Merge branch 'main' of https://github.com/ncorrea210/ExampleProjects

wpilibsuite · Dec 2, 2023 · 6a48dc4 · 6a48dc4
2 parents f385d91 + d55c55b
commit 6a48dc4
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Showing 14 changed files with 92 additions and 94 deletions.
diff --git a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp
@@ -63,20 +63,21 @@ void RobotContainer::ConfigureButtonBindings() {
 frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
   // Runs the chosen command in autonomous
   return frc2::cmd::Sequence(
-          // Start the command by spinning up the shooter...
-          frc2::cmd::RunOnce([this] { m_shooter.Enable(); }, {&m_shooter}),
-          // Wait until the shooter is at speed before feeding the frisbees
-          frc2::cmd::WaitUntil([this] { return m_shooter.AtSetpoint(); }),
-          // Start running the feeder
-          frc2::cmd::RunOnce([this] { m_shooter.RunFeeder(); }, {&m_shooter}),
-          // Shoot for the specified time
-          frc2::cmd::Wait(ac::kAutoShootTimeSeconds))
-          // Add a timeout (will end the command if, for instance, the shooter
-          // never gets up to speed)
-          .WithTimeout(ac::kAutoTimeoutSeconds)
-          // When the command ends, turn off the shooter and the feeder
-          .AndThen(frc2::cmd::RunOnce([this] {
-            m_shooter.Disable();
-            m_shooter.StopFeeder();
-          }));
+             // Start the command by spinning up the shooter...
+             frc2::cmd::RunOnce([this] { m_shooter.Enable(); }, {&m_shooter}),
+             // Wait until the shooter is at speed before feeding the frisbees
+             frc2::cmd::WaitUntil([this] { return m_shooter.AtSetpoint(); }),
+             // Start running the feeder
+             frc2::cmd::RunOnce([this] { m_shooter.RunFeeder(); },
+                                {&m_shooter}),
+             // Shoot for the specified time
+             frc2::cmd::Wait(ac::kAutoShootTimeSeconds))
+      // Add a timeout (will end the command if, for instance, the shooter
+      // never gets up to speed)
+      .WithTimeout(ac::kAutoTimeoutSeconds)
+      // When the command ends, turn off the shooter and the feeder
+      .AndThen(frc2::cmd::RunOnce([this] {
+        m_shooter.Disable();
+        m_shooter.StopFeeder();
+      }));
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/RobotContainer.h b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/RobotContainer.h
@@ -48,6 +48,5 @@ class RobotContainer {
   frc2::CommandPtr m_stopShooter =
       frc2::cmd::RunOnce([this] { m_shooter.Disable(); }, {&m_shooter});
 
-
   void ConfigureButtonBindings();
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/RobotContainer.h b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/RobotContainer.h
@@ -5,8 +5,8 @@
 #pragma once
 
 #include <frc/XboxController.h>
-#include <frc2/command/CommandPtr.h>
 #include <frc2/command/Command.h>
+#include <frc2/command/CommandPtr.h>
 
 #include "commands/Autonomous.h"
 #include "subsystems/Claw.h"

diff --git a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/RobotContainer.h b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/RobotContainer.h
@@ -7,8 +7,8 @@
 #include <frc/PS4Controller.h>
 #include <frc/controller/PIDController.h>
 #include <frc/smartdashboard/SendableChooser.h>
-#include <frc2/command/CommandPtr.h>
 #include <frc2/command/Command.h>
+#include <frc2/command/CommandPtr.h>
 #include <frc2/command/InstantCommand.h>
 
 #include "Constants.h"

diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
@@ -76,12 +76,12 @@ frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
   switch (m_chooser.GetSelected()) {
     case autos::AutoEnum::kSimpleAuto:
       return autos::SimpleAuto(&m_drive);
-    break;
+      break;
     case autos::AutoEnum::kComplexAuto:
       return autos::ComplexAuto(&m_drive, &m_hatch);
-    break;
+      break;
     default:
       return frc2::CommandPtr(nullptr);
-    break;
+      break;
   }
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.h b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.h
@@ -6,8 +6,8 @@
 
 #include <frc/smartdashboard/SendableChooser.h>
 #include <frc2/command/Command.h>
-#include <frc2/command/Commands.h>
 #include <frc2/command/CommandPtr.h>
+#include <frc2/command/Commands.h>
 #include <frc2/command/button/CommandPS4Controller.h>
 
 #include "Constants.h"

diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/commands/Autos.h b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/commands/Autos.h
@@ -23,9 +23,6 @@ frc2::CommandPtr SimpleAuto(DriveSubsystem* drive);
  */
 frc2::CommandPtr ComplexAuto(DriveSubsystem* drive, HatchSubsystem* hatch);
 
-enum class AutoEnum {
-  kSimpleAuto, 
-  kComplexAuto
-};
+enum class AutoEnum { kSimpleAuto, kComplexAuto };
 
