Fix implicitly deleted move constructors (#1954)

These were incorrect and exhibited as warnings on more recent versions of
clang (notably on Mac).

- Use pointers instead of references internally in GenericHID and *Drive
- Leave PIDBase, PIDController, and Resource non-moveable
- Remove the atomic from m_disabled in NidecBrushless
- Make Timer and Trigger copyable as well as moveable
- Implement custom move constructor/assignment for SendableChooserBase

Also comment out some unused variables that caused clang warnings.

wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp

@@ -19,15 +19,15 @@ static constexpr auto kSamplePeriod = 0.0005_s;
 static constexpr double kCalibrationSampleTime = 5.0;
 static constexpr double kDegreePerSecondPerLSB = 0.0125;
 
-static constexpr int kRateRegister = 0x00;
-static constexpr int kTemRegister = 0x02;
-static constexpr int kLoCSTRegister = 0x04;
-static constexpr int kHiCSTRegister = 0x06;
-static constexpr int kQuadRegister = 0x08;
-static constexpr int kFaultRegister = 0x0A;
+// static constexpr int kRateRegister = 0x00;
+// static constexpr int kTemRegister = 0x02;
+// static constexpr int kLoCSTRegister = 0x04;
+// static constexpr int kHiCSTRegister = 0x06;
+// static constexpr int kQuadRegister = 0x08;
+// static constexpr int kFaultRegister = 0x0A;
 static constexpr int kPIDRegister = 0x0C;
-static constexpr int kSNHighRegister = 0x0E;
-static constexpr int kSNLowRegister = 0x10;
+// static constexpr int kSNHighRegister = 0x0E;
+// static constexpr int kSNLowRegister = 0x10;
 
 ADXRS450_Gyro::ADXRS450_Gyro() : ADXRS450_Gyro(SPI::kOnboardCS0) {}
 

wpilibc/src/main/native/cpp/GenericHID.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -14,7 +14,7 @@
 
 using namespace frc;
 
-GenericHID::GenericHID(int port) : m_ds(DriverStation::GetInstance()) {
+GenericHID::GenericHID(int port) : m_ds(&DriverStation::GetInstance()) {
   if (port >= DriverStation::kJoystickPorts) {
     wpi_setWPIError(BadJoystickIndex);
   }
@@ -22,39 +22,41 @@ GenericHID::GenericHID(int port) : m_ds(DriverStation::GetInstance()) {
 }
 
 bool GenericHID::GetRawButton(int button) const {
-  return m_ds.GetStickButton(m_port, button);
+  return m_ds->GetStickButton(m_port, button);
 }
 
 bool GenericHID::GetRawButtonPressed(int button) {
-  return m_ds.GetStickButtonPressed(m_port, button);
+  return m_ds->GetStickButtonPressed(m_port, button);
 }
 
 bool GenericHID::GetRawButtonReleased(int button) {
-  return m_ds.GetStickButtonReleased(m_port, button);
+  return m_ds->GetStickButtonReleased(m_port, button);
 }
 
 double GenericHID::GetRawAxis(int axis) const {
-  return m_ds.GetStickAxis(m_port, axis);
+  return m_ds->GetStickAxis(m_port, axis);
 }
 
-int GenericHID::GetPOV(int pov) const { return m_ds.GetStickPOV(m_port, pov); }
+int GenericHID::GetPOV(int pov) const { return m_ds->GetStickPOV(m_port, pov); }
 
-int GenericHID::GetAxisCount() const { return m_ds.GetStickAxisCount(m_port); }
+int GenericHID::GetAxisCount() const { return m_ds->GetStickAxisCount(m_port); }
 
-int GenericHID::GetPOVCount() const { return m_ds.GetStickPOVCount(m_port); }
+int GenericHID::GetPOVCount() const { return m_ds->GetStickPOVCount(m_port); }
 
 int GenericHID::GetButtonCount() const {
-  return m_ds.GetStickButtonCount(m_port);
+  return m_ds->GetStickButtonCount(m_port);
 }
 
 GenericHID::HIDType GenericHID::GetType() const {
-  return static_cast<HIDType>(m_ds.GetJoystickType(m_port));
+  return static_cast<HIDType>(m_ds->GetJoystickType(m_port));
 }
 
