[wpilib] Move motor controllers to motorcontrol package (#3302)

Also deprecate SpeedController in favor of motorcontrol.MotorController and
SpeedControllerGroup in favor of motorcontrol.MotorControllerGroup.

The MotorController interface is derived from the SpeedController interface
so that code such as SpeedController x = new VictorSP(1) continues to
compile (just with a warning).

SpeedControllerGroup and MotorControllerGroup are independent classes;
both implement the MotorController interface.

wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp

@@ -15,6 +15,14 @@
 
 using namespace frc;
 
+#if defined(_MSC_VER)
+#pragma warning(disable : 4996)  // was declared deprecated
+#elif defined(__clang__)
+#pragma clang diagnostic ignored "-Wdeprecated-declarations"
+#elif defined(__GNUC__)
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
+
 DifferentialDrive::DifferentialDrive(SpeedController& leftMotor,
                                      SpeedController& rightMotor)
     : m_leftMotor(&leftMotor), m_rightMotor(&rightMotor) {

wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp

@@ -16,6 +16,14 @@
 
 using namespace frc;
 
+#if defined(_MSC_VER)
+#pragma warning(disable : 4996)  // was declared deprecated
+#elif defined(__clang__)
+#pragma clang diagnostic ignored "-Wdeprecated-declarations"
+#elif defined(__GNUC__)
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
+
 KilloughDrive::KilloughDrive(SpeedController& leftMotor,
                              SpeedController& rightMotor,
                              SpeedController& backMotor)

wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp

@@ -17,6 +17,14 @@
 
 using namespace frc;
 
+#if defined(_MSC_VER)
+#pragma warning(disable : 4996)  // was declared deprecated
+#elif defined(__clang__)
+#pragma clang diagnostic ignored "-Wdeprecated-declarations"
+#elif defined(__GNUC__)
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
+
 MecanumDrive::MecanumDrive(SpeedController& frontLeftMotor,
                            SpeedController& rearLeftMotor,
                            SpeedController& frontRightMotor,

wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp

@@ -11,7 +11,7 @@
 #include <hal/FRCUsageReporting.h>
 
 #include "frc/Base.h"
-#include "frc/SpeedController.h"
+#include "frc/motorcontrol/MotorController.h"
 
 using namespace frc;
 

wpilibc/src/main/native/cpp/motorcontrol/DMC60.cpp

@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/DMC60.h"
+#include "frc/motorcontrol/DMC60.h"
 
 #include <hal/FRCUsageReporting.h>
 
 using namespace frc;
 
-DMC60::DMC60(int channel) : PWMSpeedController("DMC60", channel) {
+DMC60::DMC60(int channel) : PWMMotorController("DMC60", channel) {
   m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
   m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
   m_pwm.SetSpeed(0.0);

wpilibc/src/main/native/cpp/motorcontrol/Jaguar.cpp

@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/Jaguar.h"
+#include "frc/motorcontrol/Jaguar.h"
 
 #include <hal/FRCUsageReporting.h>
 
 using namespace frc;
 
-Jaguar::Jaguar(int channel) : PWMSpeedController("Jaguar", channel) {
+Jaguar::Jaguar(int channel) : PWMMotorController("Jaguar", channel) {
   m_pwm.SetBounds(2.31, 1.55, 1.507, 1.454, 0.697);
   m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
   m_pwm.SetSpeed(0.0);

wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp

@@ -0,0 +1,69 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/motorcontrol/MotorControllerGroup.h"
+
+#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
+
+using namespace frc;
+
+// Can't use a delegated constructor here because of an MSVC bug.
+// https://developercommunity.visualstudio.com/content/problem/583/compiler-bug-with-delegating-a-constructor.html
+
+MotorControllerGroup::MotorControllerGroup(
+    std::vector<std::reference_wrapper<MotorController>>&& motorControllers)
+    : m_motorControllers(std::move(motorControllers)) {
+  Initialize();
+}
+
+void MotorControllerGroup::Initialize() {
+  for (auto& motorController : m_motorControllers) {
+    SendableRegistry::GetInstance().AddChild(this, &motorController.get());
+  }
+  static int instances = 0;
+  ++instances;
+  SendableRegistry::GetInstance().Add(this, "MotorControllerGroup", instances);
+}
+
+void MotorControllerGroup::Set(double speed) {
+  for (auto motorController : m_motorControllers) {
+    motorController.get().Set(m_isInverted ? -speed : speed);
+  }
+}
+
+double MotorControllerGroup::Get() const {
+  if (!m_motorControllers.empty()) {
+    return m_motorControllers.front().get().Get() * (m_isInverted ? -1 : 1);
+  }
+  return 0.0;
+}
+
+void MotorControllerGroup::SetInverted(bool isInverted) {
+  m_isInverted = isInverted;
+}
+
+bool MotorControllerGroup::GetInverted() const {
+  return m_isInverted;
+}
+
+void MotorControllerGroup::Disable() {
+  for (auto motorController : m_motorControllers) {
+    motorController.get().Disable();
+  }
+}
+
+void MotorControllerGroup::StopMotor() {
+  for (auto motorController : m_motorControllers) {
+    motorController.get().StopMotor();
+  }
+}
+
+void MotorControllerGroup::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Motor Controller");
+  builder.SetActuator(true);
+  builder.SetSafeState([=]() { StopMotor(); });
+  builder.AddDoubleProperty(
+      "Value", [=]() { return Get(); }, [=](double value) { Set(value); });
+}

wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/NidecBrushless.h"
+#include "frc/motorcontrol/NidecBrushless.h"
 
 #include <hal/FRCUsageReporting.h>
 #include <wpi/raw_ostream.h>

wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/PWMSpeedController.h"
+#include "frc/motorcontrol/PWMMotorController.h"
 
 #include <wpi/raw_ostream.h>
 
@@ -10,45 +10,45 @@
 
 using namespace frc;
 
-void PWMSpeedController::Set(double speed) {
+void PWMMotorController::Set(double speed) {
   m_pwm.SetSpeed(m_isInverted ? -speed : speed);
 }
 
-double PWMSpeedController::Get() const {
+double PWMMotorController::Get() const {
   return m_pwm.GetSpeed() * (m_isInverted ? -1.0 : 1.0);
 }
 
-void PWMSpeedController::SetInverted(bool isInverted) {
+void PWMMotorController::SetInverted(bool isInverted) {
   m_isInverted = isInverted;
 }
 
-bool PWMSpeedController::GetInverted() const {
+bool PWMMotorController::GetInverted() const {
   return m_isInverted;
 }
 
-void PWMSpeedController::Disable() {
+void PWMMotorController::Disable() {
   m_pwm.SetDisabled();
 }
 
-void PWMSpeedController::StopMotor() {
+void PWMMotorController::StopMotor() {
   Disable();
 }
 
-void PWMSpeedController::GetDescription(wpi::raw_ostream& desc) const {
+void PWMMotorController::GetDescription(wpi::raw_ostream& desc) const {
   desc << "PWM " << GetChannel();
 }
 
-int PWMSpeedController::GetChannel() const {
+int PWMMotorController::GetChannel() const {
   return m_pwm.GetChannel();
 }
 
-PWMSpeedController::PWMSpeedController(const wpi::Twine& name, int channel)
+PWMMotorController::PWMMotorController(const wpi::Twine& name, int channel)
     : m_pwm(channel, false) {
   SendableRegistry::GetInstance().AddLW(this, name, channel);
 }
 
-void PWMSpeedController::InitSendable(SendableBuilder& builder) {
-  builder.SetSmartDashboardType("Speed Controller");
+void PWMMotorController::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Motor Controller");
   builder.SetActuator(true);
   builder.SetSafeState([=] { Disable(); });
   builder.AddDoubleProperty(

wpilibc/src/main/native/cpp/motorcontrol/PWMSparkMax.cpp

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/PWMSparkMax.h"
+#include "frc/motorcontrol/PWMSparkMax.h"
 
 #include <hal/FRCUsageReporting.h>
 
@@ -11,7 +11,7 @@
 using namespace frc;
 
 PWMSparkMax::PWMSparkMax(int channel)
-    : PWMSpeedController("PWMSparkMax", channel) {
+    : PWMMotorController("PWMSparkMax", channel) {
   m_pwm.SetBounds(2.003, 1.55, 1.50, 1.46, 0.999);
   m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
   m_pwm.SetSpeed(0.0);

wpilibc/src/main/native/cpp/motorcontrol/PWMTalonFX.cpp

@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/PWMTalonFX.h"
+#include "frc/motorcontrol/PWMTalonFX.h"
 
 #include <hal/FRCUsageReporting.h>
 
 using namespace frc;
 
