[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/include/frc/motorcontrol/DMC60.h

@@ -0,0 +1,41 @@
+// 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.
+
+#pragma once
+
+#include "frc/motorcontrol/PWMMotorController.h"
+
+namespace frc {
+
+/**
+ * Digilent DMC 60 Motor Controller.
+ *
+ * Note that the DMC 60 uses the following bounds for PWM values. These
+ * values should work reasonably well for most controllers, but if users
+ * experience issues such as asymmetric behavior around the deadband or
+ * inability to saturate the controller in either direction, calibration is
+ * recommended. The calibration procedure can be found in the DMC 60 User
+ * Manual available from Digilent.
+ *
+ * \li 2.004ms = full "forward"
+ * \li 1.520ms = the "high end" of the deadband range
+ * \li 1.500ms = center of the deadband range (off)
+ * \li 1.480ms = the "low end" of the deadband range
+ * \li 0.997ms = full "reverse"
+ */
+class DMC60 : public PWMMotorController {
+ public:
+  /**
+   * Constructor for a Digilent DMC 60.
+   *
+   * @param channel The PWM channel that the DMC 60 is attached to. 0-9 are
+   *                on-board, 10-19 are on the MXP port
+   */
+  explicit DMC60(int channel);
+
+  DMC60(DMC60&&) = default;
+  DMC60& operator=(DMC60&&) = default;
+};
+
+}  // namespace frc

wpilibc/src/main/native/include/frc/motorcontrol/Jaguar.h

@@ -0,0 +1,41 @@
+// 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.
+
+#pragma once
+
+#include "frc/motorcontrol/PWMMotorController.h"
+
+namespace frc {
+
+/**
+ * Luminary Micro / Vex Robotics Jaguar Motor Controller with PWM control.
+ *
+ * Note that the Jaguar uses the following bounds for PWM values. These values
+ * should work reasonably well for most controllers, but if users experience
+ * issues such as asymmetric behavior around the deadband or inability to
+ * saturate the controller in either direction, calibration is recommended. The
+ * calibration procedure can be found in the Jaguar User Manual available from
+ * Vex.
+ *
+ * \li 2.310ms = full "forward"
+ * \li 1.550ms = the "high end" of the deadband range
+ * \li 1.507ms = center of the deadband range (off)
+ * \li 1.454ms = the "low end" of the deadband range
+ * \li 0.697ms = full "reverse"
+ */
+class Jaguar : public PWMMotorController {
+ public:
+  /**
+   * Constructor for a Jaguar connected via PWM.
+   *
+   * @param channel The PWM channel that the Jaguar is attached to. 0-9 are
+   *                on-board, 10-19 are on the MXP port
+   */
+  explicit Jaguar(int channel);
+
+  Jaguar(Jaguar&&) = default;
+  Jaguar& operator=(Jaguar&&) = default;
+};
+
+}  // namespace frc

wpilibc/src/main/native/include/frc/motorcontrol/MotorController.h

@@ -0,0 +1,37 @@
+// 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.
+
+#pragma once
+
+#include <units/voltage.h>
+
+#include "frc/SpeedController.h"
+
+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
+
+/**
+ * Interface for motor controlling devices.
+ */
+class MotorController : public SpeedController {};
+
+#if defined(_MSC_VER)
+#pragma warning(pop)
+#elif defined(__clang__)
+#pragma clang diagnostic pop
+#elif defined(__GNUC__)
+#pragma GCC diagnostic pop
+#endif
+
+}  // namespace frc

