc1c90 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/DriveStraight.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/DriveStraight.java @@ -5,7 +5,7 @@ package edu.wpi.first.wpilibj.examples.gearsbot.commands; import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain; +import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Drivetrain; import edu.wpi.first.wpilibj2.command.PIDCommand; /** @@ -14,14 +14,14 @@ import edu.wpi.first.wpilibj2.command.PIDCommand; * averaged values of the left and right encoders. */ public class DriveStraight extends PIDCommand { - private final DriveTrain m_drivetrain; + private final Drivetrain m_drivetrain; /** * Create a new DriveStraight command. * * @param distance The distance to drive */ - public DriveStraight(double distance, DriveTrain drivetrain) { + public DriveStraight(double distance, Drivetrain drivetrain) { super( new PIDController(4, 0, 0), drivetrain::getDistance, distance, d -> drivetrain.drive(d, d)); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetDistanceToBox.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetDistanceToBox.java index ad152b329a..f8b291c49c 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetDistanceToBox.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetDistanceToBox.java @@ -5,7 +5,7 @@ package edu.wpi.first.wpilibj.examples.gearsbot.commands; import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain; +import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Drivetrain; import edu.wpi.first.wpilibj2.command.PIDCommand; /** @@ -14,14 +14,14 @@ import edu.wpi.first.wpilibj2.command.PIDCommand; * values of the left and right encoders. */ public class SetDistanceToBox extends PIDCommand { - private final DriveTrain m_drivetrain; + private final Drivetrain m_drivetrain; /** * Create a new set distance to box command. * * @param distance The distance away from the box to drive to */ - public SetDistanceToBox(double distance, DriveTrain drivetrain) { + public SetDistanceToBox(double distance, Drivetrain drivetrain) { super( new PIDController(-2, 0, 0), drivetrain::getDistanceToObstacle, diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/TankDrive.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/TankDrive.java index d0a48ffdb5..009daada78 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/TankDrive.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/TankDrive.java @@ -4,13 +4,13 @@ package edu.wpi.first.wpilibj.examples.gearsbot.commands; -import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain; +import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Drivetrain; import edu.wpi.first.wpilibj2.command.CommandBase; import java.util.function.DoubleSupplier; /** Have the robot drive tank style. */ public class TankDrive extends CommandBase { - private final DriveTrain m_drivetrain; + private final Drivetrain m_drivetrain; private final DoubleSupplier m_left; private final DoubleSupplier m_right; @@ -21,7 +21,7 @@ public class TankDrive extends CommandBase { * @param right The control input for the right sight of the drive * @param drivetrain The drivetrain subsystem to drive */ - public TankDrive(DoubleSupplier left, DoubleSupplier right, DriveTrain drivetrain) { + public TankDrive(DoubleSupplier left, DoubleSupplier right, Drivetrain drivetrain) { m_drivetrain = drivetrain; m_left = left; m_right = right; diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Drivetrain.java similarity index 95% rename from wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java rename to wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Drivetrain.java index 81c33fded9..44f455d062 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Drivetrain.java @@ -15,9 +15,9 @@ import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; -public class DriveTrain extends SubsystemBase { +public class Drivetrain extends SubsystemBase { /** - * The DriveTrain subsystem incorporates the sensors and actuators attached to the robots chassis. + * The Drivetrain subsystem incorporates the sensors and actuators attached to the robots chassis. * These include four drive motors, a left and right encoder and a gyro. */ private final MotorController m_leftMotor = @@ -33,8 +33,8 @@ public class DriveTrain extends SubsystemBase { private final AnalogInput m_rangefinder = new AnalogInput(6); private final AnalogGyro m_gyro = new AnalogGyro(1); - /** Create a new drive train subsystem. */ - public DriveTrain() { + /** Create a new drivetrain subsystem. */ + public Drivetrain() { super(); // We need to invert one side of the drivetrain so that positive voltages @@ -74,7 +74,7 @@ public class DriveTrain extends SubsystemBase { } /** - * Tank style driving for