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[wpilib] Remove deprecated MotorControllerGroup (#8349)

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Charlotte
2025-11-09 13:31:26 -05:00
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parent 4ea584b64f
commit 5636b8cd77
5 changed files with 0 additions and 505 deletions
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116
wpilibj/src/main/java/org/wpilib/hardware/motor/MotorControllerGroup.java
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package org.wpilib.hardware.motor;
import java.util.Arrays;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
/**
* Allows multiple {@link MotorController} objects to be linked together.
*
* @deprecated Use {@link PWMMotorController#addFollower(PWMMotorController)} or if using CAN motor
* controllers, use their method of following.
*/
@SuppressWarnings("removal")
@Deprecated(forRemoval = true, since = "2024")
public class MotorControllerGroup implements MotorController, Sendable, AutoCloseable {
private boolean m_isInverted;
private final MotorController[] m_motorControllers;
private static int instances;
/**
* Create a new MotorControllerGroup with the provided MotorControllers.
*
* @param motorController The first MotorController to add
* @param motorControllers The MotorControllers to add
*/
@SuppressWarnings("this-escape")
public MotorControllerGroup(
MotorController motorController, MotorController... motorControllers) {
m_motorControllers = new MotorController[motorControllers.length + 1];
m_motorControllers[0] = motorController;
System.arraycopy(motorControllers, 0, m_motorControllers, 1, motorControllers.length);
init();
}
/**
* Create a new MotorControllerGroup with the provided MotorControllers.
*
* @param motorControllers The MotorControllers to add.
*/
@SuppressWarnings("this-escape")
public MotorControllerGroup(MotorController[] motorControllers) {
m_motorControllers = Arrays.copyOf(motorControllers, motorControllers.length);
init();
}
private void init() {
for (MotorController controller : m_motorControllers) {
SendableRegistry.addChild(this, controller);
}
instances++;
SendableRegistry.add(this, "MotorControllerGroup", instances);
}
@Override
public void close() {
SendableRegistry.remove(this);
}
@Override
public void set(double speed) {
for (MotorController motorController : m_motorControllers) {
motorController.set(m_isInverted ? -speed : speed);
}
}
@Override
public void setVoltage(double outputVolts) {
for (MotorController motorController : m_motorControllers) {
motorController.setVoltage(m_isInverted ? -outputVolts : outputVolts);
}
}
@Override
public double get() {
if (m_motorControllers.length > 0) {
return m_motorControllers[0].get() * (m_isInverted ? -1 : 1);
}
return 0.0;
}
@Override
public void setInverted(boolean isInverted) {
m_isInverted = isInverted;
}
@Override
public boolean getInverted() {
return m_isInverted;
}
@Override
public void disable() {
for (MotorController motorController : m_motorControllers) {
motorController.disable();
}
}
@Override
public void stopMotor() {
for (MotorController motorController : m_motorControllers) {
motorController.stopMotor();
}
}
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Motor Controller");
builder.setActuator(true);
builder.addDoubleProperty("Value", this::get, this::set);
}
}