wpilibc/src/main/native/include/frc/motorcontrol/MotorControllerGroup.h

@@ -0,0 +1,47 @@
+// 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.
+
+#pragma once
+
+#include <functional>
+#include <vector>
+
+#include "frc/motorcontrol/MotorController.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
+
+namespace frc {
+
+class MotorControllerGroup : public Sendable,
+                             public MotorController,
+                             public SendableHelper<MotorControllerGroup> {
+ public:
+  template <class... MotorControllers>
+  explicit MotorControllerGroup(MotorController& motorController,
+                                MotorControllers&... motorControllers);
+  explicit MotorControllerGroup(
+      std::vector<std::reference_wrapper<MotorController>>&& motorControllers);
+
+  MotorControllerGroup(MotorControllerGroup&&) = default;
+  MotorControllerGroup& operator=(MotorControllerGroup&&) = default;
+
+  void Set(double speed) override;
+  double Get() const override;
+  void SetInverted(bool isInverted) override;
+  bool GetInverted() const override;
+  void Disable() override;
+  void StopMotor() override;
+
+  void InitSendable(SendableBuilder& builder) override;
+
+ private:
+  bool m_isInverted = false;
+  std::vector<std::reference_wrapper<MotorController>> m_motorControllers;
+
+  void Initialize();
+};
+
+}  // namespace frc
+
+#include "frc/motorcontrol/MotorControllerGroup.inc"

wpilibc/src/main/native/include/frc/motorcontrol/MotorControllerGroup.inc

@@ -0,0 +1,22 @@
+// 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.
+
+#pragma once
+
+#include <functional>
+#include <vector>
+
+#include "frc/motorcontrol/MotorControllerGroup.h"
+
+namespace frc {
+
+template <class... MotorControllers>
+MotorControllerGroup::MotorControllerGroup(
+    MotorController& motorController, MotorControllers&... motorControllers)
+    : m_motorControllers(std::vector<std::reference_wrapper<MotorController>>{
+          motorController, motorControllers...}) {
+  Initialize();
+}
+
+}  // namespace frc

wpilibc/src/main/native/include/frc/motorcontrol/NidecBrushless.h

@@ -0,0 +1,98 @@
+// 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.
+
+#pragma once
+
+#include "frc/DigitalOutput.h"
+#include "frc/ErrorBase.h"
+#include "frc/MotorSafety.h"
+#include "frc/PWM.h"
+#include "frc/motorcontrol/MotorController.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
+
+namespace frc {
+
+class SendableBuilder;
+
+/**
+ * Nidec Brushless Motor.
+ */
+class NidecBrushless : public MotorController,
+                       public MotorSafety,
+                       public Sendable,
+                       public SendableHelper<NidecBrushless> {
+ public:
+  /**
+   * Constructor.
+   *
+   * @param pwmChannel The PWM channel that the Nidec Brushless controller is
+   *                   attached to. 0-9 are on-board, 10-19 are on the MXP port.
+   * @param dioChannel The DIO channel that the Nidec Brushless controller is
+   *                   attached to. 0-9 are on-board, 10-25 are on the MXP port.
+   */
+  NidecBrushless(int pwmChannel, int dioChannel);
+
+  ~NidecBrushless() override = default;
+
+  NidecBrushless(NidecBrushless&&) = default;
+  NidecBrushless& operator=(NidecBrushless&&) = default;
+
+  // MotorController interface
+  /**
+   * Set the PWM value.
+   *
+   * The PWM value is set using a range of -1.0 to 1.0, appropriately scaling
+   * the value for the FPGA.
+   *
+   * @param speed The speed value between -1.0 and 1.0 to set.
+   */
+  void Set(double speed) override;
+
+  /**
+   * Get the recently set value of the PWM.
+   *
+   * @return The most recently set value for the PWM between -1.0 and 1.0.
+   */
+  double Get() const override;
+
+  void SetInverted(bool isInverted) override;
+
+  bool GetInverted() const override;
+
+  /**
+   * Disable the motor. The Enable() function must be called to re-enable the
+   * motor.
+   */
+  void Disable() override;
+
+  /**
+   * Re-enable the motor after Disable() has been called. The Set() function
+   * must be called to set a new motor speed.
+   */
+  void Enable();
+
+  // MotorSafety interface
+  void StopMotor() override;
+  void GetDescription(wpi::raw_ostream& desc) const override;
+
+  /**
+   * Gets the channel number associated with the object.
+   *
+   * @return The channel number.
+   */
+  int GetChannel() const;
+
+  // Sendable interface
+  void InitSendable(SendableBuilder& builder) override;
+
+ private:
+  bool m_isInverted = false;
+  bool m_disabled = false;
+  DigitalOutput m_dio;
+  PWM m_pwm;
+  double m_speed = 0.0;
+};
+
+}  // namespace frc

wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h

@@ -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.
+
+#pragma once
+
+#include <wpi/Twine.h>
+
+#include "frc/MotorSafety.h"
+#include "frc/PWM.h"
+#include "frc/motorcontrol/MotorController.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
+
+namespace wpi {
+class raw_ostream;
+}  // namespace wpi
+
+namespace frc {
+
+/**
+ * Common base class for all PWM Motor Controllers.
+ */
+class PWMMotorController : public MotorController,
+                           public MotorSafety,
+                           public Sendable,
+                           public SendableHelper<PWMMotorController> {
+ public:
+  PWMMotorController(PWMMotorController&&) = default;
+  PWMMotorController& operator=(PWMMotorController&&) = default;
+
+  /**
+   * Set the PWM value.
+   *
+   * The PWM value is set using a range of -1.0 to 1.0, appropriately scaling
+   * the value for the FPGA.
+   *
+   * @param speed The speed value between -1.0 and 1.0 to set.
+   */
+  void Set(double value) override;
+
+  /**
+   * Get the recently set value of the PWM. This value is affected by the
+   * inversion property. If you want the value that is sent directly to the
+   * MotorController, use {@link PWM#getSpeed()} instead.
+   *
+   * @return The most recently set value for the PWM between -1.0 and 1.0.
+   */
+  double Get() const override;
+
+  void SetInverted(bool isInverted) override;
+
+  bool GetInverted() const override;
+
+  void Disable() override;
+
+  // MotorSafety interface
+  void StopMotor() override;
+  void GetDescription(wpi::raw_ostream& desc) const override;
+
+  int GetChannel() const;
+
+ protected:
+  /**
+   * Constructor for a PWM Motor Controller connected via PWM.
+   *
+   * @param name Name to use for SendableRegistry
+   * @param channel The PWM channel that the controller is attached to. 0-9 are
+   *                on-board, 10-19 are on the MXP port
+   */
+  PWMMotorController(const wpi::Twine& name, int channel);
+
+  void InitSendable(SendableBuilder& builder) override;
+
+  PWM m_pwm;
+
+ private:
+  bool m_isInverted = false;
+};
+
+}  // namespace frc

wpilibc/src/main/native/include/frc/motorcontrol/PWMSparkMax.h

@@ -0,0 +1,41 @@
+// 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.
+
+#pragma once
+
+#include "frc/motorcontrol/PWMMotorController.h"
+
+namespace frc {
+
+/**
+ * REV Robotics SPARK MAX Motor Controller.
+ *
+ * Note that the SPARK MAX uses the following bounds for PWM values. These
+ * values should work reasonably well for most controllers, but if users
+ * experience issues such as asymmetric behavior around the deadband or
+ * inability to saturate the controller in either direction, calibration is
+ * recommended. The calibration procedure can be found in the SPARK MAX User
+ * Manual available from REV Robotics.
+ *
+ * \li 2.003ms = full "forward"
+ * \li 1.550ms = the "high end" of the deadband range
+ * \li 1.500ms = center of the deadband range (off)
+ * \li 1.460ms = the "low end" of the deadband range
+ * \li 0.999ms = full "reverse"
+ */
+class PWMSparkMax : public PWMMotorController {
+ public:
+  /**
+   * Constructor for a SPARK MAX.
+   *
+   * @param channel The PWM channel that the SPARK MAX is attached to. 0-9 are
+   *                on-board, 10-19 are on the MXP port
+   */
+  explicit PWMSparkMax(int channel);
+
+  PWMSparkMax(PWMSparkMax&&) = default;
+  PWMSparkMax& operator=(PWMSparkMax&&) = default;
+};
+
+}  // namespace frc

