[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/motorcontrol/DMC60.cpp

@@ -0,0 +1,18 @@
+// 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/DMC60.h"
+
+#include <hal/FRCUsageReporting.h>
+
+using namespace frc;
+
+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);
+  m_pwm.SetZeroLatch();
+
+  HAL_Report(HALUsageReporting::kResourceType_DigilentDMC60, GetChannel() + 1);
+}

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

@@ -0,0 +1,18 @@
+// 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/Jaguar.h"
+
+#include <hal/FRCUsageReporting.h>
+
+using namespace frc;
+
+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);
+  m_pwm.SetZeroLatch();
+
+  HAL_Report(HALUsageReporting::kResourceType_Jaguar, GetChannel() + 1);
+}

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

@@ -0,0 +1,81 @@
+// 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/NidecBrushless.h"
+
+#include <hal/FRCUsageReporting.h>
+#include <wpi/raw_ostream.h>
+
+#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
+
+using namespace frc;
+
+NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
+    : m_dio(dioChannel), m_pwm(pwmChannel) {
+  auto& registry = SendableRegistry::GetInstance();
+  registry.AddChild(this, &m_dio);
+  registry.AddChild(this, &m_pwm);
+  SetExpiration(0.0);
+  SetSafetyEnabled(false);
+
+  // the dio controls the output (in PWM mode)
+  m_dio.SetPWMRate(15625);
+  m_dio.EnablePWM(0.5);
+
+  HAL_Report(HALUsageReporting::kResourceType_NidecBrushless, pwmChannel + 1);
+  registry.AddLW(this, "Nidec Brushless", pwmChannel);
+}
+
+void NidecBrushless::Set(double speed) {
+  if (!m_disabled) {
+    m_speed = speed;
+    m_dio.UpdateDutyCycle(0.5 + 0.5 * (m_isInverted ? -speed : speed));
+    m_pwm.SetRaw(0xffff);
+  }
+  Feed();
+}
+
+double NidecBrushless::Get() const {
+  return m_speed;
+}
+
+void NidecBrushless::SetInverted(bool isInverted) {
+  m_isInverted = isInverted;
+}
+
+bool NidecBrushless::GetInverted() const {
+  return m_isInverted;
+}
+
+void NidecBrushless::Disable() {
+  m_disabled = true;
+  m_dio.UpdateDutyCycle(0.5);
+  m_pwm.SetDisabled();
+}
+
+void NidecBrushless::Enable() {
+  m_disabled = false;
+}
+
+void NidecBrushless::StopMotor() {
+  m_dio.UpdateDutyCycle(0.5);
+  m_pwm.SetDisabled();
+}
+
+void NidecBrushless::GetDescription(wpi::raw_ostream& desc) const {
+  desc << "Nidec " << GetChannel();
+}
+
+int NidecBrushless::GetChannel() const {
+  return m_pwm.GetChannel();
+}
+
+void NidecBrushless::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Nidec Brushless");
+  builder.SetActuator(true);
+  builder.SetSafeState([=]() { StopMotor(); });
+  builder.AddDoubleProperty(
+      "Value", [=]() { return Get(); }, [=](double value) { Set(value); });
+}

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

@@ -0,0 +1,56 @@
+// 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/PWMMotorController.h"
+
+#include <wpi/raw_ostream.h>
+
+#include "frc/smartdashboard/SendableBuilder.h"
+
+using namespace frc;
+
+void PWMMotorController::Set(double speed) {
+  m_pwm.SetSpeed(m_isInverted ? -speed : speed);
+}
+
+double PWMMotorController::Get() const {
+  return m_pwm.GetSpeed() * (m_isInverted ? -1.0 : 1.0);
+}
+
+void PWMMotorController::SetInverted(bool isInverted) {
+  m_isInverted = isInverted;
+}
+
+bool PWMMotorController::GetInverted() const {
+  return m_isInverted;
+}
+
+void PWMMotorController::Disable() {
+  m_pwm.SetDisabled();
+}
+
+void PWMMotorController::StopMotor() {
+  Disable();
+}
+
+void PWMMotorController::GetDescription(wpi::raw_ostream& desc) const {
+  desc << "PWM " << GetChannel();
+}
+
+int PWMMotorController::GetChannel() const {
+  return m_pwm.GetChannel();
+}
+
+PWMMotorController::PWMMotorController(const wpi::Twine& name, int channel)
+    : m_pwm(channel, false) {
+  SendableRegistry::GetInstance().AddLW(this, name, channel);
+}
+
+void PWMMotorController::InitSendable(SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Motor Controller");
+  builder.SetActuator(true);
+  builder.SetSafeState([=] { Disable(); });
+  builder.AddDoubleProperty(
+      "Value", [=] { return Get(); }, [=](double value) { Set(value); });
+}

