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

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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.
This commit is contained in:
Peter Johnson
2021-04-17 11:27:16 -07:00
committed by GitHub
parent b7b178f49c
commit 0abf6c9045
194 changed files with 1096 additions and 696 deletions
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8
wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
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@@ -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) {

8
wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
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@@ -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)

8
wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
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@@ -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,

2
wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp
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@@ -11,7 +11,7 @@
#include <hal/FRCUsageReporting.h>
#include "frc/Base.h"
#include "frc/SpeedController.h"
#include "frc/motorcontrol/MotorController.h"
using namespace frc;