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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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2
wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h
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@@ -5,7 +5,7 @@
#pragma once
#include <frc/DigitalInput.h>
#include <frc/PWMSparkMax.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc2/command/SubsystemBase.h>
/**

8
wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/DriveTrain.h
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@@ -7,9 +7,9 @@
#include <frc/AnalogGyro.h>
#include <frc/AnalogInput.h>
#include <frc/Encoder.h>
#include <frc/PWMSparkMax.h>
#include <frc/SpeedControllerGroup.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc/motorcontrol/MotorControllerGroup.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc2/command/SubsystemBase.h>
namespace frc {
@@ -66,11 +66,11 @@ class DriveTrain : public frc2::SubsystemBase {
private:
frc::PWMSparkMax m_frontLeft{1};
frc::PWMSparkMax m_rearLeft{2};
frc::SpeedControllerGroup m_left{m_frontLeft, m_rearLeft};
frc::MotorControllerGroup m_left{m_frontLeft, m_rearLeft};
frc::PWMSparkMax m_frontRight{3};
frc::PWMSparkMax m_rearRight{4};
frc::SpeedControllerGroup m_right{m_frontRight, m_rearRight};
frc::MotorControllerGroup m_right{m_frontRight, m_rearRight};
frc::DifferentialDrive m_robotDrive{m_left, m_right};

2
wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Elevator.h
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@@ -5,7 +5,7 @@
#pragma once
#include <frc/AnalogPotentiometer.h>
#include <frc/PWMSparkMax.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc2/command/PIDSubsystem.h>
/**

2
wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h
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@@ -5,7 +5,7 @@
#pragma once
#include <frc/AnalogPotentiometer.h>
#include <frc/PWMSparkMax.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc2/command/PIDSubsystem.h>
/**