wpilibc/src/main/native/include/frc/motorcontrol/PWMTalonFX.h

@@ -0,0 +1,42 @@
+// 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.
+
+#pragma once
+
+#include "frc/motorcontrol/PWMMotorController.h"
+
+namespace frc {
+
+/**
+ * Cross the Road Electronics (CTRE) Talon FX Motor Controller with PWM
+ * control.
+ *
+ * Note that the Talon FX uses the following bounds for PWM values. These
+ * values should work reasonably well for most controllers, but if users
+ * experience issues such as asymmetric behavior around the deadband or
+ * inability to saturate the controller in either direction, calibration is
+ * recommended. The calibration procedure can be found in the Talon FX User
+ * Manual available from Cross The Road Electronics.
+ *
+ * \li 2.004ms = full "forward"
+ * \li 1.520ms = the "high end" of the deadband range
+ * \li 1.500ms = center of the deadband range (off)
+ * \li 1.480ms = the "low end" of the deadband range
+ * \li 0.997ms = full "reverse"
+ */
+class PWMTalonFX : public PWMMotorController {
+ public:
+  /**
+   * Construct a Talon FX connected via PWM.
+   *
+   * @param channel The PWM channel that the Talon FX is attached to. 0-9 are
+   *                on-board, 10-19 are on the MXP port
+   */
+  explicit PWMTalonFX(int channel);
+
+  PWMTalonFX(PWMTalonFX&&) = default;
+  PWMTalonFX& operator=(PWMTalonFX&&) = default;
+};
+
+}  // namespace frc

wpilibc/src/main/native/include/frc/motorcontrol/PWMTalonSRX.h

@@ -0,0 +1,42 @@
+// 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.
+
+#pragma once
+
+#include "frc/motorcontrol/PWMMotorController.h"
+
+namespace frc {
+
+/**
+ * Cross the Road Electronics (CTRE) Talon SRX Motor Controller with PWM
+ * control.
+ *
+ * Note that the Talon SRX uses the following bounds for PWM values. These
+ * values should work reasonably well for most controllers, but if users
+ * experience issues such as asymmetric behavior around the deadband or
+ * inability to saturate the controller in either direction, calibration is
+ * recommended. The calibration procedure can be found in the Talon SRX User
+ * Manual available from Cross The Road Electronics.
+ *
+ * \li 2.004ms = full "forward"
+ * \li 1.520ms = the "high end" of the deadband range
+ * \li 1.500ms = center of the deadband range (off)
+ * \li 1.480ms = the "low end" of the deadband range
+ * \li 0.997ms = full "reverse"
+ */
+class PWMTalonSRX : public PWMMotorController {
+ public:
+  /**
+   * Construct a Talon SRX connected via PWM.
+   *
+   * @param channel The PWM channel that the Talon SRX is attached to. 0-9 are
+   *                on-board, 10-19 are on the MXP port
+   */
+  explicit PWMTalonSRX(int channel);
+
+  PWMTalonSRX(PWMTalonSRX&&) = default;
+  PWMTalonSRX& operator=(PWMTalonSRX&&) = default;
+};
+
+}  // namespace frc

wpilibc/src/main/native/include/frc/motorcontrol/PWMVenom.h

@@ -0,0 +1,40 @@
+// 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.
+
+#pragma once
+
+#include "frc/motorcontrol/PWMMotorController.h"
+
+namespace frc {
+
+/**
+ * Playing with Fusion Venom Smart Motor with PWM control.
+ *
+ * Note that the Venom uses the following bounds for PWM values. These
+ * values should work reasonably well for most controllers, but if users
+ * experience issues such as asymmetric behavior around the deadband or
+ * inability to saturate the controller in either direction, calibration is
+ * recommended.
+ *
+ * \li 2.004ms = full "forward"
+ * \li 1.520ms = the "high end" of the deadband range
+ * \li 1.500ms = center of the deadband range (off)
+ * \li 1.480ms = the "low end" of the deadband range
+ * \li 0.997ms = full "reverse"
+ */
+class PWMVenom : public PWMMotorController {
+ public:
+  /**
+   * Construct a Venom connected via PWM.
+   *
+   * @param channel The PWM channel that the Venom is attached to. 0-9 are
+   *                on-board, 10-19 are on the MXP port
+   */
+  explicit PWMVenom(int channel);
+
+  PWMVenom(PWMVenom&&) = default;
+  PWMVenom& operator=(PWMVenom&&) = default;
+};
+
+}  // namespace frc

