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Add Phoenix 6 examples to ZTR (#2681)
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* Update CTRE examples to phoenix6

* Add back Phoenix 5, change to TalonSRX

* Update Joystick to XBoxController

* Use DifferentialDrive functional interface

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Co-authored-by: amber <[email protected]>
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@sciencewhiz @amb2127
sciencewhiz and amb2127 authored Aug 14, 2024
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Showing 1 changed file with 136 additions and 30 deletions.
166 changes: 136 additions & 30 deletions .../docs/zero-to-robot/step-4/creating-test-drivetrain-program-cpp-java-python.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -162,36 +162,36 @@ Imports/Includes
:linenos:
:lineno-start: 8

.. tab-item:: CTRE
:sync: ctre
.. tab-item:: CTRE-Phoenix6
:sync: ctre6


.. tab-set-code::


.. code-block:: java
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix6.hardware.TalonFX;
.. code-block:: c++

#include <frc/Joystick.h>
#include <frc/TimedRobot.h>
#include <frc/Timer.h>
#include <frc/XboxController.h>
#include <frc/drive/DifferentialDrive.h>
#include <ctre/phoenix/motorcontrol/can/WPI_TalonFX.h>
#include <ctre/phoenix6/TalonFX.hpp>


.. code-block:: python
import wpilib # Used to get the joysticks
import wpilib.drive # Used for the DifferentialDrive class
import ctre # CTRE library
import wpilib # Used to get the joysticks
import wpilib.drive # Used for the DifferentialDrive class
import phoenix6 # CTRE library
.. tab-item:: REV

Expand All @@ -200,7 +200,7 @@ Imports/Includes
.. code-block:: java
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import com.revrobotics.CANSparkLowLevel.MotorType;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Timer;
Expand All @@ -225,7 +225,38 @@ Imports/Includes
import wpilib.drive # Used for the DifferentialDrive class
import rev # REV library
Our code needs to reference the components of WPILib that are used. In C++ this is accomplished using ``#include`` statements; in Java it is done with ``import`` statements. The program references classes for ``Joystick`` (for driving), ``PWMSparkMax`` / ``WPI_TalonFX`` / ``CANSparkMax (for controlling motors), ``TimedRobot`` (the base class used for the example), ``Timer`` (used for autonomous), and ``DifferentialDrive`` (for connecting the joystick control to the motors).
.. tab-item:: CTRE-Phoenix5
:sync: ctre5


.. tab-set-code::


.. code-block:: java
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
.. code-block:: c++

#include <frc/TimedRobot.h>
#include <frc/Timer.h>
#include <frc/XboxController.h>
#include <frc/drive/DifferentialDrive.h>
#include <ctre/phoenix/motorcontrol/can/WPI_TalonSRX.h>


.. code-block:: python
import wpilib # Used to get the joysticks
import wpilib.drive # Used for the DifferentialDrive class
import ctre # CTRE library
Our code needs to reference the components of WPILib that are used. In C++ this is accomplished using ``#include`` statements; in Java and Python it is done with ``import`` statements. The program references classes for ``XBoxController`` (for driving), ``PWMSparkMax`` / ``TalonFX`` / ``CANSparkMax`` / ``WPI_TalonSRX`` (for controlling motors), ``TimedRobot`` (the base class used for the example), ``Timer`` (used for autonomous), and ``DifferentialDrive`` (for connecting the Xbox controller to the motors).

Defining the variables for our sample robot
-------------------------------------------
Expand Down Expand Up @@ -276,8 +307,8 @@ Defining the variables for our sample robot
:lines: 12-29
:lineno-start: 12

.. tab-item:: CTRE
:sync: ctre
.. tab-item:: CTRE-Phoenix6
:sync: ctre6

.. tab-set::

