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[wpilib] Deprecate Accelerometer and Gyro interfaces (#5445)

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Accelerometer is hyper-specific to ADXL accelerometers, and Gyro is
less useful now that 3D IMUs are prevalent, and if those IMUs want to
support the Gyro interface, they also need to provide a way to set the
axis used for the Gyro interface, which is confusing. Higher-order
functions (e.g., lambdas) are a more flexible interface boundary than
interfaces, but they didn't exist when these interfaces were
created.
This commit is contained in:
Tyler Veness
2023-07-18 12:52:43 -07:00
committed by GitHub
parent 70b60e3a74
commit 14f30752ab
32 changed files with 426 additions and 152 deletions
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3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/subsystems/DriveSubsystem.java
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@@ -8,7 +8,6 @@ import edu.wpi.first.wpilibj.ADXRS450_Gyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants;
import edu.wpi.first.wpilibj.interfaces.Gyro;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.Subsystem;
@@ -44,7 +43,7 @@ public class DriveSubsystem extends Subsystem {
DriveConstants.kRightEncoderReversed);
// The gyro sensor
private final Gyro m_gyro = new ADXRS450_Gyro();
private final ADXRS450_Gyro m_gyro = new ADXRS450_Gyro();
/** Creates a new DriveSubsystem. */
public DriveSubsystem() {

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java
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@@ -13,7 +13,6 @@ import edu.wpi.first.wpilibj.ADXRS450_Gyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.drive.MecanumDrive;
import edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.Constants.DriveConstants;
import edu.wpi.first.wpilibj.interfaces.Gyro;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.Subsystem;
@@ -55,7 +54,7 @@ public class DriveSubsystem extends Subsystem {
DriveConstants.kRearRightEncoderReversed);
// The gyro sensor
private final Gyro m_gyro = new ADXRS450_Gyro();
private final ADXRS450_Gyro m_gyro = new ADXRS450_Gyro();
// Odometry class for tracking robot pose
MecanumDriveOdometry m_odometry =

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
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@@ -11,7 +11,6 @@ import edu.wpi.first.wpilibj.ADXRS450_Gyro;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants;
import edu.wpi.first.wpilibj.interfaces.Gyro;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj2.command.Subsystem;
@@ -47,7 +46,7 @@ public class DriveSubsystem extends Subsystem {
DriveConstants.kRightEncoderReversed);
// The gyro sensor
private final Gyro m_gyro = new ADXRS450_Gyro();
private final ADXRS450_Gyro m_gyro = new ADXRS450_Gyro();
// Odometry class for tracking robot pose
private final DifferentialDriveOdometry m_odometry;

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.java
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@@ -12,7 +12,6 @@ import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.wpilibj.ADXRS450_Gyro;
import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.DriveConstants;
import edu.wpi.first.wpilibj.interfaces.Gyro;
import edu.wpi.first.wpilibj2.command.Subsystem;
public class DriveSubsystem extends Subsystem {
@@ -54,7 +53,7 @@ public class DriveSubsystem extends Subsystem {
DriveConstants.kRearRightTurningEncoderReversed);
// The gyro sensor
private final Gyro m_gyro = new ADXRS450_Gyro();
private final ADXRS450_Gyro m_gyro = new ADXRS450_Gyro();
// Odometry class for tracking robot pose
SwerveDriveOdometry m_odometry =