-std::string GenericHID::GetName() const { return m_ds.GetJoystickName(m_port); }
+std::string GenericHID::GetName() const {
+  return m_ds->GetJoystickName(m_port);
+}
 
 int GenericHID::GetAxisType(int axis) const {
-  return m_ds.GetJoystickAxisType(m_port, axis);
+  return m_ds->GetJoystickAxisType(m_port, axis);
 }
 
 int GenericHID::GetPort() const { return m_port; }

wpilibc/src/main/native/cpp/Timer.cpp

@@ -39,6 +39,21 @@ const double Timer::kRolloverTime = (1ll << 32) / 1e6;
 
 Timer::Timer() { Reset(); }
 
+Timer::Timer(const Timer& rhs)
+    : m_startTime(rhs.m_startTime),
+      m_accumulatedTime(rhs.m_accumulatedTime),
+      m_running(rhs.m_running) {}
+
+Timer& Timer::operator=(const Timer& rhs) {
+  std::scoped_lock lock(m_mutex, rhs.m_mutex);
+
+  m_startTime = rhs.m_startTime;
+  m_accumulatedTime = rhs.m_accumulatedTime;
+  m_running = rhs.m_running;
+
+  return *this;
+}
+
 Timer::Timer(Timer&& rhs)
     : m_startTime(std::move(rhs.m_startTime)),
       m_accumulatedTime(std::move(rhs.m_accumulatedTime)),

wpilibc/src/main/native/cpp/buttons/Trigger.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2011-2019 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -15,6 +15,27 @@
 
 using namespace frc;
 
+Trigger::Trigger(const Trigger& rhs) : SendableHelper(rhs) {}
+
+Trigger& Trigger::operator=(const Trigger& rhs) {
+  SendableHelper::operator=(rhs);
+  m_sendablePressed = false;
+  return *this;
+}
+
+Trigger::Trigger(Trigger&& rhs)
+    : SendableHelper(std::move(rhs)),
+      m_sendablePressed(rhs.m_sendablePressed.load()) {
+  rhs.m_sendablePressed = false;
+}
+
+Trigger& Trigger::operator=(Trigger&& rhs) {
+  SendableHelper::operator=(std::move(rhs));
+  m_sendablePressed = rhs.m_sendablePressed.load();
+  rhs.m_sendablePressed = false;
+  return *this;
+}
+
 bool Trigger::Grab() { return Get() || m_sendablePressed; }
 
 void Trigger::WhenActive(Command* command) {

wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp

@@ -20,10 +20,10 @@ using namespace frc;
 
 DifferentialDrive::DifferentialDrive(SpeedController& leftMotor,
                                      SpeedController& rightMotor)
-    : m_leftMotor(leftMotor), m_rightMotor(rightMotor) {
+    : m_leftMotor(&leftMotor), m_rightMotor(&rightMotor) {
   auto& registry = SendableRegistry::GetInstance();
-  registry.AddChild(this, &m_leftMotor);
-  registry.AddChild(this, &m_rightMotor);
+  registry.AddChild(this, m_leftMotor);
+  registry.AddChild(this, m_rightMotor);
   static int instances = 0;
   ++instances;
   registry.AddLW(this, "DifferentialDrive", instances);
@@ -77,9 +77,9 @@ void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation,
     }
   }
 
-  m_leftMotor.Set(std::clamp(leftMotorOutput, -1.0, 1.0) * m_maxOutput);
+  m_leftMotor->Set(std::clamp(leftMotorOutput, -1.0, 1.0) * m_maxOutput);
   double maxOutput = m_maxOutput * m_rightSideInvertMultiplier;
-  m_rightMotor.Set(std::clamp(rightMotorOutput, -1.0, 1.0) * maxOutput);
+  m_rightMotor->Set(std::clamp(rightMotorOutput, -1.0, 1.0) * maxOutput);
 
   Feed();
 }
@@ -151,9 +151,9 @@ void DifferentialDrive::CurvatureDrive(double xSpeed, double zRotation,
     rightMotorOutput /= maxMagnitude;
   }
 
-  m_leftMotor.Set(leftMotorOutput * m_maxOutput);
-  m_rightMotor.Set(rightMotorOutput * m_maxOutput *
-                   m_rightSideInvertMultiplier);
+  m_leftMotor->Set(leftMotorOutput * m_maxOutput);
+  m_rightMotor->Set(rightMotorOutput * m_maxOutput *
+                    m_rightSideInvertMultiplier);
 
