Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilib] Remove Jaguar (and other) motor controllers (#8298)

Browse Source 
https://community.firstinspires.org/2025-robot-rules-preview-for-2026
This commit is contained in:
Thad House
2025-10-28 20:18:02 -07:00
committed by GitHub
parent 4aef52a117
commit 58ba536351
25 changed files with 20 additions and 871 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
styleguide/spotbugs-exclude.xml
View File

@@ -32,10 +32,6 @@
<Bug pattern="AT_STALE_THREAD_WRITE_OF_PRIMITIVE" />
<Class name="edu.wpi.first.wpilibj.Ultrasonic" />
</Match>
<Match>
<Bug pattern="AT_STALE_THREAD_WRITE_OF_PRIMITIVE" />
<Class name="edu.wpi.first.wpilibj.motorcontrol.NidecBrushless" />
</Match>
<Match>
<Bug pattern="AT_STALE_THREAD_WRITE_OF_PRIMITIVE" />
<Class name="edu.wpi.first.wpilibj2.command.CommandScheduler" />

20
wpilibc/src/generated/main/native/cpp/motorcontrol/DMC60.cpp generated
View File

@@ -1,20 +0,0 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
#include "frc/motorcontrol/DMC60.h"
#include <hal/FRCUsageReporting.h>
using namespace frc;
DMC60::DMC60(int channel) : PWMMotorController("DMC60", channel) {
m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_DigilentDMC60, GetChannel() + 1);
}

20
wpilibc/src/generated/main/native/cpp/motorcontrol/Jaguar.cpp generated
View File

@@ -1,20 +0,0 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
#include "frc/motorcontrol/Jaguar.h"
#include <hal/FRCUsageReporting.h>
using namespace frc;
Jaguar::Jaguar(int channel) : PWMMotorController("Jaguar", channel) {
m_pwm.SetBounds(2.31_ms, 1.55_ms, 1.507_ms, 1.454_ms, 0.697_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_Jaguar, GetChannel() + 1);
}

20
wpilibc/src/generated/main/native/cpp/motorcontrol/SD540.cpp generated
View File

@@ -1,20 +0,0 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
#include "frc/motorcontrol/SD540.h"
#include <hal/FRCUsageReporting.h>
using namespace frc;
SD540::SD540(int channel) : PWMMotorController("SD540", channel) {
m_pwm.SetBounds(2.05_ms, 1.55_ms, 1.5_ms, 1.44_ms, 0.94_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_MindsensorsSD540, GetChannel() + 1);
}

20
wpilibc/src/generated/main/native/cpp/motorcontrol/Victor.cpp generated
View File

@@ -1,20 +0,0 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
#include "frc/motorcontrol/Victor.h"
#include <hal/FRCUsageReporting.h>
using namespace frc;
Victor::Victor(int channel) : PWMMotorController("Victor", channel) {
m_pwm.SetBounds(2.027_ms, 1.525_ms, 1.507_ms, 1.49_ms, 1.026_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_2X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_Victor, GetChannel() + 1);
}

43
wpilibc/src/generated/main/native/include/frc/motorcontrol/DMC60.h generated
View File

@@ -1,43 +0,0 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
#pragma once
#include "frc/motorcontrol/PWMMotorController.h"
namespace frc {
/**
* Digilent DMC 60 Motor Controller with PWM control.
*
* Note that the DMC 60 uses the following bounds for PWM values. These
* values should work reasonably well for most controllers, but if users
* experience issues such as asymmetric behavior around the deadband or
* inability to saturate the controller in either direction, calibration is
* recommended. The calibration procedure can be found in the DMC 60 User
* Manual available from Digilent.
*
* \li 2.004ms = full "forward"
* \li 1.520ms = the "high end" of the deadband range
* \li 1.500ms = center of the deadband range (off)
* \li 1.480ms = the "low end" of the deadband range
* \li 0.997ms = full "reverse"
*/
class DMC60 : public PWMMotorController {
public:
/**
* Constructor for a DMC 60 connected via PWM.
*
* @param channel The PWM channel that the DMC 60 is attached to. 0-9 are
* on-board, 10-19 are on the MXP port
*/
explicit DMC60(int channel);
DMC60(DMC60&&) = default;
DMC60& operator=(DMC60&&) = default;
};
} // namespace frc

