Changes between Version 6 and Version 7 of ControlSystems/SoftwareTeam/Training/WPILib/CommandBasedProgramming

Timestamp:

Dec 17, 2019, 12:49:16 AM (6 years ago)

Author:

David Albert

Comment:

--

ControlSystems/SoftwareTeam/Training/WPILib/CommandBasedProgramming

@@ -20 +20 @@
 !ScreenStepsLive has a very good example of how a program might look if programmed for !TimedRobot and then the same program converted to !CommandRobot; you should review it [https://wpilib.screenstepslive.com/s/currentCS/m/cpp/l/241906-converting-a-simple-autonomous-program-to-a-command-based-autonomous-program here]
 
-The following is an example of a very simple Command Based Robot that has a single subsystem consisting of a servo motor with two positions: Open, Closed and they are selected using the A and B buttons on a gamepad.  Replace the template files with:
+The following is an example of a very simple Command Based Robot that has a single subsystem consisting of a servo motor with two positions: Open, Closed and they are selected using the A and B buttons on a gamepad.  The servo motor should be connected to PWM port 0 and the code uses a Logitech F310 for the operator interface.  Replace the template files with:
 
-RobotMap.java:
+!RobotMap.java:
 {{{
 package frc.robot;
@@ -32 +32 @@
 }}}
 
-Add ServoSubsystem.java under subsystems:
+Add !ServoSubsystem.java under subsystems:
 {{{
 package frc.robot.subsystems;
@@ -68 +68 @@
 }}}
 
-Add OpenCommand.java and CloseCommand.java under commands:
-OpenCommand.java:
+Add !OpenCommand.java and !CloseCommand.java under commands:
+!OpenCommand.java:
 {{{
 package frc.robot.commands;
@@ -90 +90 @@
 }}}
 
-CloseCommand.java:
+!CloseCommand.java:
 {{{
 package frc.robot.commands;
@@ -105 +105 @@
   protected boolean isFinished() {
     System.out.println("Close Pressed.");
-    Robot.m_servo.setAngle(120);
+    Robot.m_servo.setAngle(120); // set servo to closed position
     return true;
   }