Expand All @@ -287,10 +318,11 @@ Defining the variables for our sample robot
.. code-block:: java
public class Robot extends TimedRobot {
private final WPI_TalonFX m_leftDrive = new WPI_TalonFX(1);
private final WPI_TalonFX m_rightDrive = new WPI_TalonFX(2);
private final DifferentialDrive m_robotDrive = new DifferentialDrive(m_leftDrive, m_rightDrive);
private final Joystick m_stick = new Joystick(0);
private final TalonFX m_leftDrive = new TalonFX(1);
private final TalonFX m_rightDrive = new TalonFX(2);
private final DifferentialDrive m_robotDrive =
new DifferentialDrive(m_leftDrive::set, m_rightDrive::set);
private final XboxController m_controller = new XboxController(0);
private final Timer m_timer = new Timer();
.. tab-item:: C++
Expand All @@ -312,21 +344,38 @@ Defining the variables for our sample robot
private:
// Robot drive system
ctre::phoenix::motorcontrol::can::WPI_TalonFX m_left{1};
ctre::phoenix::motorcontrol::can::WPI_TalonFX m_right{2};
frc::DifferentialDrive m_robotDrive{m_left, m_right};
ctre::phoenix6::hardware::TalonFX m_left{1};
ctre::phoenix6::hardware::TalonFX m_right{2};
frc::DifferentialDrive m_robotDrive{
[&](double output) { m_left.Set(output); },
[&](double output) { m_right.Set(output); }};
frc::Joystick m_stick{0};
frc::XboxController m_controller{0};
frc::Timer m_timer;
.. tab-item:: Python
:sync: python
.. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/robotpy-ctre/5b8d33f/examples/getting-started/robot.py
:language: python
:linenos:
:lines: 13-30
:lineno-start: 13
.. code-block:: python
class MyRobot(wpilib.TimedRobot):
def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
self.leftDrive = phoenix6.hardware.TalonFX(1)
self.rightDrive = phoenix6.hardware.TalonFX(2)
self.robotDrive = wpilib.drive.DifferentialDrive(
self.leftDrive, self.rightDrive
)
self.controller = wpilib.XboxController(0)
self.timer = wpilib.Timer()
# 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.
self.rightDrive.setInverted(True)
.. tab-item:: REV
:sync: rev
Expand All @@ -341,7 +390,8 @@ Defining the variables for our sample robot
public class Robot extends TimedRobot {
private final CANSparkMax m_leftDrive = new CANSparkMax(1, MotorType.kBrushless);
private final CANSparkMax m_rightDrive = new CANSparkMax(2, MotorType.kBrushless);
private final DifferentialDrive m_robotDrive = new DifferentialDrive(m_leftDrive, m_rightDrive);
private final DifferentialDrive m_robotDrive =
new DifferentialDrive(m_leftDrive::set, m_rightDrive::set);
private final XboxController m_controller = new XboxController(0);
private final Timer m_timer = new Timer();
Expand All @@ -366,7 +416,9 @@ Defining the variables for our sample robot
// Robot drive system
rev::CANSparkMax m_left{1, rev::CANSparkMax::MotorType::kBrushless};
rev::CANSparkMax m_right{2, rev::CANSparkMax::MotorType::kBrushless};
frc::DifferentialDrive m_robotDrive{m_left, m_right};
frc::DifferentialDrive m_robotDrive{
[&](double output) { m_left.Set(output); },
[&](double output) { m_right.Set(output); }};
frc::XboxController m_controller{0};
frc::Timer m_timer;
Expand All @@ -380,7 +432,61 @@ Defining the variables for our sample robot
:lines: 13-30
:lineno-start: 13
The sample robot in our examples will have a joystick on USB port 0 for arcade drive and two motors on PWM ports 0 and 1 (Vendor examples use CAN with IDs 1 and 2). Here we create objects of type DifferentialDrive (m_robotDrive), Joystick (m_stick) and Timer (m_timer). This section of the code does three things:
.. tab-item:: CTRE-Phoenix5
:sync: ctre5
.. tab-set::
.. tab-item:: Java
:sync: java
.. code-block:: java
public class Robot extends TimedRobot {
private final WPI_TalonSRX m_leftDrive = new WPI_TalonSRX(1);
private final WPI_TalonSRX m_rightDrive = new WPI_TalonSRX(2);
private final DifferentialDrive m_robotDrive = new DifferentialDrive(m_leftDrive1::set, m_rightDrive2::set);
private final XboxController m_controller = new XboxController(0);
private final Timer m_timer = new Timer();
.. tab-item:: C++
:sync: c++
.. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
:language: c++
:lines: 12-13
:linenos:
:lineno-start: 12
.. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2024.3.2/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
:language: c++
:lines: 17-23
:linenos:
:lineno-start: 17
.. code-block:: c++
private:
// Robot drive system
ctre::phoenix::motorcontrol::can::WPI_TalonSRX m_left{1};
ctre::phoenix::motorcontrol::can::WPI_TalonSRX m_right{2};
frc::DifferentialDrive m_robotDrive{
[&](double output) { m_left.Set(output); },
[&](double output) { m_right.Set(output); }};
frc::XboxController m_controller{0};
frc::Timer m_timer;
.. tab-item:: Python
:sync: python
.. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/robotpy-ctre/5b8d33f/examples/getting-started/robot.py
:language: python
:linenos:
:lines: 13-30
:lineno-start: 13
The sample robot in our examples will have an Xbox Controller on USB port 0 for arcade drive and two motors on PWM ports 0 and 1 (Vendor examples use CAN with IDs 1 and 2). Here we create objects of type ``DifferentialDrive`` (m_robotDrive), ``XboxController`` (m_controller) and ``Timer`` (m_timer). This section of the code does three things:
1. Defines the variables as members of our Robot class.
2. Initializes the variables.
Expand Down Expand Up @@ -469,7 +575,7 @@ Joystick Control for Teleoperation
:linenos:
:lineno-start: 45
Like in Autonomous, the Teleop mode has a ``TeleopInit`` and ``TeleopPeriodic`` function. In this example we don't have anything to do in ``TeleopInit``, it is provided for illustration purposes only. In ``TeleopPeriodic``, the code uses the ``ArcadeDrive`` method to map the Y-axis of the ``Joystick`` to forward/back motion of the drive motors and the X-axis to turning motion.
Like in Autonomous, the Teleop mode has a ``TeleopInit`` and ``TeleopPeriodic`` function. In this example we don't have anything to do in ``TeleopInit``, it is provided for illustration purposes only. In ``TeleopPeriodic``, the code uses the ``ArcadeDrive`` method to map the Y-axis of the left thumbstick of the ``XBoxController`` to forward/back motion of the drive motors and the X-axis to turning motion.
Test Mode
---------
Expand Down

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