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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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44
wpilibc/src/test/native/cpp/SpeedControllerGroupTest.cpp
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@@ -2,29 +2,29 @@
// 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/SpeedControllerGroup.h" // NOLINT(build/include_order)
#include "frc/motorcontrol/MotorControllerGroup.h" // NOLINT(build/include_order)
#include <memory>
#include <vector>
#include "MockSpeedController.h"
#include "MockMotorController.h"
#include "gtest/gtest.h"
using namespace frc;
enum SpeedControllerGroupTestType { TEST_ONE, TEST_TWO, TEST_THREE };
enum MotorControllerGroupTestType { TEST_ONE, TEST_TWO, TEST_THREE };
std::ostream& operator<<(std::ostream& os,
const SpeedControllerGroupTestType& type) {
const MotorControllerGroupTestType& type) {
switch (type) {
case TEST_ONE:
os << "SpeedControllerGroup with one speed controller";
os << "MotorControllerGroup with one speed controller";
break;
case TEST_TWO:
os << "SpeedControllerGroup with two speed controllers";
os << "MotorControllerGroup with two speed controllers";
break;
case TEST_THREE:
os << "SpeedControllerGroup with three speed controllers";
os << "MotorControllerGroup with three speed controllers";
break;
}
@@ -32,26 +32,26 @@ std::ostream& operator<<(std::ostream& os,
}
/**
* A fixture used for SpeedControllerGroup testing.
* A fixture used for MotorControllerGroup testing.
*/
class SpeedControllerGroupTest
: public testing::TestWithParam<SpeedControllerGroupTestType> {
class MotorControllerGroupTest
: public testing::TestWithParam<MotorControllerGroupTestType> {
protected:
std::vector<MockSpeedController> m_speedControllers;
std::unique_ptr<SpeedControllerGroup> m_group;
std::vector<MockMotorController> m_speedControllers;
std::unique_ptr<MotorControllerGroup> m_group;
void SetUp() override {
switch (GetParam()) {
case TEST_ONE: {
m_speedControllers.emplace_back();
m_group = std::make_unique<SpeedControllerGroup>(m_speedControllers[0]);
m_group = std::make_unique<MotorControllerGroup>(m_speedControllers[0]);
break;
}
case TEST_TWO: {
m_speedControllers.emplace_back();
m_speedControllers.emplace_back();
m_group = std::make_unique<SpeedControllerGroup>(m_speedControllers[0],
m_group = std::make_unique<MotorControllerGroup>(m_speedControllers[0],
m_speedControllers[1]);
break;
}
@@ -60,7 +60,7 @@ class SpeedControllerGroupTest
m_speedControllers.emplace_back();
m_speedControllers.emplace_back();
m_speedControllers.emplace_back();
m_group = std::make_unique<SpeedControllerGroup>(m_speedControllers[0],
m_group = std::make_unique<MotorControllerGroup>(m_speedControllers[0],
m_speedControllers[1],
m_speedControllers[2]);
break;
@@ -69,7 +69,7 @@ class SpeedControllerGroupTest
}
};
TEST_P(SpeedControllerGroupTest, Set) {
TEST_P(MotorControllerGroupTest, Set) {
m_group->Set(1.0);
for (auto& speedController : m_speedControllers) {
@@ -77,13 +77,13 @@ TEST_P(SpeedControllerGroupTest, Set) {
}
}
TEST_P(SpeedControllerGroupTest, GetInverted) {
TEST_P(MotorControllerGroupTest, GetInverted) {
m_group->SetInverted(true);
EXPECT_TRUE(m_group->GetInverted());
}
TEST_P(SpeedControllerGroupTest, SetInvertedDoesNotModifySpeedControllers) {
TEST_P(MotorControllerGroupTest, SetInvertedDoesNotModifyMotorControllers) {
for (auto& speedController : m_speedControllers) {
speedController.SetInverted(false);
}
@@ -94,7 +94,7 @@ TEST_P(SpeedControllerGroupTest, SetInvertedDoesNotModifySpeedControllers) {
}
}
TEST_P(SpeedControllerGroupTest, SetInvertedDoesInvert) {
TEST_P(MotorControllerGroupTest, SetInvertedDoesInvert) {
m_group->SetInverted(true);
m_group->Set(1.0);
@@ -103,7 +103,7 @@ TEST_P(SpeedControllerGroupTest, SetInvertedDoesInvert) {
}
}
TEST_P(SpeedControllerGroupTest, Disable) {
TEST_P(MotorControllerGroupTest, Disable) {
m_group->Set(1.0);
m_group->Disable();
@@ -112,7 +112,7 @@ TEST_P(SpeedControllerGroupTest, Disable) {
}
}
TEST_P(SpeedControllerGroupTest, StopMotor) {
TEST_P(MotorControllerGroupTest, StopMotor) {
m_group->Set(1.0);
m_group->StopMotor();
@@ -121,5 +121,5 @@ TEST_P(SpeedControllerGroupTest, StopMotor) {
}
}
INSTANTIATE_TEST_SUITE_P(Test, SpeedControllerGroupTest,
INSTANTIATE_TEST_SUITE_P(Test, MotorControllerGroupTest,
testing::Values(TEST_ONE, TEST_TWO, TEST_THREE));