43
wpilibc/src/generated/main/native/include/frc/motorcontrol/Jaguar.h generated
View File

@@ -1,43 +0,0 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
#pragma once
#include "frc/motorcontrol/PWMMotorController.h"
namespace frc {
/**
* Luminary Micro / Vex Robotics Jaguar Motor Controller with PWM control.
*
* Note that the Jaguar uses the following bounds for PWM values. These
* values should work reasonably well for most controllers, but if users
* experience issues such as asymmetric behavior around the deadband or
* inability to saturate the controller in either direction, calibration is
* recommended. The calibration procedure can be found in the Jaguar User
* Manual available from Luminary Micro / Vex Robotics.
*
* \li 2.310ms = full "forward"
* \li 1.550ms = the "high end" of the deadband range
* \li 1.507ms = center of the deadband range (off)
* \li 1.454ms = the "low end" of the deadband range
* \li 0.697ms = full "reverse"
*/
class Jaguar : public PWMMotorController {
public:
/**
* Constructor for a Jaguar connected via PWM.
*
* @param channel The PWM channel that the Jaguar is attached to. 0-9 are
* on-board, 10-19 are on the MXP port
*/
explicit Jaguar(int channel);
Jaguar(Jaguar&&) = default;
Jaguar& operator=(Jaguar&&) = default;
};
} // namespace frc

43
wpilibc/src/generated/main/native/include/frc/motorcontrol/SD540.h generated
View File

@@ -1,43 +0,0 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
#pragma once
#include "frc/motorcontrol/PWMMotorController.h"
namespace frc {
/**
* Mindsensors SD540 Motor Controller with PWM control.
*
* Note that the SD540 uses the following bounds for PWM values. These
* values should work reasonably well for most controllers, but if users
* experience issues such as asymmetric behavior around the deadband or
* inability to saturate the controller in either direction, calibration is
* recommended. The calibration procedure can be found in the SD540 User
* Manual available from Mindsensors.
*
* \li 2.050ms = full "forward"
* \li 1.550ms = the "high end" of the deadband range
* \li 1.500ms = center of the deadband range (off)
* \li 1.440ms = the "low end" of the deadband range
* \li 0.940ms = full "reverse"
*/
class SD540 : public PWMMotorController {
public:
/**
* Constructor for a SD540 connected via PWM.
*
* @param channel The PWM channel that the SD540 is attached to. 0-9 are
* on-board, 10-19 are on the MXP port
*/
explicit SD540(int channel);
SD540(SD540&&) = default;
SD540& operator=(SD540&&) = default;
};
} // namespace frc

43
wpilibc/src/generated/main/native/include/frc/motorcontrol/Victor.h generated
View File

@@ -1,43 +0,0 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
#pragma once
#include "frc/motorcontrol/PWMMotorController.h"
namespace frc {
/**
* Vex Robotics Victor 888 Motor Controller with PWM control.
*
* Note that the Victor 888 uses the following bounds for PWM values. These
* values should work reasonably well for most controllers, but if users
* experience issues such as asymmetric behavior around the deadband or
* inability to saturate the controller in either direction, calibration is
* recommended. The calibration procedure can be found in the Victor 888 User
* Manual available from Vex Robotics.
*
* \li 2.027ms = full "forward"
* \li 1.525ms = the "high end" of the deadband range
* \li 1.507ms = center of the deadband range (off)
* \li 1.490ms = the "low end" of the deadband range
* \li 1.026ms = full "reverse"
*/
class Victor : public PWMMotorController {
public:
/**
* Constructor for a Victor 888 connected via PWM.
*
* @param channel The PWM channel that the Victor 888 is attached to. 0-9 are
* on-board, 10-19 are on the MXP port
*/
explicit Victor(int channel);
Victor(Victor&&) = default;
Victor& operator=(Victor&&) = default;
};
} // namespace frc

