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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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4
wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/ExampleSmartMotorController.h
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@@ -4,7 +4,7 @@
#pragma once
#include <frc/SpeedController.h>
#include <frc/motorcontrol/MotorController.h>
/**
* A simplified stub class that simulates the API of a common "smart" motor
@@ -12,7 +12,7 @@
*
* <p>Has no actual functionality.
*/
class ExampleSmartMotorController : public frc::SpeedController {
class ExampleSmartMotorController : public frc::MotorController {
public:
enum PIDMode { kPosition, kVelocity, kMovementWitchcraft };