Fix REVLib deprecations

Author: jfabellera

C++/Alternate Encoder/src/main/cpp/Robot.cpp

@@ -33,7 +33,7 @@ class Robot : public frc::TimedRobot {
    * A PID controller can be constructed in the normal way using the 
    * GetPIDController() on the motor you want to control
    */
-  rev::SparkMaxPIDController m_pidController = m_motor.GetPIDController();
+  rev::SparkPIDController m_pidController = m_motor.GetPIDController();
 
   // PID coefficients
   double kP = 0.1, kI = 1e-4, kD = 1, kIz = 0, kFF = 0, kMaxOutput = 1, kMinOutput = -1;

C++/Analog Feedback Device/src/main/cpp/Robot.cpp

@@ -19,18 +19,18 @@ class Robot : public frc::TimedRobot {
   rev::CANSparkMax m_motor{deviceID, rev::CANSparkMax::MotorType::kBrushless};
 
   /**
-   * A SparkMaxAnalogSensor object is constructed using the GetAnalog() method on an 
+   * A SparkAnalogSensor object is constructed using the GetAnalog() method on an 
    * existing CANSparkMax object. 
    */
-  rev::SparkMaxAnalogSensor m_analogSensor = m_motor.GetAnalog();
+  rev::SparkAnalogSensor m_analogSensor = m_motor.GetAnalog();
 
   /**
-   * In order to use PID functionality for a controller, a SparkMaxPIDController object
+   * In order to use PID functionality for a controller, a SparkPIDController object
    * is constructed by calling the GetPIDController() method on an existing
    * CANSparkMax object. 
    * 
    */
-  rev::SparkMaxPIDController m_pidController = m_motor.GetPIDController();
+  rev::SparkPIDController m_pidController = m_motor.GetPIDController();
 
   // PID coefficients
   double kP = 0.1, kI = 1e-4, kD = 1, kIz = 0, kFF = 0, kMaxOutput = 1, kMinOutput = -1;
@@ -47,7 +47,7 @@ class Robot : public frc::TimedRobot {
     /**
      * The PID Controller can be configured to use the analog sensor as its feedback
      * device with the method SetFeedbackDevice() and passing the PID Controller
-     * the SparkMaxAnalogSensor object. 
+     * the SparkAnalogSensor object. 
      */
 
     m_pidController.SetFeedbackDevice(m_analogSensor);

C++/Encoder Feedback Device/src/main/cpp/Robot.cpp

@@ -24,15 +24,15 @@ class Robot : public frc::TimedRobot {
    * or a sensor type and counts per revolution can be passed in to specify
    * a different kind of sensor. Here, it's a quadrature encoder with 4096 CPR.
    */
-  rev::SparkMaxRelativeEncoder m_encoder = m_motor.GetEncoder(rev::SparkMaxRelativeEncoder::Type::kQuadrature, 4096);
+  rev::SparkRelativeEncoder m_encoder = m_motor.GetEncoder(rev::SparkRelativeEncoder::Type::kQuadrature, 4096);
 
   /**
    * In order to use PID functionality for a controller, a CANPIDController object
    * is constructed by calling the GetPIDController() method on an existing
    * CANSparkMax object. 
    * 
    */
-  rev::SparkMaxPIDController m_pidController = m_motor.GetPIDController();
+  rev::SparkPIDController m_pidController = m_motor.GetPIDController();
 
   // PID coefficients
   double kP = 0.1, kI = 1e-4, kD = 1, kIz = 0, kFF = 0, kMaxOutput = 1, kMinOutput = -1;

C++/Limit Switch/src/main/cpp/Robot.cpp

@@ -16,24 +16,24 @@ class Robot : public frc::TimedRobot {
   rev::CANSparkMax m_motor{deviceID, rev::CANSparkMax::MotorType::kBrushless};
 