86
wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp
View File

@@ -1,86 +0,0 @@
// 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.
#include "frc/motorcontrol/NidecBrushless.h"
#include <string>
#include <fmt/format.h>
#include <hal/FRCUsageReporting.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
using namespace frc;
WPI_IGNORE_DEPRECATED
NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
: m_dio(dioChannel), m_pwm(pwmChannel) {
wpi::SendableRegistry::AddChild(this, &m_dio);
wpi::SendableRegistry::AddChild(this, &m_pwm);
SetExpiration(0_s);
SetSafetyEnabled(false);
// the dio controls the output (in PWM mode)
m_dio.SetPWMRate(15625);
m_dio.EnablePWM(0.5);
HAL_Report(HALUsageReporting::kResourceType_NidecBrushless, pwmChannel + 1);
wpi::SendableRegistry::AddLW(this, "Nidec Brushless", pwmChannel);
}
WPI_UNIGNORE_DEPRECATED
void NidecBrushless::Set(double speed) {
if (!m_disabled) {
m_speed = speed;
m_dio.UpdateDutyCycle(0.5 + 0.5 * (m_isInverted ? -speed : speed));
m_pwm.SetAlwaysHighMode();
}
Feed();
}
double NidecBrushless::Get() const {
return m_speed;
}
void NidecBrushless::SetInverted(bool isInverted) {
m_isInverted = isInverted;
}
bool NidecBrushless::GetInverted() const {
return m_isInverted;
}
void NidecBrushless::Disable() {
m_disabled = true;
m_dio.UpdateDutyCycle(0.5);
m_pwm.SetDisabled();
}
void NidecBrushless::Enable() {
m_disabled = false;
}
void NidecBrushless::StopMotor() {
m_dio.UpdateDutyCycle(0.5);
m_pwm.SetDisabled();
}
std::string NidecBrushless::GetDescription() const {
return fmt::format("Nidec {}", GetChannel());
}
int NidecBrushless::GetChannel() const {
return m_pwm.GetChannel();
}
void NidecBrushless::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Nidec Brushless");
builder.SetActuator(true);
builder.SetSafeState([=, this] { StopMotor(); });
builder.AddDoubleProperty(
"Value", [=, this] { return Get(); },
[=, this](double value) { Set(value); });
}

103
wpilibc/src/main/native/include/frc/motorcontrol/NidecBrushless.h
View File

@@ -1,103 +0,0 @@
// 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.
#pragma once
#include <string>
#include <wpi/deprecated.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
#include "frc/DigitalOutput.h"
#include "frc/MotorSafety.h"
#include "frc/PWM.h"
#include "frc/motorcontrol/MotorController.h"
namespace frc {
WPI_IGNORE_DEPRECATED
/**
* Nidec Brushless Motor.
*/
class NidecBrushless : public MotorController,
public MotorSafety,
public wpi::Sendable,
public wpi::SendableHelper<NidecBrushless> {
public:
/**
* Constructor.
*
* @param pwmChannel The PWM channel that the Nidec Brushless controller is
* attached to. 0-9 are on-board, 10-19 are on the MXP port.
* @param dioChannel The DIO channel that the Nidec Brushless controller is
* attached to. 0-9 are on-board, 10-25 are on the MXP port.
*/
NidecBrushless(int pwmChannel, int dioChannel);
~NidecBrushless() override = default;
NidecBrushless(NidecBrushless&&) = default;
NidecBrushless& operator=(NidecBrushless&&) = default;
// MotorController interface
/**
* Set the PWM value.
*
* The PWM value is set using a range of -1.0 to 1.0, appropriately scaling
* the value for the FPGA.
*
* @param speed The speed value between -1.0 and 1.0 to set.
*/
void Set(double speed) override;
/**
* Get the recently set value of the PWM.
*
* @return The most recently set value for the PWM between -1.0 and 1.0.
*/
double Get() const override;
void SetInverted(bool isInverted) override;
bool GetInverted() const override;
/**
* Disable the motor. The Enable() function must be called to re-enable the
* motor.
*/
void Disable() override;
/**
* Re-enable the motor after Disable() has been called. The Set() function
* must be called to set a new motor speed.
*/
void Enable();
// MotorSafety interface
void StopMotor() override;
std::string GetDescription() const override;
/**
* Gets the channel number associated with the object.
*
* @return The channel number.
*/
int GetChannel() const;
// Sendable interface
void InitSendable(wpi::SendableBuilder& builder) override;
private:
bool m_isInverted = false;
bool m_disabled = false;
DigitalOutput m_dio;
PWM m_pwm;
double m_speed = 0.0;
};
WPI_UNIGNORE_DEPRECATED
} // namespace frc