   Feed();
 }
@@ -180,8 +180,8 @@ void DifferentialDrive::TankDrive(double leftSpeed, double rightSpeed,
     rightSpeed = std::copysign(rightSpeed * rightSpeed, rightSpeed);
   }
 
-  m_leftMotor.Set(leftSpeed * m_maxOutput);
-  m_rightMotor.Set(rightSpeed * m_maxOutput * m_rightSideInvertMultiplier);
+  m_leftMotor->Set(leftSpeed * m_maxOutput);
+  m_rightMotor->Set(rightSpeed * m_maxOutput * m_rightSideInvertMultiplier);
 
   Feed();
 }
@@ -203,8 +203,8 @@ void DifferentialDrive::SetRightSideInverted(bool rightSideInverted) {
 }
 
 void DifferentialDrive::StopMotor() {
-  m_leftMotor.StopMotor();
-  m_rightMotor.StopMotor();
+  m_leftMotor->StopMotor();
+  m_rightMotor->StopMotor();
   Feed();
 }
 
@@ -217,12 +217,12 @@ void DifferentialDrive::InitSendable(SendableBuilder& builder) {
   builder.SetActuator(true);
   builder.SetSafeState([=] { StopMotor(); });
   builder.AddDoubleProperty("Left Motor Speed",
-                            [=]() { return m_leftMotor.Get(); },
-                            [=](double value) { m_leftMotor.Set(value); });
+                            [=]() { return m_leftMotor->Get(); },
+                            [=](double value) { m_leftMotor->Set(value); });
   builder.AddDoubleProperty(
       "Right Motor Speed",
-      [=]() { return m_rightMotor.Get() * m_rightSideInvertMultiplier; },
+      [=]() { return m_rightMotor->Get() * m_rightSideInvertMultiplier; },
       [=](double value) {
-        m_rightMotor.Set(value * m_rightSideInvertMultiplier);
+        m_rightMotor->Set(value * m_rightSideInvertMultiplier);
       });
 }

wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp

@@ -29,7 +29,9 @@ KilloughDrive::KilloughDrive(SpeedController& leftMotor,
                              SpeedController& rightMotor,
                              SpeedController& backMotor, double leftMotorAngle,
                              double rightMotorAngle, double backMotorAngle)
-    : m_leftMotor(leftMotor), m_rightMotor(rightMotor), m_backMotor(backMotor) {
+    : m_leftMotor(&leftMotor),
+      m_rightMotor(&rightMotor),
+      m_backMotor(&backMotor) {
   m_leftVec = {std::cos(leftMotorAngle * (wpi::math::pi / 180.0)),
                std::sin(leftMotorAngle * (wpi::math::pi / 180.0))};
   m_rightVec = {std::cos(rightMotorAngle * (wpi::math::pi / 180.0)),
@@ -37,9 +39,9 @@ KilloughDrive::KilloughDrive(SpeedController& leftMotor,
   m_backVec = {std::cos(backMotorAngle * (wpi::math::pi / 180.0)),
                std::sin(backMotorAngle * (wpi::math::pi / 180.0))};
   auto& registry = SendableRegistry::GetInstance();
-  registry.AddChild(this, &m_leftMotor);
-  registry.AddChild(this, &m_rightMotor);
-  registry.AddChild(this, &m_backMotor);
+  registry.AddChild(this, m_leftMotor);
+  registry.AddChild(this, m_rightMotor);
+  registry.AddChild(this, m_backMotor);
   static int instances = 0;
   ++instances;
   registry.AddLW(this, "KilloughDrive", instances);
@@ -70,9 +72,9 @@ void KilloughDrive::DriveCartesian(double ySpeed, double xSpeed,
 
   Normalize(wheelSpeeds);
 
-  m_leftMotor.Set(wheelSpeeds[kLeft] * m_maxOutput);
-  m_rightMotor.Set(wheelSpeeds[kRight] * m_maxOutput);
-  m_backMotor.Set(wheelSpeeds[kBack] * m_maxOutput);
+  m_leftMotor->Set(wheelSpeeds[kLeft] * m_maxOutput);
+  m_rightMotor->Set(wheelSpeeds[kRight] * m_maxOutput);
+  m_backMotor->Set(wheelSpeeds[kBack] * m_maxOutput);
 