 }  // namespace autos
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
@@ -83,13 +83,14 @@ frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
   switch (m_chooser.GetSelected()) {
     case Autos::kSimpleAuto:
       return DriveDistance(AutoConstants::kAutoDriveDistanceInches,
-                             AutoConstants::kAutoDriveSpeed, &m_drive).ToPtr();
-    break;
+                           AutoConstants::kAutoDriveSpeed, &m_drive)
+          .ToPtr();
+      break;
     case Autos::kComplexAuto:
       return ComplexAuto(&m_drive, &m_hatch).ToPtr();
-    break;
-    default: 
+      break;
+    default:
       return frc2::CommandPtr(nullptr);
-    break;
+      break;
   }
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/RobotContainer.h b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/RobotContainer.h
@@ -6,8 +6,8 @@
 
 #include <frc/XboxController.h>
 #include <frc/smartdashboard/SendableChooser.h>
-#include <frc2/command/CommandPtr.h>
 #include <frc2/command/Command.h>
+#include <frc2/command/CommandPtr.h>
 
 #include "Constants.h"
 #include "commands/ComplexAuto.h"
@@ -17,13 +17,10 @@
 #include "subsystems/HatchSubsystem.h"
 
 /**
- * This is where the autos can be listed for the autonomous chooser so it can use CommandPtr
- * the sendable chooser does not support the use of CommandPtr
+ * This is where the autos can be listed for the autonomous chooser so it can
+ * use CommandPtr the sendable chooser does not support the use of CommandPtr
  */
-enum class Autos {
-  kSimpleAuto,
-  kComplexAuto
-};
+enum class Autos { kSimpleAuto, kComplexAuto };
 
 /**
  * This class is where the bulk of the robot should be declared.  Since

diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp
@@ -12,11 +12,11 @@
 #include <frc/trajectory/Trajectory.h>
 #include <frc/trajectory/TrajectoryGenerator.h>
 #include <frc/trajectory/constraint/MecanumDriveKinematicsConstraint.h>
+#include <frc2/command/Commands.h>
 #include <frc2/command/InstantCommand.h>
 #include <frc2/command/MecanumControllerCommand.h>
 #include <frc2/command/SequentialCommandGroup.h>
 #include <frc2/command/button/JoystickButton.h>
-#include <frc2/command/Commands.h>
 
 #include "Constants.h"
 
@@ -71,43 +71,45 @@ frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
 
   // no auto
   return frc2::cmd::Sequence(
-    frc2::MecanumControllerCommand(
-      exampleTrajectory, [this]() { return m_drive.GetPose(); },
-
-      frc::SimpleMotorFeedforward<units::meters>(ks, kv, ka),
-      DriveConstants::kDriveKinematics,
-
-      frc::PIDController{AutoConstants::kPXController, 0, 0},
-      frc::PIDController{AutoConstants::kPYController, 0, 0},
-      frc::ProfiledPIDController<units::radians>(
-          AutoConstants::kPThetaController, 0, 0,
-          AutoConstants::kThetaControllerConstraints),
-
-      AutoConstants::kMaxSpeed,
-
-      [this]() {
-        return frc::MecanumDriveWheelSpeeds{
-            units::meters_per_second_t{m_drive.GetFrontLeftEncoder().GetRate()},
-            units::meters_per_second_t{
-                m_drive.GetFrontRightEncoder().GetRate()},
-            units::meters_per_second_t{m_drive.GetRearLeftEncoder().GetRate()},
-            units::meters_per_second_t{
-                m_drive.GetRearRightEncoder().GetRate()}};
-      },
-
-      frc::PIDController{DriveConstants::kPFrontLeftVel, 0, 0},
-      frc::PIDController{DriveConstants::kPRearLeftVel, 0, 0},
-      frc::PIDController{DriveConstants::kPFrontRightVel, 0, 0},
-      frc::PIDController{DriveConstants::kPRearRightVel, 0, 0},
-
-      [this](units::volt_t frontLeft, units::volt_t rearLeft,
-             units::volt_t frontRight, units::volt_t rearRight) {
-        m_drive.SetMotorControllersVolts(frontLeft, rearLeft, frontRight,
-                                         rearRight);
-      },
-
-      {&m_drive}).ToPtr(), 
-    frc2::InstantCommand([this] { m_drive.Drive(0, 0, 0, false); }, {}).ToPtr()
-  );
-
+      frc2::MecanumControllerCommand(
+          exampleTrajectory, [this]() { return m_drive.GetPose(); },
+
+          frc::SimpleMotorFeedforward<units::meters>(ks, kv, ka),
+          DriveConstants::kDriveKinematics,
+
+          frc::PIDController{AutoConstants::kPXController, 0, 0},
+          frc::PIDController{AutoConstants::kPYController, 0, 0},
+          frc::ProfiledPIDController<units::radians>(
+              AutoConstants::kPThetaController, 0, 0,
+              AutoConstants::kThetaControllerConstraints),
+
+          AutoConstants::kMaxSpeed,
+
+          [this]() {
+            return frc::MecanumDriveWheelSpeeds{
+                units::meters_per_second_t{
+                    m_drive.GetFrontLeftEncoder().GetRate()},
+                units::meters_per_second_t{
+                    m_drive.GetFrontRightEncoder().GetRate()},
+                units::meters_per_second_t{
+                    m_drive.GetRearLeftEncoder().GetRate()},
+                units::meters_per_second_t{
+                    m_drive.GetRearRightEncoder().GetRate()}};
+          },
+
+          frc::PIDController{DriveConstants::kPFrontLeftVel, 0, 0},
+          frc::PIDController{DriveConstants::kPRearLeftVel, 0, 0},
+          frc::PIDController{DriveConstants::kPFrontRightVel, 0, 0},
+          frc::PIDController{DriveConstants::kPRearRightVel, 0, 0},
+
+          [this](units::volt_t frontLeft, units::volt_t rearLeft,
+                 units::volt_t frontRight, units::volt_t rearRight) {
+            m_drive.SetMotorControllersVolts(frontLeft, rearLeft, frontRight,
+                                             rearRight);
+          },
+
+          {&m_drive})
+          .ToPtr(),
+      frc2::InstantCommand([this] { m_drive.Drive(0, 0, 0, false); }, {})
+          .ToPtr());
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/RobotContainer.h b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/RobotContainer.h
@@ -9,11 +9,11 @@
 #include <frc/controller/ProfiledPIDController.h>
 #include <frc/smartdashboard/SendableChooser.h>
 #include <frc2/command/Command.h>
+#include <frc2/command/CommandPtr.h>
 #include <frc2/command/InstantCommand.h>
 #include <frc2/command/PIDCommand.h>
 #include <frc2/command/ParallelRaceGroup.h>
 #include <frc2/command/RunCommand.h>
-#include <frc2/command/CommandPtr.h>
 