4
wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h
View File

@@ -204,14 +204,10 @@ enum class BuiltInWidgets {
* The motor controller will be controllable from the dashboard when test mode
* is enabled, but will otherwise be view-only. <br>Supported types: <ul>
* <li>PWMMotorController</li>
* <li>DMC60</li>
* <li>Jaguar</li>
* <li>PWMTalonSRX</li>
* <li>PWMVictorSPX</li>
* <li>SD540</li>
* <li>Spark</li>
* <li>Talon</li>
* <li>Victor</li>
* <li>VictorSP</li>
* <li>MotorControllerGroup</li>
* <li>Any custom subclass of {@code SpeedContorller}</li>

6
wpilibcIntegrationTests/src/main/native/cpp/CounterTest.cpp
View File

@@ -9,9 +9,7 @@
#include "TestBench.h"
#include "frc/Timer.h"
#include "frc/motorcontrol/Jaguar.h"
#include "frc/motorcontrol/Talon.h"
#include "frc/motorcontrol/Victor.h"
static constexpr auto kMotorDelay = 2.5_s;
@@ -23,8 +21,8 @@ class CounterTest : public testing::Test {
frc::Counter m_victorCounter{TestBench::kVictorEncoderChannelA};
frc::Counter m_jaguarCounter{TestBench::kJaguarEncoderChannelA};
frc::Talon m_talon{TestBench::kVictorChannel};
frc::Victor m_victor{TestBench::kTalonChannel};
frc::Jaguar m_jaguar{TestBench::kJaguarChannel};
frc::Talon m_victor{TestBench::kTalonChannel};
frc::Talon m_jaguar{TestBench::kJaguarChannel};
void Reset() {
m_talonCounter.Reset();

4
wpilibcIntegrationTests/src/main/native/cpp/DMATest.cpp
View File

@@ -13,7 +13,7 @@
#include "frc/DMASample.h"
#include "frc/DigitalOutput.h"
#include "frc/Timer.h"
#include "frc/motorcontrol/Jaguar.h"
#include "frc/motorcontrol/Talon.h"
using namespace frc;
@@ -24,7 +24,7 @@ class DMATest : public testing::Test {
AnalogInput m_analogInput{TestBench::kAnalogOutputChannel};
AnalogOutput m_analogOutput{TestBench::kFakeAnalogOutputChannel};
DigitalOutput m_manualTrigger{TestBench::kLoop1InputChannel};
Jaguar m_pwm{TestBench::kFakePwmOutput};
Talon m_pwm{TestBench::kFakePwmOutput};
DMA m_dma;
void SetUp() override {

6
wpilibcIntegrationTests/src/main/native/cpp/MotorEncoderTest.cpp
View File

@@ -14,9 +14,7 @@
#include "frc/Timer.h"
#include "frc/controller/PIDController.h"
#include "frc/filter/LinearFilter.h"
#include "frc/motorcontrol/Jaguar.h"
#include "frc/motorcontrol/Talon.h"
#include "frc/motorcontrol/Victor.h"
enum MotorEncoderTestType { TEST_VICTOR, TEST_JAGUAR, TEST_TALON };
@@ -53,13 +51,13 @@ class MotorEncoderTest : public testing::TestWithParam<MotorEncoderTestType> {
MotorEncoderTest() {
switch (GetParam()) {
case TEST_VICTOR:
m_motorController = new frc::Victor(TestBench::kVictorChannel);
m_motorController = new frc::Talon(TestBench::kVictorChannel);
m_encoder = new frc::Encoder(TestBench::kVictorEncoderChannelA,
TestBench::kVictorEncoderChannelB);
break;
case TEST_JAGUAR:
m_motorController = new frc::Jaguar(TestBench::kJaguarChannel);
m_motorController = new frc::Talon(TestBench::kJaguarChannel);
m_encoder = new frc::Encoder(TestBench::kJaguarEncoderChannelA,
TestBench::kJaguarEncoderChannelB);
break;