   /**
-   * A SparkMaxLimitSwitch object is constructed using the GetForwardLimitSwitch() or
+   * A SparkLimitSwitch object is constructed using the GetForwardLimitSwitch() or
    * GetReverseLimitSwitch() method on an existing CANSparkMax object, depending
    * on which direction you would like to limit
    * 
    * Limit switches can be configured to one of two polarities:
-   *  rev::SparkMaxLimitSwitch::Type::kNormallyOpen
-   *  rev::SparkMaxLimitSwitch::Type::kNormallyClosed
+   *  rev::SparkLimitSwitch::Type::kNormallyOpen
+   *  rev::SparkLimitSwitch::Type::kNormallyClosed
    */
-  rev::SparkMaxLimitSwitch m_forwardLimit = m_motor.GetForwardLimitSwitch(rev::SparkMaxLimitSwitch::Type::kNormallyClosed);
-  rev::SparkMaxLimitSwitch m_reverseLimit = m_motor.GetReverseLimitSwitch(rev::SparkMaxLimitSwitch::Type::kNormallyClosed);
+  rev::SparkLimitSwitch m_forwardLimit = m_motor.GetForwardLimitSwitch(rev::SparkLimitSwitch::Type::kNormallyClosed);
+  rev::SparkLimitSwitch m_reverseLimit = m_motor.GetReverseLimitSwitch(rev::SparkLimitSwitch::Type::kNormallyClosed);
 
   frc::Joystick m_stick{0};
 
  public:
   void RobotInit() {
     /**
      * Limit switches are enabled by default when the are intialized. They can be disabled
-     * by calling enableLimitSwitch(false) on a SparkMaxLimitSwitch object
+     * by calling enableLimitSwitch(false) on a SparkLimitSwitch object
      * 
      * Limit switches can be reenabled by calling enableLimitSwitch(true)
      * 
@@ -52,7 +52,7 @@ class Robot : public frc::TimedRobot {
     m_reverseLimit.EnableLimitSwitch(frc::SmartDashboard::GetBoolean("Reverse Limit Enabled", false));
 
     /**
-     * The Get() method can be used on a SparkMaxLimitSwitch object to read the state of the switch.
+     * The Get() method can be used on a SparkLimitSwitch object to read the state of the switch.
      * 
      * In this example, the polarity of the switches are set to normally closed. In this case,
      * Get() will return true if the switch is pressed. It will also return true if you do not 

C++/Position PID Control/src/main/cpp/Robot.cpp

@@ -16,14 +16,14 @@ class Robot : public frc::TimedRobot {
   rev::CANSparkMax m_motor{deviceID, rev::CANSparkMax::MotorType::kBrushless};
 
   /**
-   * In order to use PID functionality for a controller, a SparkMaxPIDController object
+   * In order to use PID functionality for a controller, a SparkPIDController object
    * is constructed by calling the GetPIDController() method on an existing
    * CANSparkMax object
    */
-  rev::SparkMaxPIDController m_pidController = m_motor.GetPIDController();
+  rev::SparkPIDController m_pidController = m_motor.GetPIDController();
 
   // Encoder object created to display position values
-  rev::SparkMaxRelativeEncoder m_encoder = m_motor.GetEncoder();
+  rev::SparkRelativeEncoder m_encoder = m_motor.GetEncoder();
 
   // PID coefficients
   double kP = 0.1, kI = 1e-4, kD = 1, kIz = 0, kFF = 0, kMaxOutput = 1, kMinOutput = -1;

C++/Read Encoder Values/src/main/cpp/Robot.cpp

@@ -24,7 +24,7 @@ class Robot : public frc::TimedRobot {
    * In order to read encoder values an encoder object is created using the 
    * GetEncoder() method from an existing CANSparkMax object
    */
-  rev::SparkMaxRelativeEncoder m_encoder = m_motor.GetEncoder();
+  rev::SparkRelativeEncoder m_encoder = m_motor.GetEncoder();
 
   frc::Joystick m_stick{0};
 
@@ -36,15 +36,15 @@ class Robot : public frc::TimedRobot {
     m_motor.Set(m_stick.GetY());
 
     /**
-     * Encoder position is read from a SparkMaxRelativeEncoder object by calling the
+     * Encoder position is read from a SparkRelativeEncoder object by calling the
      * GetPosition() method.
      * 
      * GetPosition() returns the position of the encoder in units of revolutions
      */
     frc::SmartDashboard::PutNumber("Encoder Position", m_encoder.GetPosition());
 
