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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/MecanumControllerCommand/cpp/RobotContainer.cpp
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@@ -96,7 +96,7 @@ frc2::Command* RobotContainer::GetAutonomousCommand() {
[this](units::volt_t frontLeft, units::volt_t rearLeft,
units::volt_t frontRight, units::volt_t rearRight) {
m_drive.SetSpeedControllersVolts(frontLeft, rearLeft, frontRight,
m_drive.SetMotorControllersVolts(frontLeft, rearLeft, frontRight,
rearRight);
},

2
wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp
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@@ -56,7 +56,7 @@ void DriveSubsystem::Drive(double xSpeed, double ySpeed, double rot,
}
}
void DriveSubsystem::SetSpeedControllersVolts(units::volt_t frontLeftPower,
void DriveSubsystem::SetMotorControllersVolts(units::volt_t frontLeftPower,
units::volt_t rearLeftPower,
units::volt_t frontRightPower,
units::volt_t rearRightPower) {

6
wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/subsystems/DriveSubsystem.h
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@@ -6,13 +6,13 @@
#include <frc/ADXRS450_Gyro.h>
#include <frc/Encoder.h>
#include <frc/PWMSparkMax.h>
#include <frc/drive/MecanumDrive.h>
#include <frc/geometry/Pose2d.h>
#include <frc/geometry/Rotation2d.h>
#include <frc/interfaces/Gyro.h>
#include <frc/kinematics/MecanumDriveOdometry.h>
#include <frc/kinematics/MecanumDriveWheelSpeeds.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc2/command/SubsystemBase.h>
#include "Constants.h"
@@ -82,9 +82,9 @@ class DriveSubsystem : public frc2::SubsystemBase {
frc::MecanumDriveWheelSpeeds getCurrentWheelSpeeds();
/**
* Sets the drive SpeedControllers to a desired voltage.
* Sets the drive MotorControllers to a desired voltage.
*/
void SetSpeedControllersVolts(units::volt_t frontLeftPower,
void SetMotorControllersVolts(units::volt_t frontLeftPower,
units::volt_t rearLeftPower,
units::volt_t frontRightPower,
units::volt_t rearRightPower);