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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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21
wpilibc/src/main/native/cpp/motorcontrol/PWMSparkMax.cpp Normal file
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// 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);
}