[wpilib] Move motor controllers to motorcontrol package (#3302)

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.

wpilibj/src/test/java/edu/wpi/first/wpilibj/SpeedControllerGroupTest.java

@@ -1,101 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.wpilibj;
-
-import static org.junit.jupiter.api.Assertions.assertArrayEquals;
-import static org.junit.jupiter.api.Assertions.assertTrue;
-
-import java.util.Arrays;
-import java.util.stream.DoubleStream;
-import java.util.stream.IntStream;
-import java.util.stream.Stream;
-import org.junit.jupiter.params.ParameterizedTest;
-import org.junit.jupiter.params.provider.Arguments;
-import org.junit.jupiter.params.provider.MethodSource;
-
-class SpeedControllerGroupTest {
-  private static Stream<Arguments> speedControllerArguments() {
-    return IntStream.of(1, 2, 3)
-        .mapToObj(
-            number -> {
-              SpeedController[] speedControllers =
-                  Stream.generate(MockSpeedController::new)
-                      .limit(number)
-                      .toArray(SpeedController[]::new);
-              SpeedControllerGroup group =
-                  new SpeedControllerGroup(
-                      speedControllers[0],
-                      Arrays.copyOfRange(speedControllers, 1, speedControllers.length));
-              return Arguments.of(group, speedControllers);
-            });
-  }
-
-  @ParameterizedTest
-  @MethodSource("speedControllerArguments")
-  void setTest(final SpeedControllerGroup group, final SpeedController[] speedControllers) {
-    group.set(1.0);
-
-    assertArrayEquals(
-        DoubleStream.generate(() -> 1.0).limit(speedControllers.length).toArray(),
-        Arrays.stream(speedControllers).mapToDouble(SpeedController::get).toArray(),
-        0.00005);
-  }
-
-  @ParameterizedTest
-  @MethodSource("speedControllerArguments")
-  void getInvertedTest(final SpeedControllerGroup group, final SpeedController[] speedControllers) {
-    group.setInverted(true);
-
-    assertTrue(group.getInverted());
-  }
-
-  @ParameterizedTest
-  @MethodSource("speedControllerArguments")
-  void setInvertedDoesNotModifySpeedControllersTest(
-      final SpeedControllerGroup group, final SpeedController[] speedControllers) {
-    group.setInverted(true);
-
-    assertArrayEquals(
-        Stream.generate(() -> false).limit(speedControllers.length).toArray(),
-        Arrays.stream(speedControllers).map(SpeedController::getInverted).toArray());
-  }
-
-  @ParameterizedTest
-  @MethodSource("speedControllerArguments")
-  void setInvertedDoesInvertTest(
-      final SpeedControllerGroup group, final SpeedController[] speedControllers) {
-    group.setInverted(true);
-    group.set(1.0);
-
-    assertArrayEquals(
-        DoubleStream.generate(() -> -1.0).limit(speedControllers.length).toArray(),
-        Arrays.stream(speedControllers).mapToDouble(SpeedController::get).toArray(),
-        0.00005);
-  }
-
-  @ParameterizedTest
-  @MethodSource("speedControllerArguments")
-  void disableTest(final SpeedControllerGroup group, final SpeedController[] speedControllers) {
-    group.set(1.0);
-    group.disable();
-
-    assertArrayEquals(
-        DoubleStream.generate(() -> 0.0).limit(speedControllers.length).toArray(),
-        Arrays.stream(speedControllers).mapToDouble(SpeedController::get).toArray(),
-        0.00005);
-  }
-
-  @ParameterizedTest
-  @MethodSource("speedControllerArguments")
-  void stopMotorTest(final SpeedControllerGroup group, final SpeedController[] speedControllers) {
-    group.set(1.0);
-    group.stopMotor();
-
-    assertArrayEquals(
-        DoubleStream.generate(() -> 0.0).limit(speedControllers.length).toArray(),
-        Arrays.stream(speedControllers).mapToDouble(SpeedController::get).toArray(),
-        0.00005);
-  }
-}

wpilibj/src/test/java/edu/wpi/first/wpilibj/motorcontrol/MockMotorController.java

