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[wpilib] Deprecate getInstance() in favor of static functions (#3440)

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Co-authored-by: Noam Zaks <imnoamzaks@gmail.com>
This commit is contained in:
Peter Johnson
2021-06-15 23:06:03 -07:00
committed by GitHub
parent 26ff9371d9
commit 362066a9b7
105 changed files with 1500 additions and 1539 deletions
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7
wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
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@@ -26,12 +26,11 @@ using namespace frc;
DifferentialDrive::DifferentialDrive(SpeedController& leftMotor,
SpeedController& rightMotor)
: m_leftMotor(&leftMotor), m_rightMotor(&rightMotor) {
auto& registry = wpi::SendableRegistry::GetInstance();
registry.AddChild(this, m_leftMotor);
registry.AddChild(this, m_rightMotor);
wpi::SendableRegistry::AddChild(this, m_leftMotor);
wpi::SendableRegistry::AddChild(this, m_rightMotor);
static int instances = 0;
++instances;
registry.AddLW(this, "DifferentialDrive", instances);
wpi::SendableRegistry::AddLW(this, "DifferentialDrive", instances);
}
void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation,

9
wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
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@@ -43,13 +43,12 @@ KilloughDrive::KilloughDrive(SpeedController& leftMotor,
std::sin(rightMotorAngle * (wpi::numbers::pi / 180.0))};
m_backVec = {std::cos(backMotorAngle * (wpi::numbers::pi / 180.0)),
std::sin(backMotorAngle * (wpi::numbers::pi / 180.0))};
auto& registry = wpi::SendableRegistry::GetInstance();
registry.AddChild(this, m_leftMotor);
registry.AddChild(this, m_rightMotor);
registry.AddChild(this, m_backMotor);
wpi::SendableRegistry::AddChild(this, m_leftMotor);
wpi::SendableRegistry::AddChild(this, m_rightMotor);
wpi::SendableRegistry::AddChild(this, m_backMotor);
static int instances = 0;
++instances;
registry.AddLW(this, "KilloughDrive", instances);
wpi::SendableRegistry::AddLW(this, "KilloughDrive", instances);
}
void KilloughDrive::DriveCartesian(double ySpeed, double xSpeed,

11
wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
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@@ -33,14 +33,13 @@ MecanumDrive::MecanumDrive(SpeedController& frontLeftMotor,
m_rearLeftMotor(&rearLeftMotor),
m_frontRightMotor(&frontRightMotor),
m_rearRightMotor(&rearRightMotor) {
auto& registry = wpi::SendableRegistry::GetInstance();
registry.AddChild(this, m_frontLeftMotor);
registry.AddChild(this, m_rearLeftMotor);
registry.AddChild(this, m_frontRightMotor);
registry.AddChild(this, m_rearRightMotor);
wpi::SendableRegistry::AddChild(this, m_frontLeftMotor);
wpi::SendableRegistry::AddChild(this, m_rearLeftMotor);
wpi::SendableRegistry::AddChild(this, m_frontRightMotor);
wpi::SendableRegistry::AddChild(this, m_rearRightMotor);
static int instances = 0;
++instances;
registry.AddLW(this, "MecanumDrive", instances);
wpi::SendableRegistry::AddLW(this, "MecanumDrive", instances);
}
void MecanumDrive::DriveCartesian(double ySpeed, double xSpeed,