wpilibc/src/main/native/include/frc/motorcontrol/PWMVictorSPX.h

@@ -0,0 +1,42 @@
+// 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.
+
+#pragma once
+
+#include "frc/motorcontrol/PWMMotorController.h"
+
+namespace frc {
+
+/**
+ * Cross the Road Electronics (CTRE) Victor SPX Motor Controller with PWM
+ * control.
+ *
+ * Note that the Victor SPX uses the following bounds for PWM values. These
+ * values should work reasonably well for most controllers, but if users
+ * experience issues such as asymmetric behavior around the deadband or
+ * inability to saturate the controller in either direction, calibration is
+ * recommended. The calibration procedure can be found in the Victor SPX User
+ * Manual available from Cross The Road Electronics.
+ *
+ * \li 2.004ms = full "forward"
+ * \li 1.520ms = the "high end" of the deadband range
+ * \li 1.500ms = center of the deadband range (off)
+ * \li 1.480ms = the "low end" of the deadband range
+ * \li 0.997ms = full "reverse"
+ */
+class PWMVictorSPX : public PWMMotorController {
+ public:
+  /**
+   * Construct a Victor SPX connected via PWM.
+   *
+   * @param channel The PWM channel that the Victor SPX is attached to. 0-9
+   *                are on-board, 10-19 are on the MXP port
+   */
+  explicit PWMVictorSPX(int channel);
+
+  PWMVictorSPX(PWMVictorSPX&&) = default;
+  PWMVictorSPX& operator=(PWMVictorSPX&&) = default;
+};
+
+}  // namespace frc

wpilibc/src/main/native/include/frc/motorcontrol/SD540.h

@@ -0,0 +1,41 @@
+// 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.
+
+#pragma once
+
+#include "frc/motorcontrol/PWMMotorController.h"
+
+namespace frc {
+
+/**
+ * Mindsensors SD540 Motor Controller.
+ *
+ * Note that the SD540 uses the following bounds for PWM values. These values
+ * should work reasonably well for most controllers, but if users experience
+ * issues such as asymmetric behavior around the deadband or inability to
+ * saturate the controller in either direction, calibration is recommended.
+ * The calibration procedure can be found in the SD540 User Manual available
+ * from Mindsensors.
+ *
+ * \li 2.05ms = full "forward"
+ * \li 1.55ms = the "high end" of the deadband range
+ * \li 1.50ms = center of the deadband range (off)
+ * \li 1.44ms = the "low end" of the deadband range
+ * \li 0.94ms = full "reverse"
+ */
+class SD540 : public PWMMotorController {
+ public:
+  /**
+   * Constructor for a SD540.
+   *
+   * @param channel The PWM channel that the SD540 is attached to. 0-9 are
+   *                on-board, 10-19 are on the MXP port
+   */
+  explicit SD540(int channel);
+
+  SD540(SD540&&) = default;
+  SD540& operator=(SD540&&) = default;
+};
+
+}  // namespace frc

wpilibc/src/main/native/include/frc/motorcontrol/Spark.h

@@ -0,0 +1,41 @@
+// 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.
+
+#pragma once
+
+#include "frc/motorcontrol/PWMMotorController.h"
+
+namespace frc {
+
+/**
+ * REV Robotics SPARK Motor Controller.
+ *
+ * Note that the SPARK uses the following bounds for PWM values. These values
+ * should work reasonably well for most controllers, but if users experience
+ * issues such as asymmetric behavior around the deadband or inability to
+ * saturate the controller in either direction, calibration is recommended.
+ * The calibration procedure can be found in the SPARK User Manual available
+ * from REV Robotics.
+ *
+ * \li 2.003ms = full "forward"
+ * \li 1.550ms = the "high end" of the deadband range
+ * \li 1.500ms = center of the deadband range (off)
+ * \li 1.460ms = the "low end" of the deadband range
+ * \li 0.999ms = full "reverse"
+ */
+class Spark : public PWMMotorController {
+ public:
+  /**
+   * Constructor for a SPARK.
+   *
+   * @param channel The PWM channel that the SPARK is attached to. 0-9 are
+   *                on-board, 10-19 are on the MXP port
+   */
+  explicit Spark(int channel);
+
+  Spark(Spark&&) = default;
+  Spark& operator=(Spark&&) = default;
+};
+
+}  // namespace frc