     /**
-     * Encoder velocity is read from a SparkMaxRelativeEncoder object by calling the
+     * Encoder velocity is read from a SparkRelativeEncoder object by calling the
      * GetVelocity() method.
      * 
      * GetVelocity() returns the velocity of the encoder in units of RPM

C++/Smart Motion Example/src/main/cpp/Robot.cpp

@@ -48,8 +48,8 @@
 class Robot : public frc::TimedRobot {
   static const int deviceID = 9;
   rev::CANSparkMax m_motor{deviceID, rev::CANSparkMax::MotorType::kBrushless};
-  rev::SparkMaxPIDController m_pidController = m_motor.GetPIDController();
-  rev::SparkMaxRelativeEncoder m_encoder = m_motor.GetEncoder();
+  rev::SparkPIDController m_pidController = m_motor.GetPIDController();
+  rev::SparkRelativeEncoder m_encoder = m_motor.GetEncoder();
 
   // default PID coefficients
   double kP = 5e-5, kI = 1e-6, kD = 0, kIz = 0, kFF = 0.000156, kMaxOutput = 1, kMinOutput = -1;
@@ -80,7 +80,7 @@ class Robot : public frc::TimedRobot {
     m_pidController.SetOutputRange(kMinOutput, kMaxOutput);
 
     /**
-     * Smart Motion coefficients are set on a SparkMaxPIDController object
+     * Smart Motion coefficients are set on a SparkPIDController object
      * 
      * - SetSmartMotionMaxVelocity() will limit the velocity in RPM of
      * the pid controller in Smart Motion mode

C++/Velocity PID Control/src/main/cpp/Robot.cpp

@@ -16,14 +16,14 @@ class Robot : public frc::TimedRobot {
   rev::CANSparkMax m_motor{deviceID, rev::CANSparkMax::MotorType::kBrushless};
 
   /**
-   * In order to use PID functionality for a controller, a SparkMaxPIDController object
+   * In order to use PID functionality for a controller, a SparkPIDController object
    * is constructed by calling the GetPIDController() method on an existing
    * CANSparkMax object
    */
-  rev::SparkMaxPIDController m_pidController = m_motor.GetPIDController();
+  rev::SparkPIDController m_pidController = m_motor.GetPIDController();
 
   // Encoder object created to display velocity values
-  rev::SparkMaxRelativeEncoder m_encoder = m_motor.GetEncoder();
+  rev::SparkRelativeEncoder m_encoder = m_motor.GetEncoder();
 
   frc::Joystick m_stick{0};
 

Java/Alternate Encoder/src/main/java/frc/robot/Robot.java

@@ -12,9 +12,9 @@
 
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.SparkMaxAlternateEncoder;
-import com.revrobotics.SparkMaxPIDController;
+import com.revrobotics.SparkPIDController;
 import com.revrobotics.CANSparkMax;
-import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+import com.revrobotics.CANSparkLowLevel.MotorType;
 
 public class Robot extends TimedRobot {
   /**
@@ -26,7 +26,7 @@ public class Robot extends TimedRobot {
   private static final int kCPR = 8192;
 
   private CANSparkMax m_motor;
-  private SparkMaxPIDController m_pidController;
+  private SparkPIDController m_pidController;
   public double kP, kI, kD, kIz, kFF, kMaxOutput, kMinOutput;
 
   /**
@@ -46,7 +46,7 @@ public void robotInit() {
     m_alternateEncoder = m_motor.getAlternateEncoder(kAltEncType, kCPR);
 
     /**
-     * In order to use PID functionality for a controller, a SparkMaxPIDController object
+     * In order to use PID functionality for a controller, a SparkPIDController object
      * is constructed by calling the getPIDController() method on an existing
      * CANSparkMax object
      */