6
wpilibcIntegrationTests/src/main/native/cpp/MotorInvertingTest.cpp
View File

@@ -9,9 +9,7 @@
#include "TestBench.h"
#include "frc/Encoder.h"
#include "frc/Timer.h"
#include "frc/motorcontrol/Jaguar.h"
#include "frc/motorcontrol/Talon.h"
#include "frc/motorcontrol/Victor.h"
enum MotorInvertingTestType { TEST_VICTOR, TEST_JAGUAR, TEST_TALON };
@@ -45,13 +43,13 @@ class MotorInvertingTest
MotorInvertingTest() {
switch (GetParam()) {
case TEST_VICTOR:
m_motorController = new frc::Victor(TestBench::kVictorChannel);
m_motorController = new frc::Talon(TestBench::kVictorChannel);
m_encoder = new frc::Encoder(TestBench::kVictorEncoderChannelA,
TestBench::kVictorEncoderChannelB);
break;
case TEST_JAGUAR:
m_motorController = new frc::Jaguar(TestBench::kJaguarChannel);
m_motorController = new frc::Talon(TestBench::kJaguarChannel);
m_encoder = new frc::Encoder(TestBench::kJaguarEncoderChannelA,
TestBench::kJaguarEncoderChannelB);
break;

53
wpilibj/src/generate/pwm_motor_controllers.json
View File

@@ -1,30 +1,4 @@
[
{
"name": "DMC60",
"Manufacturer": "Digilent",
"DisplayName": "DMC 60",
"ResourceName": "DigilentDMC60",
"pulse_width_ms": {
"max": 2.004,
"deadbandMax": 1.520,
"center": 1.500,
"deadbandMin": 1.480,
"min": 0.997
}
},
{
"name": "Jaguar",
"Manufacturer": "Luminary Micro / Vex Robotics",
"DisplayName": "Jaguar",
"ResourceName": "Jaguar",
"pulse_width_ms": {
"max": 2.310,
"deadbandMax": 1.550,
"center": 1.507,
"deadbandMin": 1.454,
"min": 0.697
}
},
{
"name": "PWMSparkFlex",
"Manufacturer": "REV Robotics",
@@ -103,19 +77,6 @@
"min": 0.997
}
},
{
"name": "SD540",
"Manufacturer": "Mindsensors",
"DisplayName": "SD540",
"ResourceName": "MindsensorsSD540",
"pulse_width_ms": {
"max": 2.05,
"deadbandMax": 1.55,
"center": 1.50,
"deadbandMin": 1.44,
"min": 0.94
}
},
{
"name": "Spark",
"Manufacturer": "REV Robotics",
@@ -142,20 +103,6 @@
"min": 0.989
}
},
{
"name": "Victor",
"Manufacturer": "Vex Robotics",
"DisplayName": "Victor 888",
"ResourceName": "Victor",
"PeriodMultiplier": 2,
"pulse_width_ms": {
"max": 2.027,
"deadbandMax": 1.525,
"center": 1.507,
"deadbandMin": 1.490,
"min": 1.026
}
},
{
"name": "VictorSP",
"Manufacturer": "Vex Robotics",

48
wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/DMC60.java generated
View File

@@ -1,48 +0,0 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY
package edu.wpi.first.wpilibj.motorcontrol;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.PWM;
/**
* Digilent DMC 60 Motor Controller.
*
* <p>Note that the DMC 60 uses the following bounds for PWM values. These values should work
* reasonably well for most controllers, but if users experience issues such as asymmetric behavior
* around the deadband or inability to saturate the controller in either direction, calibration is
* recommended. The calibration procedure can be found in the DMC 60 User Manual available from
* Digilent.
*
* <ul>
* <li>2.004ms = full "forward"
* <li>1.520ms = the "high end" of the deadband range
* <li>1.500ms = center of the deadband range (off)
* <li>1.480ms = the "low end" of the deadband range
* <li>0.997ms = full "reverse"
* </ul>
*/
public class DMC60 extends PWMMotorController {
/**
* Constructor.
*
* @param channel The PWM channel that the DMC 60 is attached to. 0-9 are on-board, 10-19
* are on the MXP port
*/
@SuppressWarnings("this-escape")
public DMC60(final int channel) {
super("DMC60", channel);
m_pwm.setBoundsMicroseconds(2004, 1520, 1500, 1480, 997);
m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
m_pwm.setSpeed(0.0);
m_pwm.setZeroLatch();
HAL.report(tResourceType.kResourceType_DigilentDMC60, getChannel() + 1);
}
}