wpilibc/src/main/native/include/frc/motorcontrol/Talon.h

@@ -0,0 +1,41 @@
+// 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.
+
+#pragma once
+
+#include "frc/motorcontrol/PWMMotorController.h"
+
+namespace frc {
+
+/**
+ * Cross the Road Electronics (CTRE) Talon and Talon SR Motor Controller.
+ *
+ * Note that the Talon uses the following bounds for PWM values. These values
+ * should work reasonably well for most controllers, but if users experience
+ * issues such as asymmetric behavior around the deadband or inability to
+ * saturate the controller in either direction, calibration is recommended.
+ * The calibration procedure can be found in the Talon User Manual available
+ * from CTRE.
+ *
+ * \li 2.037ms = full "forward"
+ * \li 1.539ms = the "high end" of the deadband range
+ * \li 1.513ms = center of the deadband range (off)
+ * \li 1.487ms = the "low end" of the deadband range
+ * \li 0.989ms = full "reverse"
+ */
+class Talon : public PWMMotorController {
+ public:
+  /**
+   * Constructor for a Talon (original or Talon SR).
+   *
+   * @param channel The PWM channel number that the Talon is attached to. 0-9
+   *                are on-board, 10-19 are on the MXP port
+   */
+  explicit Talon(int channel);
+
+  Talon(Talon&&) = default;
+  Talon& operator=(Talon&&) = default;
+};
+
+}  // namespace frc

wpilibc/src/main/native/include/frc/motorcontrol/Victor.h

@@ -0,0 +1,45 @@
+// 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.
+
+#pragma once
+
+#include "frc/motorcontrol/PWMMotorController.h"
+
+namespace frc {
+
+/**
+ * Vex Robotics Victor 888 Motor Controller.
+ *
+ * The Vex Robotics Victor 884 Motor Controller can also be used with this
+ * class but may need to be calibrated per the Victor 884 user manual.
+ *
+ * Note that the Victor uses the following bounds for PWM values.  These
+ * values were determined empirically and optimized for the Victor 888. These
+ * values should work reasonably well for Victor 884 controllers as well but
+ * if users experience issues such as asymmetric behavior around the deadband
+ * or inability to saturate the controller in either direction, calibration is
+ * recommended. The calibration procedure can be found in the Victor 884 User
+ * Manual available from Vex.
+ *
+ * \li 2.027ms = full "forward"
+ * \li 1.525ms = the "high end" of the deadband range
+ * \li 1.507ms = center of the deadband range (off)
+ * \li 1.490ms = the "low end" of the deadband range
+ * \li 1.026ms = full "reverse"
+ */
+class Victor : public PWMMotorController {
+ public:
+  /**
+   * Constructor for a Victor.
+   *
+   * @param channel The PWM channel number that the Victor is attached to. 0-9
+   *                are on-board, 10-19 are on the MXP port
+   */
+  explicit Victor(int channel);
+
+  Victor(Victor&&) = default;
+  Victor& operator=(Victor&&) = default;
+};
+
+}  // namespace frc

wpilibc/src/main/native/include/frc/motorcontrol/VictorSP.h

@@ -0,0 +1,41 @@
+// 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.
+
+#pragma once
+
+#include "frc/motorcontrol/PWMMotorController.h"
+
+namespace frc {
+
+/**
+ * Vex Robotics Victor SP Motor Controller.
+ *
+ * Note that the Victor SP uses the following bounds for PWM values. These
+ * values should work reasonably well for most controllers, but if users
+ * experience issues such as asymmetric behavior around the deadband or
+ * inability to saturate the controller in either direction, calibration is
+ * recommended. The calibration procedure can be found in the Victor SP User
+ * Manual available from Vex.
+ *
+ * \li 2.004ms = full "forward"
+ * \li 1.520ms = the "high end" of the deadband range
+ * \li 1.500ms = center of the deadband range (off)
+ * \li 1.480ms = the "low end" of the deadband range
+ * \li 0.997ms = full "reverse"
+ */
+class VictorSP : public PWMMotorController {
+ public:
+  /**
+   * Constructor for a Victor SP.
+   *
+   * @param channel The PWM channel that the VictorSP is attached to. 0-9 are
+   *                on-board, 10-19 are on the MXP port
+   */
+  explicit VictorSP(int channel);
+
+  VictorSP(VictorSP&&) = default;
+  VictorSP& operator=(VictorSP&&) = default;
+};
+
+}  // namespace frc