 #include "Constants.h"
 #include "subsystems/DriveSubsystem.h"
@@ -45,6 +45,5 @@ class RobotContainer {
   frc2::InstantCommand m_driveFullSpeed{[this] { m_drive.SetMaxOutput(1); },
                                         {}};
 
-
   void ConfigureButtonBindings();
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/RobotContainer.h b/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/RobotContainer.h
@@ -5,8 +5,8 @@
 #pragma once
 
 #include <frc2/command/Command.h>
-#include <frc2/command/Commands.h>
 #include <frc2/command/CommandPtr.h>
+#include <frc2/command/Commands.h>
 
 /**
  * This class is where the bulk of the robot should be declared.  Since

diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
@@ -11,11 +11,11 @@
 #include <frc/shuffleboard/Shuffleboard.h>
 #include <frc/trajectory/Trajectory.h>
 #include <frc/trajectory/TrajectoryGenerator.h>
+#include <frc2/command/Commands.h>
 #include <frc2/command/InstantCommand.h>
 #include <frc2/command/SequentialCommandGroup.h>
 #include <frc2/command/SwerveControllerCommand.h>
 #include <frc2/command/button/JoystickButton.h>
-#include <frc2/command/Commands.h>
 #include <units/angle.h>
 #include <units/velocity.h>
 
@@ -79,18 +79,20 @@ frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
 
   // no auto
   return frc2::cmd::Sequence(
-    frc2::SwerveControllerCommand<4>(
-      exampleTrajectory, [this]() { return m_drive.GetPose(); },
-
-      m_drive.kDriveKinematics,
+      frc2::SwerveControllerCommand<4>(
+          exampleTrajectory, [this]() { return m_drive.GetPose(); },
 
-      frc::PIDController{AutoConstants::kPXController, 0, 0},
-      frc::PIDController{AutoConstants::kPYController, 0, 0}, thetaController,
+          m_drive.kDriveKinematics,
 
-      [this](auto moduleStates) { m_drive.SetModuleStates(moduleStates); },
+          frc::PIDController{AutoConstants::kPXController, 0, 0},
+          frc::PIDController{AutoConstants::kPYController, 0, 0},
+          thetaController,
 
-      {&m_drive}).ToPtr(),
-    frc2::InstantCommand([this] { m_drive.Drive(0_mps, 0_mps, 0_rad_per_s, false); }, {}).ToPtr()
-  );
+          [this](auto moduleStates) { m_drive.SetModuleStates(moduleStates); },
 
+          {&m_drive})
+          .ToPtr(),
+      frc2::InstantCommand(
+          [this] { m_drive.Drive(0_mps, 0_mps, 0_rad_per_s, false); }, {})
+          .ToPtr());
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/RobotContainer.h b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/RobotContainer.h
@@ -9,11 +9,11 @@
 #include <frc/controller/ProfiledPIDController.h>
 #include <frc/smartdashboard/SendableChooser.h>
 #include <frc2/command/Command.h>
+#include <frc2/command/CommandPtr.h>
 #include <frc2/command/InstantCommand.h>
 #include <frc2/command/PIDCommand.h>
 #include <frc2/command/ParallelRaceGroup.h>
 #include <frc2/command/RunCommand.h>
-#include <frc2/command/CommandPtr.h>
 
 #include "Constants.h"
 #include "subsystems/DriveSubsystem.h"