48
wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Jaguar.java generated
View File

@@ -1,48 +0,0 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY
package edu.wpi.first.wpilibj.motorcontrol;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.PWM;
/**
* Luminary Micro / Vex Robotics Jaguar Motor Controller.
*
* <p>Note that the Jaguar uses the following bounds for PWM values. These values should work
* reasonably well for most controllers, but if users experience issues such as asymmetric behavior
* around the deadband or inability to saturate the controller in either direction, calibration is
* recommended. The calibration procedure can be found in the Jaguar User Manual available from
* Luminary Micro / Vex Robotics.
*
* <ul>
* <li>2.310ms = full "forward"
* <li>1.550ms = the "high end" of the deadband range
* <li>1.507ms = center of the deadband range (off)
* <li>1.454ms = the "low end" of the deadband range
* <li>0.697ms = full "reverse"
* </ul>
*/
public class Jaguar extends PWMMotorController {
/**
* Constructor.
*
* @param channel The PWM channel that the Jaguar is attached to. 0-9 are on-board, 10-19
* are on the MXP port
*/
@SuppressWarnings("this-escape")
public Jaguar(final int channel) {
super("Jaguar", channel);
m_pwm.setBoundsMicroseconds(2310, 1550, 1507, 1454, 697);
m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
m_pwm.setSpeed(0.0);
m_pwm.setZeroLatch();
HAL.report(tResourceType.kResourceType_Jaguar, getChannel() + 1);
}
}

48
wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/SD540.java generated
View File

@@ -1,48 +0,0 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY
package edu.wpi.first.wpilibj.motorcontrol;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.PWM;
/**
* Mindsensors SD540 Motor Controller.
*
* <p>Note that the SD540 uses the following bounds for PWM values. These values should work
* reasonably well for most controllers, but if users experience issues such as asymmetric behavior
* around the deadband or inability to saturate the controller in either direction, calibration is
* recommended. The calibration procedure can be found in the SD540 User Manual available from
* Mindsensors.
*
* <ul>
* <li>2.050ms = full "forward"
* <li>1.550ms = the "high end" of the deadband range
* <li>1.500ms = center of the deadband range (off)
* <li>1.440ms = the "low end" of the deadband range
* <li>0.940ms = full "reverse"
* </ul>
*/
public class SD540 extends PWMMotorController {
/**
* Constructor.
*
* @param channel The PWM channel that the SD540 is attached to. 0-9 are on-board, 10-19
* are on the MXP port
*/
@SuppressWarnings("this-escape")
public SD540(final int channel) {
super("SD540", channel);
m_pwm.setBoundsMicroseconds(2050, 1550, 1500, 1440, 940);
m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
m_pwm.setSpeed(0.0);
m_pwm.setZeroLatch();
HAL.report(tResourceType.kResourceType_MindsensorsSD540, getChannel() + 1);
}
}

48
wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Victor.java generated
View File

@@ -1,48 +0,0 @@
// 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.
// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY
package edu.wpi.first.wpilibj.motorcontrol;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.PWM;
/**
* Vex Robotics Victor 888 Motor Controller.
*
* <p>Note that the Victor 888 uses the following bounds for PWM values. These values should work
* reasonably well for most controllers, but if users experience issues such as asymmetric behavior
* around the deadband or inability to saturate the controller in either direction, calibration is
* recommended. The calibration procedure can be found in the Victor 888 User Manual available from
* Vex Robotics.
*
* <ul>
* <li>2.027ms = full "forward"
* <li>1.525ms = the "high end" of the deadband range
* <li>1.507ms = center of the deadband range (off)
* <li>1.490ms = the "low end" of the deadband range
* <li>1.026ms = full "reverse"
* </ul>
*/
public class Victor extends PWMMotorController {
/**
* Constructor.
*
* @param channel The PWM channel that the Victor 888 is attached to. 0-9 are on-board, 10-19
* are on the MXP port
*/
@SuppressWarnings("this-escape")
public Victor(final int channel) {
super("Victor", channel);
m_pwm.setBoundsMicroseconds(2027, 1525, 1507, 1490, 1026);
m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k2X);
m_pwm.setSpeed(0.0);
m_pwm.setZeroLatch();
HAL.report(tResourceType.kResourceType_Victor, getChannel() + 1);
}
}

