[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.

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorInvertingTest.java

@@ -20,7 +20,7 @@ import org.junit.runner.RunWith;
 import org.junit.runners.Parameterized;
 import org.junit.runners.Parameterized.Parameters;
 
-/** Tests Inversion of motors using the SpeedController setInverted. */
+/** Tests Inversion of motors using the MotorController setInverted. */
 @RunWith(Parameterized.class)
 public class MotorInvertingTest extends AbstractComsSetup {
   static MotorEncoderFixture<?> fixture = null;

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java

@@ -70,7 +70,7 @@ public class PDPTest extends AbstractComsSetup {
 
   /** Test if the current changes when the motor is driven using a talon. */
   @Test
-  public void checkStoppedCurrentForSpeedController() throws CANMessageNotFoundException {
+  public void checkStoppedCurrentForMotorController() throws CANMessageNotFoundException {
     Timer.delay(0.25);
 
     /* The Current should be 0 */
@@ -83,7 +83,7 @@ public class PDPTest extends AbstractComsSetup {
 
   /** Test if the current changes when the motor is driven using a talon. */
   @Test
-  public void checkRunningCurrentForSpeedController() throws CANMessageNotFoundException {
+  public void checkRunningCurrentForMotorController() throws CANMessageNotFoundException {
     /* Set the motor to full forward */
     me.getMotor().set(1.0);
     Timer.delay(2);

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/MotorEncoderFixture.java

@@ -8,8 +8,8 @@ import edu.wpi.first.wpilibj.Counter;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.PWM;
-import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
 import edu.wpi.first.wpilibj.test.TestBench;
 import java.lang.reflect.ParameterizedType;
 import java.util.logging.Logger;
@@ -22,7 +22,7 @@ import java.util.logging.Logger;
  * fixture. This allows tests to be mailable so that you can easily reconfigure the physical testbed
  * without breaking the tests.
  */
-public abstract class MotorEncoderFixture<T extends SpeedController> implements ITestFixture {
+public abstract class MotorEncoderFixture<T extends MotorController> implements ITestFixture {
   private static final Logger logger = Logger.getLogger(MotorEncoderFixture.class.getName());
   private boolean m_initialized = false;
   private boolean m_tornDown = false;
@@ -39,12 +39,12 @@ public abstract class MotorEncoderFixture<T extends SpeedController> implements
 
   /**
    * Where the implementer of this class should pass the speed controller Constructor should only be
-   * called from outside this class if the Speed controller is not also an implementation of PWM
+   * called from outside this class if the Motor controller is not also an implementation of PWM
    * interface.
    *
-   * @return SpeedController
+   * @return MotorController
    */
-  protected abstract T giveSpeedController();
+  protected abstract T giveMotorController();
 
   /**
    * Where the implementer of this class should pass one of the digital inputs.
@@ -76,7 +76,7 @@ public abstract class MotorEncoderFixture<T extends SpeedController> implements
         m_counters[0] = new Counter(m_alphaSource);
         m_counters[1] = new Counter(m_betaSource);
         logger.fine("Creating the speed controller!");
-        m_motor = giveSpeedController();
+        m_motor = giveMotorController();
       }
     }
   }

wpilibjIntegrationTests/src/main/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;
 

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java

@@ -8,16 +8,16 @@ import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.AnalogOutput;
 import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.Jaguar;
 import edu.wpi.first.wpilibj.Relay;
 import edu.wpi.first.wpilibj.Servo;
-import edu.wpi.first.wpilibj.Talon;
-import edu.wpi.first.wpilibj.Victor;
 import edu.wpi.first.wpilibj.fixtures.AnalogCrossConnectFixture;
 import edu.wpi.first.wpilibj.fixtures.DIOCrossConnectFixture;
 import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
 import edu.wpi.first.wpilibj.fixtures.RelayCrossConnectFixture;
 import edu.wpi.first.wpilibj.fixtures.TiltPanCameraFixture;
+import edu.wpi.first.wpilibj.motorcontrol.Jaguar;
+import edu.wpi.first.wpilibj.motorcontrol.Talon;
+import edu.wpi.first.wpilibj.motorcontrol.Victor;
 import java.io.PrintStream;
 import java.util.ArrayList;
 import java.util.Arrays;
@@ -74,7 +74,7 @@ public final class TestBench {
   public MotorEncoderFixture<Talon> getTalonPair() {
     return new MotorEncoderFixture<Talon>() {
       @Override
-      protected Talon giveSpeedController() {
+      protected Talon giveMotorController() {
         return new Talon(kTalonChannel);
       }
 
@@ -104,7 +104,7 @@ public final class TestBench {
   public MotorEncoderFixture<Victor> getVictorPair() {
     return new MotorEncoderFixture<Victor>() {
       @Override
-      protected Victor giveSpeedController() {
+      protected Victor giveMotorController() {
         return new Victor(kVictorChannel);
       }
 
@@ -134,7 +134,7 @@ public final class TestBench {
   public MotorEncoderFixture<Jaguar> getJaguarPair() {
     return new MotorEncoderFixture<Jaguar>() {
       @Override
-      protected Jaguar giveSpeedController() {
+      protected Jaguar giveMotorController() {
         return new Jaguar(kJaguarChannel);
       }