   Feed();
 }
@@ -91,9 +93,9 @@ void KilloughDrive::DrivePolar(double magnitude, double angle,
 }
 
 void KilloughDrive::StopMotor() {
-  m_leftMotor.StopMotor();
-  m_rightMotor.StopMotor();
-  m_backMotor.StopMotor();
+  m_leftMotor->StopMotor();
+  m_rightMotor->StopMotor();
+  m_backMotor->StopMotor();
   Feed();
 }
 
@@ -106,12 +108,12 @@ void KilloughDrive::InitSendable(SendableBuilder& builder) {
   builder.SetActuator(true);
   builder.SetSafeState([=] { StopMotor(); });
   builder.AddDoubleProperty("Left Motor Speed",
-                            [=]() { return m_leftMotor.Get(); },
-                            [=](double value) { m_leftMotor.Set(value); });
+                            [=]() { return m_leftMotor->Get(); },
+                            [=](double value) { m_leftMotor->Set(value); });
   builder.AddDoubleProperty("Right Motor Speed",
-                            [=]() { return m_rightMotor.Get(); },
-                            [=](double value) { m_rightMotor.Set(value); });
+                            [=]() { return m_rightMotor->Get(); },
+                            [=](double value) { m_rightMotor->Set(value); });
   builder.AddDoubleProperty("Back Motor Speed",
-                            [=]() { return m_backMotor.Get(); },
-                            [=](double value) { m_backMotor.Set(value); });
+                            [=]() { return m_backMotor->Get(); },
+                            [=](double value) { m_backMotor->Set(value); });
 }

wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp

@@ -24,15 +24,15 @@ MecanumDrive::MecanumDrive(SpeedController& frontLeftMotor,
                            SpeedController& rearLeftMotor,
                            SpeedController& frontRightMotor,
                            SpeedController& rearRightMotor)
-    : m_frontLeftMotor(frontLeftMotor),
-      m_rearLeftMotor(rearLeftMotor),
-      m_frontRightMotor(frontRightMotor),
-      m_rearRightMotor(rearRightMotor) {
+    : m_frontLeftMotor(&frontLeftMotor),
+      m_rearLeftMotor(&rearLeftMotor),
+      m_frontRightMotor(&frontRightMotor),
+      m_rearRightMotor(&rearRightMotor) {
   auto& registry = SendableRegistry::GetInstance();
-  registry.AddChild(this, &m_frontLeftMotor);
-  registry.AddChild(this, &m_rearLeftMotor);
-  registry.AddChild(this, &m_frontRightMotor);
-  registry.AddChild(this, &m_rearRightMotor);
+  registry.AddChild(this, m_frontLeftMotor);
+  registry.AddChild(this, m_rearLeftMotor);
+  registry.AddChild(this, m_frontRightMotor);
+  registry.AddChild(this, m_rearRightMotor);
   static int instances = 0;
   ++instances;
   registry.AddLW(this, "MecanumDrive", instances);
@@ -64,12 +64,12 @@ void MecanumDrive::DriveCartesian(double ySpeed, double xSpeed,
 
   Normalize(wheelSpeeds);
 
-  m_frontLeftMotor.Set(wheelSpeeds[kFrontLeft] * m_maxOutput);
-  m_frontRightMotor.Set(wheelSpeeds[kFrontRight] * m_maxOutput *
+  m_frontLeftMotor->Set(wheelSpeeds[kFrontLeft] * m_maxOutput);
+  m_frontRightMotor->Set(wheelSpeeds[kFrontRight] * m_maxOutput *
+                         m_rightSideInvertMultiplier);
+  m_rearLeftMotor->Set(wheelSpeeds[kRearLeft] * m_maxOutput);
+  m_rearRightMotor->Set(wheelSpeeds[kRearRight] * m_maxOutput *
                         m_rightSideInvertMultiplier);
-  m_rearLeftMotor.Set(wheelSpeeds[kRearLeft] * m_maxOutput);
-  m_rearRightMotor.Set(wheelSpeeds[kRearRight] * m_maxOutput *
-                       m_rightSideInvertMultiplier);
 
   Feed();
 }
@@ -96,10 +96,10 @@ void MecanumDrive::SetRightSideInverted(bool rightSideInverted) {
 }
 
 void MecanumDrive::StopMotor() {
-  m_frontLeftMotor.StopMotor();
-  m_frontRightMotor.StopMotor();
-  m_rearLeftMotor.StopMotor();
-  m_rearRightMotor.StopMotor();
+  m_frontLeftMotor->StopMotor();
+  m_frontRightMotor->StopMotor();
+  m_rearLeftMotor->StopMotor();
+  m_rearRightMotor->StopMotor();
   Feed();
 }
 