Java/Analog Feedback Device/src/main/java/frc/robot/Robot.java

@@ -10,35 +10,35 @@
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
-import com.revrobotics.SparkMaxAnalogSensor;
-import com.revrobotics.SparkMaxPIDController;
+import com.revrobotics.SparkAnalogSensor;
+import com.revrobotics.SparkPIDController;
 import com.revrobotics.CANSparkMax;
-import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+import com.revrobotics.CANSparkLowLevel.MotorType;
 
 public class Robot extends TimedRobot {
 
 
   private static final int deviceID = 1;
   private CANSparkMax m_motor;
-  private SparkMaxPIDController m_pidController;
+  private SparkPIDController m_pidController;
   public double kP, kI, kD, kIz, kFF, kMaxOutput, kMinOutput;
 
   /**
-   * A SparkMaxAnalogSensor object is constructed using the GetAnalog() method on an 
+   * A SparkAnalogSensor object is constructed using the GetAnalog() method on an 
    * existing CANSparkMax object. 
    */
-  private SparkMaxAnalogSensor m_analogSensor;
+  private SparkAnalogSensor m_analogSensor;
 
   @Override
   public void robotInit() {
     // initialize SPARK MAX with CAN ID
     m_motor = new CANSparkMax(deviceID, MotorType.kBrushless);
-    m_analogSensor = m_motor.getAnalog(SparkMaxAnalogSensor.Mode.kAbsolute);
+    m_analogSensor = m_motor.getAnalog(SparkAnalogSensor.Mode.kAbsolute);
 
     m_motor.restoreFactoryDefaults();
 
     /**
-     * In order to use PID functionality for a controller, a SparkMaxPIDController object
+     * In order to use PID functionality for a controller, a SparkPIDController object
      * is constructed by calling the getPIDController() method on an existing
      * CANSparkMax object
      */
@@ -47,7 +47,7 @@ public void robotInit() {
     /**
      * The PID Controller can be configured to use the analog sensor as its feedback
      * device with the method SetFeedbackDevice() and passing the PID Controller
-     * the SparkMaxAnalogSensor object. 
+     * the SparkAnalogSensor object. 
      */
     m_pidController.setFeedbackDevice(m_analogSensor);
 

Java/Bus Measurements/src/main/java/frc/robot/Robot.java

@@ -12,7 +12,7 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 import com.revrobotics.CANSparkMax;
-import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+import com.revrobotics.CANSparkLowLevel.MotorType;
 
 /**
  * This sample program shows how to read basic bus measurements from the SparkMax

Java/Encoder Feedback Device/src/main/java/frc/robot/Robot.java

@@ -11,15 +11,15 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 import com.revrobotics.RelativeEncoder;
-import com.revrobotics.SparkMaxPIDController;
+import com.revrobotics.SparkPIDController;
 import com.revrobotics.CANSparkMax;
-import com.revrobotics.SparkMaxRelativeEncoder;
-import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+import com.revrobotics.SparkRelativeEncoder;
+import com.revrobotics.CANSparkLowLevel.MotorType;
 
 public class Robot extends TimedRobot {
   private static final int deviceID = 0;
   private CANSparkMax m_motor;
-  private SparkMaxPIDController m_pidController;
+  private SparkPIDController m_pidController;
   public double kP, kI, kD, kIz, kFF, kMaxOutput, kMinOutput;
 
   /**
@@ -34,12 +34,12 @@ public class Robot extends TimedRobot {
   public void robotInit() {
     // initialize SPARK MAX with CAN ID
     m_motor = new CANSparkMax(deviceID, MotorType.kBrushed);
-    m_encoder = m_motor.getEncoder(SparkMaxRelativeEncoder.Type.kQuadrature, 4096);
+    m_encoder = m_motor.getEncoder(SparkRelativeEncoder.Type.kQuadrature, 4096);
 
     m_motor.restoreFactoryDefaults();
 
     /**
-     * In order to use PID functionality for a controller, a SparkMaxPIDController object
+     * In order to use PID functionality for a controller, a SparkPIDController object
      * is constructed by calling the getPIDController() method on an existing
      * CANSparkMax object
      */

Java/Get and Set Parameters/src/main/java/frc/robot/Robot.java

@@ -13,8 +13,7 @@
 
 import com.revrobotics.REVLibError;
 import com.revrobotics.CANSparkMax;
-import com.revrobotics.CANSparkMax.IdleMode;
-import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+import com.revrobotics.CANSparkLowLevel.MotorType;
 
