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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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33
wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h
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@@ -12,6 +12,17 @@
namespace frc {
#if defined(_MSC_VER)
#pragma warning(push)
#pragma warning(disable : 4996) // was declared deprecated
#elif defined(__clang__)
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wdeprecated-declarations"
#elif defined(__GNUC__)
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
class SpeedController;
/**
@@ -19,9 +30,9 @@ class SpeedController;
* the Kit of Parts drive base, "tank drive", or West Coast Drive.
*
* These drive bases typically have drop-center / skid-steer with two or more
* wheels per side (e.g., 6WD or 8WD). This class takes a SpeedController per
* wheels per side (e.g., 6WD or 8WD). This class takes a MotorController per
* side. For four and six motor drivetrains, construct and pass in
* SpeedControllerGroup instances as follows.
* MotorControllerGroup instances as follows.
*
* Four motor drivetrain:
* @code{.cpp}
@@ -29,11 +40,11 @@ class SpeedController;
* public:
* frc::PWMVictorSPX m_frontLeft{1};
* frc::PWMVictorSPX m_rearLeft{2};
* frc::SpeedControllerGroup m_left{m_frontLeft, m_rearLeft};
* frc::MotorControllerGroup m_left{m_frontLeft, m_rearLeft};
*
* frc::PWMVictorSPX m_frontRight{3};
* frc::PWMVictorSPX m_rearRight{4};
* frc::SpeedControllerGroup m_right{m_frontRight, m_rearRight};
* frc::MotorControllerGroup m_right{m_frontRight, m_rearRight};
*
* frc::DifferentialDrive m_drive{m_left, m_right};
* };
@@ -46,12 +57,12 @@ class SpeedController;
* frc::PWMVictorSPX m_frontLeft{1};
* frc::PWMVictorSPX m_midLeft{2};
* frc::PWMVictorSPX m_rearLeft{3};
* frc::SpeedControllerGroup m_left{m_frontLeft, m_midLeft, m_rearLeft};
* frc::MotorControllerGroup m_left{m_frontLeft, m_midLeft, m_rearLeft};
*
* frc::PWMVictorSPX m_frontRight{4};
* frc::PWMVictorSPX m_midRight{5};
* frc::PWMVictorSPX m_rearRight{6};
* frc::SpeedControllerGroup m_right{m_frontRight, m_midRight, m_rearRight};
* frc::MotorControllerGroup m_right{m_frontRight, m_midRight, m_rearRight};
*
* frc::DifferentialDrive m_drive{m_left, m_right};
* };
@@ -105,7 +116,7 @@ class DifferentialDrive : public RobotDriveBase,
/**
* Construct a DifferentialDrive.
*
* To pass multiple motors per side, use a SpeedControllerGroup. If a motor
* To pass multiple motors per side, use a MotorControllerGroup. If a motor
* needs to be inverted, do so before passing it in.
*/
DifferentialDrive(SpeedController& leftMotor, SpeedController& rightMotor);
@@ -219,4 +230,12 @@ class DifferentialDrive : public RobotDriveBase,
double m_rightSideInvertMultiplier = -1.0;
};
#if defined(_MSC_VER)
#pragma warning(pop)
#elif defined(__clang__)
#pragma clang diagnostic pop
#elif defined(__GNUC__)
#pragma GCC diagnostic pop
#endif
} // namespace frc

19
wpilibc/src/main/native/include/frc/drive/KilloughDrive.h
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@@ -15,6 +15,17 @@
namespace frc {
#if defined(_MSC_VER)
#pragma warning(push)
#pragma warning(disable : 4996) // was declared deprecated
#elif defined(__clang__)
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wdeprecated-declarations"
#elif defined(__GNUC__)
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
class SpeedController;
/**
@@ -140,4 +151,12 @@ class KilloughDrive : public RobotDriveBase,
bool reported = false;
};
#if defined(_MSC_VER)
#pragma warning(pop)
#elif defined(__clang__)
#pragma clang diagnostic pop
#elif defined(__GNUC__)
#pragma GCC diagnostic pop
#endif
} // namespace frc

19
wpilibc/src/main/native/include/frc/drive/MecanumDrive.h
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@@ -14,6 +14,17 @@
namespace frc {
#if defined(_MSC_VER)
#pragma warning(push)
#pragma warning(disable : 4996) // was declared deprecated
#elif defined(__clang__)
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wdeprecated-declarations"
#elif defined(__GNUC__)
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
class SpeedController;
/**
@@ -145,4 +156,12 @@ class MecanumDrive : public RobotDriveBase,
bool reported = false;
};
#if defined(_MSC_VER)
#pragma warning(pop)
#elif defined(__clang__)
#pragma clang diagnostic pop
#elif defined(__GNUC__)
#pragma GCC diagnostic pop
#endif
} // namespace frc

2
wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h
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@@ -13,8 +13,6 @@
namespace frc {
class SpeedController;
/**
* Common base class for drive platforms.
*/