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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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12
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/MotorEncoderFixture.java
View File

@@ -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();
}
}
}