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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/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h
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@@ -6,11 +6,11 @@
#include <frc/ADXRS450_Gyro.h>
#include <frc/Encoder.h>
#include <frc/PWMSparkMax.h>
#include <frc/SpeedControllerGroup.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc/geometry/Pose2d.h>
#include <frc/kinematics/DifferentialDriveOdometry.h>
#include <frc/motorcontrol/MotorControllerGroup.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc/simulation/ADXRS450_GyroSim.h>
#include <frc/simulation/DifferentialDrivetrainSim.h>
#include <frc/simulation/EncoderSim.h>
@@ -134,10 +134,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
frc::PWMSparkMax m_right2{DriveConstants::kRightMotor2Port};
// The motors on the left side of the drive
frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};
frc::MotorControllerGroup m_leftMotors{m_left1, m_left2};
// The motors on the right side of the drive
frc::SpeedControllerGroup m_rightMotors{m_right1, m_right2};
frc::MotorControllerGroup m_rightMotors{m_right1, m_right2};
// The robot's drive
frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};