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[wpilib] Separate ExpansionHubServo into separate Servo and CRServo classes (#8770)

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This removes the confusion of the `ExpansionHubServo` class serving both
purposes, and thus having a `set` method that functions as `setPosition`
when in servo mode and `setThrottle` when not in continuous mode. It
also removes the `setContinuousRotationMethod` which could be confused
for a method that switches the actual servo firmware itself from servo
to continuous mode, which is not a thing that is physically possible I
think.

---------

Signed-off-by: Zach Harel <zach@zharel.me>
This commit is contained in:
Zach Harel
2026-04-24 23:03:24 -04:00
committed by GitHub
parent ded1937fcf
commit 3bf3060ff5
16 changed files with 454 additions and 61 deletions
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2
wpilibc/src/main/native/cpp/hardware/expansionhub/ExpansionHubMotor.cpp
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@@ -30,7 +30,7 @@ ExpansionHubMotor::ExpansionHubMotor(int usbId, int channel)
channel);
}
m_hub.ReportUsage(fmt::format("ExHubServo[{}]", channel), "ExHubServo");
m_hub.ReportUsage(fmt::format("ExHubMotor[{}]", channel), "ExHubMotor");
auto systemServer = SystemServer::GetSystemServer();