 PWMTalonFX::PWMTalonFX(int channel)
-    : PWMSpeedController("PWMTalonFX", channel) {
+    : PWMMotorController("PWMTalonFX", channel) {
   m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
   m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
   m_pwm.SetSpeed(0.0);

wpilibc/src/main/native/cpp/motorcontrol/PWMTalonSRX.cpp

@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/PWMTalonSRX.h"
+#include "frc/motorcontrol/PWMTalonSRX.h"
 
 #include <hal/FRCUsageReporting.h>
 
 using namespace frc;
 
 PWMTalonSRX::PWMTalonSRX(int channel)
-    : PWMSpeedController("PWMTalonSRX", channel) {
+    : PWMMotorController("PWMTalonSRX", channel) {
   m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
   m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
   m_pwm.SetSpeed(0.0);

wpilibc/src/main/native/cpp/motorcontrol/PWMVenom.cpp

@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/PWMVenom.h"
+#include "frc/motorcontrol/PWMVenom.h"
 
 #include <hal/FRCUsageReporting.h>
 
 using namespace frc;
 
-PWMVenom::PWMVenom(int channel) : PWMSpeedController("PWMVenom", channel) {
+PWMVenom::PWMVenom(int channel) : PWMMotorController("PWMVenom", channel) {
   m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
   m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
   m_pwm.SetSpeed(0.0);

wpilibc/src/main/native/cpp/motorcontrol/PWMVictorSPX.cpp

@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/PWMVictorSPX.h"
+#include "frc/motorcontrol/PWMVictorSPX.h"
 
 #include <hal/FRCUsageReporting.h>
 
 using namespace frc;
 
 PWMVictorSPX::PWMVictorSPX(int channel)
-    : PWMSpeedController("PWMVictorSPX", channel) {
+    : PWMMotorController("PWMVictorSPX", channel) {
   m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
   m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
   m_pwm.SetSpeed(0.0);

wpilibc/src/main/native/cpp/motorcontrol/SD540.cpp

@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/SD540.h"
+#include "frc/motorcontrol/SD540.h"
 
 #include <hal/FRCUsageReporting.h>
 
 using namespace frc;
 
-SD540::SD540(int channel) : PWMSpeedController("SD540", channel) {
+SD540::SD540(int channel) : PWMMotorController("SD540", channel) {
   m_pwm.SetBounds(2.05, 1.55, 1.50, 1.44, 0.94);
   m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
   m_pwm.SetSpeed(0.0);

wpilibc/src/main/native/cpp/motorcontrol/Spark.cpp

@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/Spark.h"
+#include "frc/motorcontrol/Spark.h"
 
 #include <hal/FRCUsageReporting.h>
 
 using namespace frc;
 
-Spark::Spark(int channel) : PWMSpeedController("Spark", channel) {
+Spark::Spark(int channel) : PWMMotorController("Spark", channel) {
   m_pwm.SetBounds(2.003, 1.55, 1.50, 1.46, 0.999);
   m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
   m_pwm.SetSpeed(0.0);

wpilibc/src/main/native/cpp/motorcontrol/Talon.cpp

@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/Talon.h"
+#include "frc/motorcontrol/Talon.h"
 
 #include <hal/FRCUsageReporting.h>
 
 using namespace frc;
 
-Talon::Talon(int channel) : PWMSpeedController("Talon", channel) {
+Talon::Talon(int channel) : PWMMotorController("Talon", channel) {
   m_pwm.SetBounds(2.037, 1.539, 1.513, 1.487, 0.989);
   m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
   m_pwm.SetSpeed(0.0);

wpilibc/src/main/native/cpp/motorcontrol/Victor.cpp

@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/Victor.h"
+#include "frc/motorcontrol/Victor.h"
 
 #include <hal/FRCUsageReporting.h>
 
 using namespace frc;
 
-Victor::Victor(int channel) : PWMSpeedController("Victor", channel) {
+Victor::Victor(int channel) : PWMMotorController("Victor", channel) {
   m_pwm.SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
   m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_2X);
   m_pwm.SetSpeed(0.0);

wpilibc/src/main/native/cpp/motorcontrol/VictorSP.cpp

@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/VictorSP.h"
+#include "frc/motorcontrol/VictorSP.h"
 
 #include <hal/FRCUsageReporting.h>
 
 using namespace frc;
 
-VictorSP::VictorSP(int channel) : PWMSpeedController("VictorSP", channel) {
+VictorSP::VictorSP(int channel) : PWMMotorController("VictorSP", channel) {
   m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
   m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
   m_pwm.SetSpeed(0.0);