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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/SwerveDrivePoseEstimator/include/SwerveModule.h
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@@ -5,11 +5,11 @@
#pragma once
#include <frc/Encoder.h>
#include <frc/PWMSparkMax.h>
#include <frc/controller/PIDController.h>
#include <frc/controller/ProfiledPIDController.h>
#include <frc/controller/SimpleMotorFeedforward.h>
#include <frc/kinematics/SwerveModuleState.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <units/angular_velocity.h>
#include <units/time.h>
#include <units/velocity.h>