@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.wpilibj;
+package edu.wpi.first.wpilibj.motorcontrol;
 
-public class MockSpeedController implements SpeedController {
+public class MockMotorController implements MotorController {
   private double m_speed;
   private boolean m_isInverted;
 

wpilibj/src/test/java/edu/wpi/first/wpilibj/motorcontrol/MotorControllerGroupTest.java

@@ -0,0 +1,101 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj.motorcontrol;
+
+import static org.junit.jupiter.api.Assertions.assertArrayEquals;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import java.util.Arrays;
+import java.util.stream.DoubleStream;
+import java.util.stream.IntStream;
+import java.util.stream.Stream;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.Arguments;
+import org.junit.jupiter.params.provider.MethodSource;
+
+class MotorControllerGroupTest {
+  private static Stream<Arguments> motorControllerArguments() {
+    return IntStream.of(1, 2, 3)
+        .mapToObj(
+            number -> {
+              MotorController[] motorControllers =
+                  Stream.generate(MockMotorController::new)
+                      .limit(number)
+                      .toArray(MotorController[]::new);
+              MotorControllerGroup group =
+                  new MotorControllerGroup(
+                      motorControllers[0],
+                      Arrays.copyOfRange(motorControllers, 1, motorControllers.length));
+              return Arguments.of(group, motorControllers);
+            });
+  }
+
+  @ParameterizedTest
+  @MethodSource("motorControllerArguments")
+  void setTest(final MotorControllerGroup group, final MotorController[] motorControllers) {
+    group.set(1.0);
+
+    assertArrayEquals(
+        DoubleStream.generate(() -> 1.0).limit(motorControllers.length).toArray(),
+        Arrays.stream(motorControllers).mapToDouble(MotorController::get).toArray(),
+        0.00005);
+  }
+
+  @ParameterizedTest
+  @MethodSource("motorControllerArguments")
+  void getInvertedTest(final MotorControllerGroup group, final MotorController[] motorControllers) {
+    group.setInverted(true);
+
+    assertTrue(group.getInverted());
+  }
+
+  @ParameterizedTest
+  @MethodSource("motorControllerArguments")
+  void setInvertedDoesNotModifyMotorControllersTest(
+      final MotorControllerGroup group, final MotorController[] motorControllers) {
+    group.setInverted(true);
+
+    assertArrayEquals(
+        Stream.generate(() -> false).limit(motorControllers.length).toArray(),
+        Arrays.stream(motorControllers).map(MotorController::getInverted).toArray());
+  }
+
+  @ParameterizedTest
+  @MethodSource("motorControllerArguments")
+  void setInvertedDoesInvertTest(
+      final MotorControllerGroup group, final MotorController[] motorControllers) {
+    group.setInverted(true);
+    group.set(1.0);
+
+    assertArrayEquals(
+        DoubleStream.generate(() -> -1.0).limit(motorControllers.length).toArray(),
+        Arrays.stream(motorControllers).mapToDouble(MotorController::get).toArray(),
+        0.00005);
+  }
+
+  @ParameterizedTest
+  @MethodSource("motorControllerArguments")
+  void disableTest(final MotorControllerGroup group, final MotorController[] motorControllers) {
+    group.set(1.0);
+    group.disable();
+
+    assertArrayEquals(
+        DoubleStream.generate(() -> 0.0).limit(motorControllers.length).toArray(),
+        Arrays.stream(motorControllers).mapToDouble(MotorController::get).toArray(),
+        0.00005);
+  }
+
+  @ParameterizedTest
+  @MethodSource("motorControllerArguments")
+  void stopMotorTest(final MotorControllerGroup group, final MotorController[] motorControllers) {
+    group.set(1.0);
+    group.stopMotor();
+
+    assertArrayEquals(
+        DoubleStream.generate(() -> 0.0).limit(motorControllers.length).toArray(),
+        Arrays.stream(motorControllers).mapToDouble(MotorController::get).toArray(),
+        0.00005);
+  }
+}

wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java

@@ -8,9 +8,9 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.PWMVictorSPX;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
 import edu.wpi.first.wpilibj.system.plant.DCMotor;
 import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
 import edu.wpi.first.wpilibj.util.Units;