@@ -111,22 +111,22 @@ void MecanumDrive::InitSendable(SendableBuilder& builder) {
   builder.SetSmartDashboardType("MecanumDrive");
   builder.SetActuator(true);
   builder.SetSafeState([=] { StopMotor(); });
-  builder.AddDoubleProperty("Front Left Motor Speed",
-                            [=]() { return m_frontLeftMotor.Get(); },
-                            [=](double value) { m_frontLeftMotor.Set(value); });
+  builder.AddDoubleProperty(
+      "Front Left Motor Speed", [=]() { return m_frontLeftMotor->Get(); },
+      [=](double value) { m_frontLeftMotor->Set(value); });
   builder.AddDoubleProperty(
       "Front Right Motor Speed",
-      [=]() { return m_frontRightMotor.Get() * m_rightSideInvertMultiplier; },
+      [=]() { return m_frontRightMotor->Get() * m_rightSideInvertMultiplier; },
       [=](double value) {
-        m_frontRightMotor.Set(value * m_rightSideInvertMultiplier);
+        m_frontRightMotor->Set(value * m_rightSideInvertMultiplier);
       });
   builder.AddDoubleProperty("Rear Left Motor Speed",
-                            [=]() { return m_rearLeftMotor.Get(); },
-                            [=](double value) { m_rearLeftMotor.Set(value); });
+                            [=]() { return m_rearLeftMotor->Get(); },
+                            [=](double value) { m_rearLeftMotor->Set(value); });
   builder.AddDoubleProperty(
       "Rear Right Motor Speed",
-      [=]() { return m_rearRightMotor.Get() * m_rightSideInvertMultiplier; },
+      [=]() { return m_rearRightMotor->Get() * m_rightSideInvertMultiplier; },
       [=](double value) {
-        m_rearRightMotor.Set(value * m_rightSideInvertMultiplier);
+        m_rearRightMotor->Set(value * m_rightSideInvertMultiplier);
       });
 }

wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp

@@ -16,3 +16,22 @@ std::atomic_int SendableChooserBase::s_instances{0};
 SendableChooserBase::SendableChooserBase() : m_instance{s_instances++} {
   SendableRegistry::GetInstance().Add(this, "SendableChooser", m_instance);
 }
+
+SendableChooserBase::SendableChooserBase(SendableChooserBase&& oth)
+    : SendableHelper(std::move(oth)),
+      m_defaultChoice(std::move(oth.m_defaultChoice)),
+      m_selected(std::move(oth.m_selected)),
+      m_haveSelected(std::move(oth.m_haveSelected)),
+      m_activeEntries(std::move(oth.m_activeEntries)),
+      m_instance(std::move(oth.m_instance)) {}
+
+SendableChooserBase& SendableChooserBase::operator=(SendableChooserBase&& oth) {
+  SendableHelper::operator=(oth);
+  std::scoped_lock lock(m_mutex, oth.m_mutex);
+  m_defaultChoice = std::move(oth.m_defaultChoice);
+  m_selected = std::move(oth.m_selected);
+  m_haveSelected = std::move(oth.m_haveSelected);
+  m_activeEntries = std::move(oth.m_activeEntries);
+  m_instance = std::move(oth.m_instance);
+  return *this;
+}

wpilibc/src/main/native/include/frc/GenericHID.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -179,7 +179,7 @@ class GenericHID : public ErrorBase {
   void SetRumble(RumbleType type, double value);
 
  private:
-  DriverStation& m_ds;
+  DriverStation* m_ds;
   int m_port;
   int m_outputs = 0;
   uint16_t m_leftRumble = 0;

wpilibc/src/main/native/include/frc/NidecBrushless.h

@@ -7,8 +7,6 @@
 
 #pragma once
 
-#include <atomic>
-
 #include "frc/DigitalOutput.h"
 #include "frc/ErrorBase.h"
 #include "frc/MotorSafety.h"
@@ -102,7 +100,7 @@ class NidecBrushless : public SpeedController,
 
  private:
   bool m_isInverted = false;
-  std::atomic_bool m_disabled{false};
+  bool m_disabled = false;
   DigitalOutput m_dio;
   PWM m_pwm;
   double m_speed = 0.0;

wpilibc/src/main/native/include/frc/PIDBase.h

@@ -66,9 +66,6 @@ class PIDBase : public PIDInterface,
 
   virtual ~PIDBase() = default;
 
