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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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44
wpilibcIntegrationTests/src/main/native/cpp/MotorEncoderTest.cpp
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@@ -6,13 +6,13 @@
#include "TestBench.h"
#include "frc/Encoder.h"
#include "frc/Jaguar.h"
#include "frc/LinearFilter.h"
#include "frc/Notifier.h"
#include "frc/Talon.h"
#include "frc/Timer.h"
#include "frc/Victor.h"
#include "frc/controller/PIDController.h"
#include "frc/motorcontrol/Jaguar.h"
#include "frc/motorcontrol/Talon.h"
#include "frc/motorcontrol/Victor.h"
#include "gtest/gtest.h"
using namespace frc;
@@ -38,31 +38,31 @@ std::ostream& operator<<(std::ostream& os, MotorEncoderTestType const& type) {
static constexpr double kMotorTime = 0.5;
/**
* A fixture that includes a PWM speed controller and an encoder connected to
* A fixture that includes a PWM motor controller and an encoder connected to
* the same motor.
*/
class MotorEncoderTest : public testing::TestWithParam<MotorEncoderTestType> {
protected:
SpeedController* m_speedController;
MotorController* m_motorController;
Encoder* m_encoder;
LinearFilter<double>* m_filter;
void SetUp() override {
switch (GetParam()) {
case TEST_VICTOR:
m_speedController = new Victor(TestBench::kVictorChannel);
m_motorController = new Victor(TestBench::kVictorChannel);
m_encoder = new Encoder(TestBench::kVictorEncoderChannelA,
TestBench::kVictorEncoderChannelB);
break;
case TEST_JAGUAR:
m_speedController = new Jaguar(TestBench::kJaguarChannel);
m_motorController = new Jaguar(TestBench::kJaguarChannel);
m_encoder = new Encoder(TestBench::kJaguarEncoderChannelA,
TestBench::kJaguarEncoderChannelB);
break;
case TEST_TALON:
m_speedController = new Talon(TestBench::kTalonChannel);
m_motorController = new Talon(TestBench::kTalonChannel);
m_encoder = new Encoder(TestBench::kTalonEncoderChannelA,
TestBench::kTalonEncoderChannelB);
break;
@@ -72,13 +72,13 @@ class MotorEncoderTest : public testing::TestWithParam<MotorEncoderTestType> {
}
void TearDown() override {
delete m_speedController;
delete m_motorController;
delete m_encoder;
delete m_filter;
}
void Reset() {
m_speedController->Set(0.0);
m_motorController->Set(0.0);
m_encoder->Reset();
m_filter->Reset();
}
@@ -90,10 +90,10 @@ class MotorEncoderTest : public testing::TestWithParam<MotorEncoderTestType> {
TEST_P(MotorEncoderTest, Increment) {
Reset();
/* Drive the speed controller briefly to move the encoder */
m_speedController->Set(0.2f);
/* Drive the motor controller briefly to move the encoder */
m_motorController->Set(0.2f);
Wait(kMotorTime);
m_speedController->Set(0.0);
m_motorController->Set(0.0);
/* The encoder should be positive now */
EXPECT_GT(m_encoder->Get(), 0)
@@ -106,10 +106,10 @@ TEST_P(MotorEncoderTest, Increment) {
TEST_P(MotorEncoderTest, Decrement) {
Reset();
/* Drive the speed controller briefly to move the encoder */
m_speedController->Set(-0.2);
/* Drive the motor controller briefly to move the encoder */
m_motorController->Set(-0.2);
Wait(kMotorTime);
m_speedController->Set(0.0);
m_motorController->Set(0.0);
/* The encoder should be positive now */
EXPECT_LT(m_encoder->Get(), 0.0)
@@ -122,15 +122,15 @@ TEST_P(MotorEncoderTest, Decrement) {
TEST_P(MotorEncoderTest, ClampSpeed) {
Reset();
m_speedController->Set(2.0);
m_motorController->Set(2.0);
Wait(kMotorTime);
EXPECT_FLOAT_EQ(1.0, m_speedController->Get());
EXPECT_FLOAT_EQ(1.0, m_motorController->Get());
m_speedController->Set(-2.0);
m_motorController->Set(-2.0);
Wait(kMotorTime);
EXPECT_FLOAT_EQ(-1.0, m_speedController->Get());
EXPECT_FLOAT_EQ(-1.0, m_motorController->Get());
}
/**
@@ -147,7 +147,7 @@ TEST_P(MotorEncoderTest, PositionPIDController) {
/* 10 seconds should be plenty time to get to the reference */
frc::Notifier pidRunner{[this, &pidController] {
auto speed = pidController.Calculate(m_encoder->GetDistance());
m_speedController->Set(std::clamp(speed, -0.2, 0.2));
m_motorController->Set(std::clamp(speed, -0.2, 0.2));
}};
pidRunner.StartPeriodic(pidController.GetPeriod());
Wait(10.0);
@@ -174,7 +174,7 @@ TEST_P(MotorEncoderTest, VelocityPIDController) {
frc::Notifier pidRunner{[this, &pidController] {
auto speed =
pidController.Calculate(m_filter->Calculate(m_encoder->GetRate()));
m_speedController->Set(std::clamp(speed, -0.3, 0.3));
m_motorController->Set(std::clamp(speed, -0.3, 0.3));
}};
pidRunner.StartPeriodic(pidController.GetPeriod());
Wait(10.0);