 /**
  * This is a demo program showing the use of the CANSparkMax class, specifically
@@ -50,15 +49,15 @@ public void robotInit() {
      *  REVLibError.kError
      *  REVLibError.kTimeout
      */
-    if(m_motor.setIdleMode(IdleMode.kCoast) != REVLibError.kOk){
+    if(m_motor.setIdleMode(CANSparkMax.IdleMode.kCoast) != REVLibError.kOk){
       SmartDashboard.putString("Idle Mode", "Error");
     }
 
     /**
      * Similarly, parameters will have a Get method which allows you to retrieve their values
      * from the controller
      */
-    if(m_motor.getIdleMode() == IdleMode.kCoast) {
+    if(m_motor.getIdleMode() == CANSparkMax.IdleMode.kCoast) {
       SmartDashboard.putString("Idle Mode", "Coast");
     } else {
       SmartDashboard.putString("Idle Mode", "Brake");

Java/Limit Switch/src/main/java/frc/robot/Robot.java

@@ -11,16 +11,16 @@
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
-import com.revrobotics.SparkMaxLimitSwitch;
+import com.revrobotics.SparkLimitSwitch;
 import com.revrobotics.CANSparkMax;
-import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+import com.revrobotics.CANSparkLowLevel.MotorType;
 
 public class Robot extends TimedRobot {
   private Joystick m_stick;
   private static final int deviceID = 1;
   private CANSparkMax m_motor;
-  private SparkMaxLimitSwitch m_forwardLimit;
-  private SparkMaxLimitSwitch m_reverseLimit;
+  private SparkLimitSwitch m_forwardLimit;
+  private SparkLimitSwitch m_reverseLimit;
 
   public String kEnable;
   public String kDisable;
@@ -38,22 +38,22 @@ public void robotInit() {
     m_motor.restoreFactoryDefaults();
 
     /**
-     * A SparkMaxLimitSwitch object is constructed using the getForwardLimitSwitch() or
+     * A SparkLimitSwitch object is constructed using the getForwardLimitSwitch() or
      * getReverseLimitSwitch() method on an existing CANSparkMax object, depending
      * on which direction you would like to limit
      * 
      * Limit switches can be configured to one of two polarities:
-     *  com.revrobotics.SparkMaxLimitSwitch.SparkMaxLimitSwitch.Type.kNormallyOpen
-     *  com.revrobotics.SparkMaxLimitSwitch.SparkMaxLimitSwitch.Type.kNormallyClosed
+     *  com.revrobotics.SparkLimitSwitch.SparkLimitSwitch.Type.kNormallyOpen
+     *  com.revrobotics.SparkLimitSwitch.SparkLimitSwitch.Type.kNormallyClosed
      */
-    m_forwardLimit = m_motor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyClosed);
-    m_reverseLimit = m_motor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyClosed);
+    m_forwardLimit = m_motor.getForwardLimitSwitch(SparkLimitSwitch.Type.kNormallyClosed);
+    m_reverseLimit = m_motor.getReverseLimitSwitch(SparkLimitSwitch.Type.kNormallyClosed);
 
     m_stick = new Joystick(0);
 
     /**
      * Limit switches are enabled by default when they are intialized. They can be disabled
-     * by calling enableLimitSwitch(false) on a SparkMaxLimitSwitch object
+     * by calling enableLimitSwitch(false) on a SparkLimitSwitch object
      * 
      * Limit switches can be reenabled by calling enableLimitSwitch(true)
      * 
@@ -74,7 +74,7 @@ public void teleopPeriodic() {
     m_reverseLimit.enableLimitSwitch(SmartDashboard.getBoolean("Reverse Limit Enabled", false));
 
     /**
-     * The isPressed() method can be used on a SparkMaxLimitSwitch object to read the state of the switch.
+     * The isPressed() method can be used on a SparkLimitSwitch object to read the state of the switch.
      * 
      * In this example, the polarity of the switches are set to normally closed. In this case,
      * isPressed() will return true if the switch is pressed. It will also return true if you do not