the DriveTrain. + * Tank style driving for the Drivetrain. * * @param left Speed in range [-1,1] * @param right Speed in range [-1,1] diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/Robot.java index 216a87f6b9..552cff7f69 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/Robot.java @@ -10,7 +10,7 @@ import edu.wpi.first.wpilibj.command.Scheduler; import edu.wpi.first.wpilibj.examples.pacgoat.commands.DriveAndShootAutonomous; import edu.wpi.first.wpilibj.examples.pacgoat.commands.DriveForward; import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Collector; -import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.DriveTrain; +import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Drivetrain; import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Pivot; import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Pneumatics; import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Shooter; @@ -30,7 +30,7 @@ public class Robot extends TimedRobot { public static OI oi; // Initialize the subsystems - public static DriveTrain drivetrain = new DriveTrain(); + public static Drivetrain drivetrain = new Drivetrain(); public static Collector collector = new Collector(); public static Shooter shooter = new Shooter(); public static Pneumatics pneumatics = new Pneumatics(); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/DriveTrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Drivetrain.java similarity index 95% rename from wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/DriveTrain.java rename to wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Drivetrain.java index 452fab5744..144e93f902 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/DriveTrain.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Drivetrain.java @@ -17,10 +17,10 @@ import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup; import edu.wpi.first.wpilibj.motorcontrol.Victor; /** - * The DriveTrain subsystem controls the robot's chassis and reads in information about it's speed + * The Drivetrain subsystem controls the robot's chassis and reads in information about it's speed * and position. */ -public class DriveTrain extends Subsystem { +public class Drivetrain extends Subsystem { // Subsystem devices private final MotorController m_frontLeftCIM = new Victor(1); private final MotorController m_frontRightCIM = new Victor(2); @@ -35,8 +35,8 @@ public class DriveTrain extends Subsystem { private final Encoder m_leftEncoder = new Encoder(3, 4, false, EncodingType.k4X); private final AnalogGyro m_gyro = new AnalogGyro(0); - /** Create a new drive train subsystem. */ - public DriveTrain() { + /** Create a new drivetrain subsystem. */ + public Drivetrain() { // Configure drive motors addChild("Front Left CIM", (Victor) m_frontLeftCIM); addChild("Front Right CIM", (Victor) m_frontRightCIM); diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java index 7a20b6f76b..be813cc437 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java +++ b/wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java @@ -10,7 +10,7 @@ import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.trajectory.Trajectory; /** - * This holonomic drive controller can be used to follow trajectories using a holonomic drive train + * This holonomic drive controller can be used to follow trajectories using a holonomic drivetrain * (i.e. swerve or mecanum). Holonomic trajectory following is a much simpler problem to solve * compared to skid-steer style drivetrains because it is possible to individually control forward, * sideways, and angular velocity. diff --git a/wpimath/src/main/native/include/frc/controller/HolonomicDriveController.h b/wpimath/src/main/native/include/frc/controller/HolonomicDriveController.h index 265ff31019..fe8529dd4d 100644 --- a/wpimath/src/main/native/include/frc/controller/HolonomicDriveController.h +++ b/wpimath/src/main/native/include/frc/controller/HolonomicDriveController.h @@ -18,10 +18,10 @@ namespace frc { /** * This holonomic drive controller can be used to follow trajectories using a - * holonomic drive train (i.e. swerve or mecanum). Holonomic trajectory - * following is a much simpler problem to solve compared to skid-steer style - * drivetrains because it is possible to individually control forward, sideways, - * and angular velocity. + * holonomic drivetrain (i.e. swerve or mecanum). Holonomic trajectory following + * is a much simpler problem to solve compared to skid-steer style drivetrains + * because it is possible to individually control forward, sideways, and angular + * velocity. * * The holonomic drive controller takes in one PID controller for each * direction, forward and sideways, and one profiled PID controller for the