145
wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/NidecBrushless.java
View File

@@ -1,145 +0,0 @@
// 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 edu.wpi.first.wpilibj.motorcontrol;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import edu.wpi.first.wpilibj.DigitalOutput;
import edu.wpi.first.wpilibj.MotorSafety;
import edu.wpi.first.wpilibj.PWM;
/** Nidec Brushless Motor. */
@SuppressWarnings("removal")
public class NidecBrushless extends MotorSafety
implements MotorController, Sendable, AutoCloseable {
private boolean m_isInverted;
private final DigitalOutput m_dio;
private final PWM m_pwm;
private volatile double m_speed;
private volatile boolean m_disabled;
/**
* Constructor.
*
* @param pwmChannel The PWM channel that the Nidec Brushless controller is attached to. 0-9 are
* on-board, 10-19 are on the MXP port
* @param dioChannel The DIO channel that the Nidec Brushless controller is attached to. 0-9 are
* on-board, 10-25 are on the MXP port
*/
@SuppressWarnings("this-escape")
public NidecBrushless(final int pwmChannel, final int dioChannel) {
setSafetyEnabled(false);
// the dio controls the output (in PWM mode)
m_dio = new DigitalOutput(dioChannel);
SendableRegistry.addChild(this, m_dio);
m_dio.setPWMRate(15625);
m_dio.enablePWM(0.5);
// the pwm enables the controller
m_pwm = new PWM(pwmChannel);
SendableRegistry.addChild(this, m_pwm);
HAL.report(tResourceType.kResourceType_NidecBrushless, pwmChannel + 1);
SendableRegistry.addLW(this, "Nidec Brushless", pwmChannel);
}
@Override
public void close() {
SendableRegistry.remove(this);
m_dio.close();
m_pwm.close();
}
/**
* Set the PWM value.
*
* <p>The PWM value is set using a range of -1.0 to 1.0, appropriately scaling the value for the
* FPGA.
*
* @param speed The speed value between -1.0 and 1.0 to set.
*/
@Override
public void set(double speed) {
if (!m_disabled) {
m_speed = speed;
m_dio.updateDutyCycle(0.5 + 0.5 * (m_isInverted ? -speed : speed));
m_pwm.setAlwaysHighMode();
}
feed();
}
/**
* Get the recently set value of the PWM.
*
* @return The most recently set value for the PWM between -1.0 and 1.0.
*/
@Override
public double get() {
return m_speed;
}
@Override
public void setInverted(boolean isInverted) {
m_isInverted = isInverted;
}
@Override
public boolean getInverted() {
return m_isInverted;
}
/**
* Stop the motor. This is called by the MotorSafety object when it has a timeout for this PWM and
* needs to stop it from running. Calling set() will re-enable the motor.
*/
@Override
public void stopMotor() {
m_dio.updateDutyCycle(0.5);
m_pwm.setDisabled();
}
@Override
public String getDescription() {
return "Nidec " + getChannel();
}
/** Disable the motor. The enable() function must be called to re-enable the motor. */
@Override
public void disable() {
m_disabled = true;
m_dio.updateDutyCycle(0.5);
m_pwm.setDisabled();
}
/**
* Re-enable the motor after disable() has been called. The set() function must be called to set a
* new motor speed.
*/
public void enable() {
m_disabled = false;
}
/**
* Gets the channel number associated with the object.
*
* @return The channel number.
*/
public int getChannel() {
return m_pwm.getChannel();
}
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Nidec Brushless");
builder.setActuator(true);
builder.setSafeState(this::stopMotor);
builder.addDoubleProperty("Value", this::get, this::set);
}
}

