[hal, wpilib] Remove DMA (#7701)

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dma/Main.java

@@ -1,25 +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.examples.dma;
-
-import edu.wpi.first.wpilibj.RobotBase;
-
-/**
- * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
- * you are doing, do not modify this file except to change the parameter class to the startRobot
- * call.
- */
-public final class Main {
-  private Main() {}
-
-  /**
-   * Main initialization function. Do not perform any initialization here.
-   *
-   * <p>If you change your main robot class, change the parameter type.
-   */
-  public static void main(String... args) {
-    RobotBase.startRobot(Robot::new);
-  }
-}

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/dma/Robot.java

@@ -1,85 +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.examples.dma;
-
-import edu.wpi.first.math.util.Units;
-import edu.wpi.first.wpilibj.AnalogInput;
-import edu.wpi.first.wpilibj.DMA;
-import edu.wpi.first.wpilibj.DMASample;
-import edu.wpi.first.wpilibj.DigitalOutput;
-import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-
-/** This is a sample program showing how to to use DMA to read a sensor. */
-public class Robot extends TimedRobot {
-  private final DMA m_dma;
-  private final DMASample m_dmaSample;
-
-  // DMA needs a trigger, can use an output as trigger.
-  // 8 Triggers exist per DMA object, can be triggered on any
-  // DigitalSource.
-  private final DigitalOutput m_dmaTrigger;
-
-  // Analog input to read with DMA
-  private final AnalogInput m_analogInput;
-
-  // Encoder to read with DMA
-  private final Encoder m_encoder;
-
-  /** Called once at the beginning of the robot program. */
-  public Robot() {
-    m_dma = new DMA();
-    m_dmaSample = new DMASample();
-    m_dmaTrigger = new DigitalOutput(2);
-    m_analogInput = new AnalogInput(0);
-    m_encoder = new Encoder(0, 1);
-
-    // Trigger on falling edge of dma trigger output
-    m_dma.setExternalTrigger(m_dmaTrigger, false, true);
-
-    // Add inputs we want to read via DMA
-    m_dma.addAnalogInput(m_analogInput);
-    m_dma.addEncoder(m_encoder);
-    m_dma.addEncoderPeriod(m_encoder);
-
-    // Make sure trigger is set to off.
-    m_dmaTrigger.set(true);
-
-    // Start DMA. No triggers or inputs can be added after this call
-    // unless DMA is stopped.
-    m_dma.start(1024);
-  }
-
-  @Override
-  public void robotPeriodic() {
-    // Manually Trigger DMA read
-    m_dmaTrigger.set(false);
-
-    // Update our sample. remaining is the number of samples remaining in the
-    // buffer status is more specific error messages if readStatus is not OK.
-    // Wait 1ms if buffer is empty
-    DMASample.DMAReadStatus readStatus = m_dmaSample.update(m_dma, Units.millisecondsToSeconds(1));
-
-    // Unset trigger
-    m_dmaTrigger.set(true);
-
-    if (readStatus == DMASample.DMAReadStatus.kOk) {
-      // Status value in all these reads should be checked, a non 0 value means
-      // value could not be read
-
-      // If DMA is good, values exist
-      double encoderDistance = m_dmaSample.getEncoderDistance(m_encoder);
-      // Period is not scaled, and is a raw value
-      int encoderPeriod = m_dmaSample.getEncoderPeriodRaw(m_encoder);
-      double analogVoltage = m_dmaSample.getAnalogInputVoltage(m_analogInput);
-
-      SmartDashboard.putNumber("Distance", encoderDistance);
-      SmartDashboard.putNumber("Period", encoderPeriod);
-      SmartDashboard.putNumber("Input", analogVoltage);
-      SmartDashboard.putNumber("Timestamp", m_dmaSample.getTimeStamp());
-    }
-  }
-}

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json

@@ -506,19 +506,6 @@
     "mainclass": "Main",
     "commandversion": 2
   },
-  {
-    "name": "DMA",
-    "description": "Read various sensors using DMA.",
-    "tags": [
-      "Hardware",
-      "DMA",
-      "SmartDashboard"
-    ],
-    "foldername": "dma",
-    "gradlebase": "java",
-    "mainclass": "Main",
-    "commandversion": 2
-  },
   {
     "name": "DriveDistanceOffboard",
     "description": "Drive a differential drivetrain a set distance using TrapezoidProfileCommand and smart motor controller PID.",