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

@@ -0,0 +1,21 @@
+// 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/PWMSparkMax.h"
+
+#include <hal/FRCUsageReporting.h>
+
+#include "frc/smartdashboard/SendableRegistry.h"
+
+using namespace frc;
+
+PWMSparkMax::PWMSparkMax(int 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);
+  m_pwm.SetZeroLatch();
+
+  HAL_Report(HALUsageReporting::kResourceType_RevSparkMaxPWM, GetChannel() + 1);
+}

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

@@ -0,0 +1,19 @@
+// 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/PWMTalonFX.h"
+
+#include <hal/FRCUsageReporting.h>
+
+using namespace frc;
+
+PWMTalonFX::PWMTalonFX(int 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);
+  m_pwm.SetZeroLatch();
+
+  HAL_Report(HALUsageReporting::kResourceType_TalonFX, GetChannel() + 1);
+}

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

@@ -0,0 +1,19 @@
+// 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/PWMTalonSRX.h"
+
+#include <hal/FRCUsageReporting.h>
+
+using namespace frc;
+
+PWMTalonSRX::PWMTalonSRX(int 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);
+  m_pwm.SetZeroLatch();
+
+  HAL_Report(HALUsageReporting::kResourceType_PWMTalonSRX, GetChannel() + 1);
+}

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

@@ -0,0 +1,18 @@
+// 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/PWMVenom.h"
+
+#include <hal/FRCUsageReporting.h>
+
+using namespace frc;
+
+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);
+  m_pwm.SetZeroLatch();
+
+  HAL_Report(HALUsageReporting::kResourceType_FusionVenom, GetChannel() + 1);
+}

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

@@ -0,0 +1,19 @@
+// 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/PWMVictorSPX.h"
+
+#include <hal/FRCUsageReporting.h>
+
+using namespace frc;
+
+PWMVictorSPX::PWMVictorSPX(int 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);
+  m_pwm.SetZeroLatch();
+
+  HAL_Report(HALUsageReporting::kResourceType_PWMVictorSPX, GetChannel() + 1);
+}

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

@@ -0,0 +1,19 @@
+// 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/SD540.h"
+
+#include <hal/FRCUsageReporting.h>
+
+using namespace frc;
+
+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);
+  m_pwm.SetZeroLatch();
+
+  HAL_Report(HALUsageReporting::kResourceType_MindsensorsSD540,
+             GetChannel() + 1);
+}

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

@@ -0,0 +1,18 @@
+// 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/Spark.h"
+
+#include <hal/FRCUsageReporting.h>
+
+using namespace frc;
+
+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);
+  m_pwm.SetZeroLatch();
+
+  HAL_Report(HALUsageReporting::kResourceType_RevSPARK, GetChannel() + 1);
+}

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

@@ -0,0 +1,18 @@
+// 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/Talon.h"
+
+#include <hal/FRCUsageReporting.h>
+
+using namespace frc;
+
+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);
+  m_pwm.SetZeroLatch();
+
+  HAL_Report(HALUsageReporting::kResourceType_Talon, GetChannel() + 1);
+}

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

@@ -0,0 +1,18 @@
+// 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/Victor.h"
+
+#include <hal/FRCUsageReporting.h>
+
+using namespace frc;
+
+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);
+  m_pwm.SetZeroLatch();
+
+  HAL_Report(HALUsageReporting::kResourceType_Victor, GetChannel() + 1);
+}

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

@@ -0,0 +1,18 @@
+// 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/VictorSP.h"
+
+#include <hal/FRCUsageReporting.h>
+
+using namespace frc;
+
+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);
+  m_pwm.SetZeroLatch();
+
+  HAL_Report(HALUsageReporting::kResourceType_VictorSP, GetChannel() + 1);
+}