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java
View File

@@ -250,17 +250,13 @@ public enum BuiltInWidgets implements WidgetType {
*
* <ul>
* <li>{@link edu.wpi.first.wpilibj.motorcontrol.PWMMotorController}
* <li>{@link edu.wpi.first.wpilibj.motorcontrol.DMC60}
* <li>{@link edu.wpi.first.wpilibj.motorcontrol.Jaguar}
* <li>{@link edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax}
* <li>{@link edu.wpi.first.wpilibj.motorcontrol.PWMTalonFX}
* <li>{@link edu.wpi.first.wpilibj.motorcontrol.PWMTalonSRX}
* <li>{@link edu.wpi.first.wpilibj.motorcontrol.PWMVenom}
* <li>{@link edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX}
* <li>{@link edu.wpi.first.wpilibj.motorcontrol.SD540}
* <li>{@link edu.wpi.first.wpilibj.motorcontrol.Spark}
* <li>{@link edu.wpi.first.wpilibj.motorcontrol.Talon}
* <li>{@link edu.wpi.first.wpilibj.motorcontrol.Victor}
* <li>{@link edu.wpi.first.wpilibj.motorcontrol.VictorSP}
* <li>{@link edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup}
* <li>Any custom subclass of {@code MotorController}

4
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DMATest.java
View File

@@ -9,8 +9,8 @@ import static org.junit.Assert.assertTrue;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.fixtures.AnalogCrossConnectFixture;
import edu.wpi.first.wpilibj.motorcontrol.Jaguar;
import edu.wpi.first.wpilibj.motorcontrol.PWMMotorController;
import edu.wpi.first.wpilibj.motorcontrol.Talon;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
import java.util.ArrayList;
@@ -40,7 +40,7 @@ public class DMATest extends AbstractComsSetup {
public void setUp() {
m_analogIO = TestBench.getAnalogCrossConnectFixture();
m_manualTrigger = new DigitalOutput(7);
m_pwm = new Jaguar(14);
m_pwm = new Talon(14);
m_dma = new DMA();
m_dmaSample = new DMASample();

22
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java
View File

@@ -15,9 +15,7 @@ import edu.wpi.first.wpilibj.fixtures.DIOCrossConnectFixture;
import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
import edu.wpi.first.wpilibj.fixtures.RelayCrossConnectFixture;
import edu.wpi.first.wpilibj.fixtures.TiltPanCameraFixture;
import edu.wpi.first.wpilibj.motorcontrol.Jaguar;
import edu.wpi.first.wpilibj.motorcontrol.Talon;
import edu.wpi.first.wpilibj.motorcontrol.Victor;
import java.io.PrintStream;
import java.util.ArrayList;
import java.util.Collection;
@@ -92,16 +90,16 @@ public final class TestBench {
}
/**
* Constructs a new set of objects representing a connected set of Victor controlled Motors and an
* Constructs a new set of objects representing a connected set of Talon controlled Motors and an
* encoder.
*
* @return a freshly allocated Victor, Encoder pair
* @return a freshly allocated Talon, Encoder pair
*/
public static MotorEncoderFixture<Victor> getVictorPair() {
public static MotorEncoderFixture<Talon> getVictorPair() {
return new MotorEncoderFixture<>() {
@Override
protected Victor giveMotorController() {
return new Victor(kVictorChannel);
protected Talon giveMotorController() {
return new Talon(kVictorChannel);
}
@Override
@@ -122,16 +120,16 @@ public final class TestBench {
}
/**
* Constructs a new set of objects representing a connected set of Jaguar controlled Motors and an
* Constructs a new set of objects representing a connected set of Talon controlled Motors and an
* encoder.
*
* @return a freshly allocated Jaguar, Encoder pair
* @return a freshly allocated Talon, Encoder pair
*/
public static MotorEncoderFixture<Jaguar> getJaguarPair() {
public static MotorEncoderFixture<Talon> getJaguarPair() {
return new MotorEncoderFixture<>() {
@Override
protected Jaguar giveMotorController() {
return new Jaguar(kJaguarChannel);
protected Talon giveMotorController() {
return new Talon(kJaguarChannel);
}
@Override