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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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wpilibc/src/main/python/pyproject.toml
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@@ -152,6 +152,7 @@ PWM = "wpi/hardware/discrete/PWM.hpp"
# wpi/hardware/expansionhub
ExpansionHub = "wpi/hardware/expansionhub/ExpansionHub.hpp"
ExpansionHubCRServo = "wpi/hardware/expansionhub/ExpansionHubCRServo.hpp"
ExpansionHubMotor = "wpi/hardware/expansionhub/ExpansionHubMotor.hpp"
ExpansionHubPositionConstants = "wpi/hardware/expansionhub/ExpansionHubPositionConstants.hpp"
ExpansionHubServo = "wpi/hardware/expansionhub/ExpansionHubServo.hpp"