[wpilib] Add DeadbandElimination forwarding to PWMMotorController (#3714)

wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp

@@ -42,6 +42,10 @@ int PWMMotorController::GetChannel() const {
   return m_pwm.GetChannel();
 }
 
+void PWMMotorController::EnableDeadbandElimination(bool eliminateDeadband) {
+  m_pwm.EnableDeadbandElimination(eliminateDeadband);
+}
+
 PWMMotorController::PWMMotorController(std::string_view name, int channel)
     : m_pwm(channel, false) {
   wpi::SendableRegistry::AddLW(this, name, channel);

wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h

@@ -61,6 +61,16 @@ class PWMMotorController : public MotorController,
 
   int GetChannel() const;
 
+  /**
+   * Optionally eliminate the deadband from a motor controller.
+   *
+   * @param eliminateDeadband If true, set the motor curve on the speed
+   *                          controller to eliminate the deadband in the middle
+   *                          of the range. Otherwise, keep the full range
+   *                          without modifying any values.
+   */
+  void EnableDeadbandElimination(bool eliminateDeadband);
+
  protected:
   /**
    * Constructor for a PWM Motor %Controller connected via PWM.

wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java

@@ -104,6 +104,17 @@ public abstract class PWMMotorController extends MotorSafety
     return m_pwm.getChannel();
   }
 
+  /**
+   * Optionally eliminate the deadband from a motor controller.
+   *
+   * @param eliminateDeadband If true, set the motor curve for the motor controller to eliminate the
+   *     deadband in the middle of the range. Otherwise, keep the full range without modifying any
+   *     values.
+   */
+  public void enableDeadbandElimination(boolean eliminateDeadband) {
+    m_pwm.enableDeadbandElimination(eliminateDeadband);
+  }
+
   @Override
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("Motor Controller");