Add REV support to stage 1B

examples/stage1/stage1b/snippets/src/main/java/sources/CommandBasedKitbotPt2.java

@@ -7,6 +7,10 @@
 
 import static org.wpilib.units.Units.Seconds;
 
+import com.ctre.phoenix6.CANBus;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.SparkMax;
 import java.util.function.DoubleSupplier;
 import org.wpilib.command3.Command;
 import org.wpilib.command3.Mechanism;
@@ -17,25 +21,49 @@
 import org.wpilib.opmode.PeriodicOpMode;
 
 class CommandBasedKitbotPt2 {
-  // [drivetrainDef]
-  public class Drivetrain implements Mechanism {
-    private static final int leftLeaderID = 0, rightLeaderID = 2;
-    private final TalonFX leftLeader = new TalonFX(leftLeaderID, CANBus.systemcore(0)),
-        leftFollower = new TalonFX(1, CANBus.systemcore(0)),
-        rightLeader = new TalonFX(rightLeaderID, CANBus.systemcore(0)),
-        rightFollower = new TalonFX(3, CANBus.systemcore(0));
+  class CtreExamples {
+    // [ctreDrivetrainDef]
+    public class Drivetrain implements Mechanism {
+      private static final int leftLeaderID = 0, rightLeaderID = 2;
+      private final TalonFX leftLeader = new TalonFX(leftLeaderID, CANBus.systemcore(0)),
+          leftFollower = new TalonFX(1, CANBus.systemcore(0)),
+          rightLeader = new TalonFX(rightLeaderID, CANBus.systemcore(0)),
+          rightFollower = new TalonFX(3, CANBus.systemcore(0));
+
+      private final OnboardIMU imu = new OnboardIMU(MountOrientation.FLAT);
+      private final DifferentialDrive differentialDrive =
+          new DifferentialDrive(leftLeader::setThrottle, rightLeader::setThrottle);
+
+      private final DrivetrainSim drivetrainSim = new DrivetrainSim(leftLeader, rightLeader);
+
+      public void periodic() {
+        drivetrainSim.periodic();
+      }
+    }
+    // [/ctreDrivetrainDef]
+  }
 
-    private final OnboardIMU imu = new OnboardIMU(MountOrientation.FLAT);
-    private final DifferentialDrive differentialDrive =
-        new DifferentialDrive(leftLeader::setThrottle, rightLeader::setThrottle);
+  class RevExamples {
+    // [revDrivetrainDef]
+    public class Drivetrain implements Mechanism {
+      private static final int leftLeaderID = 0, rightLeaderID = 2;
+      private final SparkMax leftLeader = new SparkMax(leftLeaderID, 0, MotorType.kBrushed),
+          leftFollower = new SparkMax(1, 0, MotorType.kBrushed),
+          rightLeader = new SparkMax(rightLeaderID, 0, MotorType.kBrushed),
+          rightFollower = new SparkMax(3, 0, MotorType.kBrushed);
 
-    private final DrivetrainSim drivetrainSim = new DrivetrainSim(leftLeader, rightLeader);
+      private final OnboardIMU imu = new OnboardIMU(MountOrientation.FLAT);
+      private final DifferentialDrive differentialDrive =
+          new DifferentialDrive(leftLeader::setThrottle, rightLeader::setThrottle);
 
-    public void periodic() {
-      drivetrainSim.periodic();
+      private final DrivetrainSim drivetrainSim = new DrivetrainSim(leftLeader, rightLeader);
+
+      public void periodic() {
+        drivetrainSim.periodic();
+      }
     }
+    // [/revDrivetrainDef]
   }
-  // [/drivetrainDef]
 
   // [opModeSkeleton]
   class MyOpModeName extends PeriodicOpMode {
@@ -112,21 +140,11 @@ Command rotateInPlaceHint(double angleDegrees) {
     }
   }
 
-  static class TalonFX {
-    TalonFX(int id, CANBus bus) {}
-
-    void setThrottle(double throttle) {}
-  }
-
-  static class CANBus {
-    static CANBus systemcore(int busNumber) {
-      return new CANBus();
-    }
-  }
-
   static class DrivetrainSim {
     DrivetrainSim(TalonFX leftLeader, TalonFX rightLeader) {}
 
+    DrivetrainSim(SparkMax leftLeader, SparkMax rightLeader) {}
+
     void periodic() {}
   }
 }