-  PIDBase(PIDBase&&) = default;
-  PIDBase& operator=(PIDBase&&) = default;
-
   /**
    * Return the current PID result.
    *

wpilibc/src/main/native/include/frc/PIDController.h

@@ -102,9 +102,6 @@ class PIDController : public PIDBase, public Controller {
 
   ~PIDController() override;
 
-  PIDController(PIDController&&) = default;
-  PIDController& operator=(PIDController&&) = default;
-
   /**
    * Begin running the PIDController.
    */

wpilibc/src/main/native/include/frc/Resource.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -33,9 +33,6 @@ class Resource : public ErrorBase {
  public:
   virtual ~Resource() = default;
 
-  Resource(Resource&&) = default;
-  Resource& operator=(Resource&&) = default;
-
   /**
    * Factory method to create a Resource allocation-tracker *if* needed.
    *

wpilibc/src/main/native/include/frc/Timer.h

@@ -57,6 +57,8 @@ class Timer {
 
   virtual ~Timer() = default;
 
+  Timer(const Timer& rhs);
+  Timer& operator=(const Timer& rhs);
   Timer(Timer&& rhs);
   Timer& operator=(Timer&& rhs);
 

wpilibc/src/main/native/include/frc/buttons/Trigger.h

@@ -34,8 +34,10 @@ class Trigger : public Sendable, public SendableHelper<Trigger> {
   Trigger() = default;
   ~Trigger() override = default;
 
-  Trigger(Trigger&&) = default;
-  Trigger& operator=(Trigger&&) = default;
+  Trigger(const Trigger& rhs);
+  Trigger& operator=(const Trigger& rhs);
+  Trigger(Trigger&& rhs);
+  Trigger& operator=(Trigger&& rhs);
 
   bool Grab();
   virtual bool Get() = 0;

wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h

@@ -212,8 +212,8 @@ class DifferentialDrive : public RobotDriveBase,
   void InitSendable(SendableBuilder& builder) override;
 
  private:
-  SpeedController& m_leftMotor;
-  SpeedController& m_rightMotor;
+  SpeedController* m_leftMotor;
+  SpeedController* m_rightMotor;
 
   double m_quickStopThreshold = kDefaultQuickStopThreshold;
   double m_quickStopAlpha = kDefaultQuickStopAlpha;

wpilibc/src/main/native/include/frc/drive/KilloughDrive.h

@@ -132,9 +132,9 @@ class KilloughDrive : public RobotDriveBase,
   void InitSendable(SendableBuilder& builder) override;
 
  private:
-  SpeedController& m_leftMotor;
-  SpeedController& m_rightMotor;
-  SpeedController& m_backMotor;
+  SpeedController* m_leftMotor;
+  SpeedController* m_rightMotor;
+  SpeedController* m_backMotor;
 
   Vector2d m_leftVec;
   Vector2d m_rightVec;

wpilibc/src/main/native/include/frc/drive/MecanumDrive.h

@@ -137,10 +137,10 @@ class MecanumDrive : public RobotDriveBase,
   void InitSendable(SendableBuilder& builder) override;
 
  private:
-  SpeedController& m_frontLeftMotor;
-  SpeedController& m_rearLeftMotor;
-  SpeedController& m_frontRightMotor;
-  SpeedController& m_rearRightMotor;
+  SpeedController* m_frontLeftMotor;
+  SpeedController* m_rearLeftMotor;
+  SpeedController* m_frontRightMotor;
+  SpeedController* m_rearRightMotor;
 
   double m_rightSideInvertMultiplier = -1.0;
 

wpilibc/src/main/native/include/frc/smartdashboard/SendableChooserBase.h

@@ -31,8 +31,8 @@ class SendableChooserBase : public Sendable,
   SendableChooserBase();
   ~SendableChooserBase() override = default;
 
-  SendableChooserBase(SendableChooserBase&&) = default;
-  SendableChooserBase& operator=(SendableChooserBase&&) = default;
+  SendableChooserBase(SendableChooserBase&& oth);
+  SendableChooserBase& operator=(SendableChooserBase&& oth);
 
  protected:
   static constexpr const char* kDefault = "default";