From 627ed63dbe9bd16c6c4d2664d8ddedb4f7391296 Mon Sep 17 00:00:00 2001 From: Ryan Blue Date: Thu, 14 Sep 2023 22:18:04 -0400 Subject: [PATCH] Update XRP examples --- .../first/wpilibj/examples/xrpreference/subsystems/Arm.java | 4 ++-- .../wpilibj/examples/xrpreference/subsystems/Drivetrain.java | 4 ++-- .../examples/xrpreference/subsystems/XRPOnBoardIO.java | 4 ++-- .../templates/xrpcommandbased/subsystems/XRPDrivetrain.java | 4 ++-- 4 files changed, 8 insertions(+), 8 deletions(-) diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/subsystems/Arm.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/subsystems/Arm.java index e3082ba5736..61b1d5b226e 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/subsystems/Arm.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/subsystems/Arm.java @@ -5,9 +5,9 @@ package edu.wpi.first.wpilibj.examples.xrpreference.subsystems; import edu.wpi.first.wpilibj.examples.xrpreference.devices.XRPServo; -import edu.wpi.first.wpilibj2.command.Subsystem; +import edu.wpi.first.wpilibj2.command.SubsystemBase; -public class Arm extends Subsystem { +public class Arm extends SubsystemBase { private final XRPServo m_armServo; /** Creates a new Arm. */ diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/subsystems/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/subsystems/Drivetrain.java index a5082c016d2..e15ea6cf4f4 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/subsystems/Drivetrain.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/subsystems/Drivetrain.java @@ -9,9 +9,9 @@ import edu.wpi.first.wpilibj.drive.DifferentialDrive; import edu.wpi.first.wpilibj.examples.xrpreference.devices.XRPMotor; import edu.wpi.first.wpilibj.examples.xrpreference.sensors.XRPGyro; -import edu.wpi.first.wpilibj2.command.Subsystem; +import edu.wpi.first.wpilibj2.command.SubsystemBase; -public class Drivetrain extends Subsystem { +public class Drivetrain extends SubsystemBase { private static final double kGearRatio = (30.0 / 14.0) * (28.0 / 16.0) * (36.0 / 9.0) * (26.0 / 8.0); // 48.75:1 private static final double kCountsPerMotorShaftRev = 12.0; diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/subsystems/XRPOnBoardIO.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/subsystems/XRPOnBoardIO.java index f6477280094..c52ebc08fac 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/subsystems/XRPOnBoardIO.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrpreference/subsystems/XRPOnBoardIO.java @@ -6,13 +6,13 @@ import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.DigitalOutput; -import edu.wpi.first.wpilibj2.command.Subsystem; +import edu.wpi.first.wpilibj2.command.SubsystemBase; /** * This class represents the onboard IO of the XRP Reference Robot. This includes the USER * pushbutton and LED */ -public class XRPOnBoardIO extends Subsystem { +public class XRPOnBoardIO extends SubsystemBase { private final DigitalInput m_button = new DigitalInput(0); private final DigitalOutput m_led = new DigitalOutput(1); diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrpcommandbased/subsystems/XRPDrivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrpcommandbased/subsystems/XRPDrivetrain.java index ed8b0f6c0f0..e8e6eb63f47 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrpcommandbased/subsystems/XRPDrivetrain.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/xrpcommandbased/subsystems/XRPDrivetrain.java @@ -7,9 +7,9 @@ import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.drive.DifferentialDrive; import edu.wpi.first.wpilibj.templates.xrpcommandbased.devices.XRPMotor; -import edu.wpi.first.wpilibj2.command.Subsystem; +import edu.wpi.first.wpilibj2.command.SubsystemBase; -public class XRPDrivetrain extends Subsystem { +public class XRPDrivetrain extends SubsystemBase { private static final double kGearRatio = (30.0 / 14.0) * (28.0 / 16.0) * (36.0 / 9.0) * (26.0 / 8.0); // 48.75:1 private static final double kCountsPerMotorShaftRev = 12.0;