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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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8
wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h
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@@ -6,12 +6,12 @@
#include <frc/AnalogGyro.h>
#include <frc/Encoder.h>
#include <frc/PWMSparkMax.h>
#include <frc/SpeedControllerGroup.h>
#include <frc/controller/PIDController.h>
#include <frc/controller/SimpleMotorFeedforward.h>
#include <frc/kinematics/DifferentialDriveKinematics.h>
#include <frc/kinematics/DifferentialDriveOdometry.h>
#include <frc/motorcontrol/MotorControllerGroup.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <units/angular_velocity.h>
#include <units/length.h>
#include <wpi/math>
@@ -57,8 +57,8 @@ class Drivetrain {
frc::PWMSparkMax m_rightLeader{3};
frc::PWMSparkMax m_rightFollower{4};
frc::SpeedControllerGroup m_leftGroup{m_leftLeader, m_leftFollower};
frc::SpeedControllerGroup m_rightGroup{m_rightLeader, m_rightFollower};
frc::MotorControllerGroup m_leftGroup{m_leftLeader, m_leftFollower};
frc::MotorControllerGroup m_rightGroup{m_rightLeader, m_rightFollower};
frc::Encoder m_leftEncoder{0, 1};
frc::Encoder m_rightEncoder{2, 3};