From 58ba536351607bdc34e3559b5bb7c0a52b5d1981 Mon Sep 17 00:00:00 2001 From: Thad House Date: Tue, 28 Oct 2025 20:18:02 -0700 Subject: [PATCH] [wpilib] Remove Jaguar (and other) motor controllers (#8298) https://community.firstinspires.org/2025-robot-rules-preview-for-2026 --- styleguide/spotbugs-exclude.xml | 4 - .../main/native/cpp/motorcontrol/DMC60.cpp | 20 --- .../main/native/cpp/motorcontrol/Jaguar.cpp | 20 --- .../main/native/cpp/motorcontrol/SD540.cpp | 20 --- .../main/native/cpp/motorcontrol/Victor.cpp | 20 --- .../native/include/frc/motorcontrol/DMC60.h | 43 ------ .../native/include/frc/motorcontrol/Jaguar.h | 43 ------ .../native/include/frc/motorcontrol/SD540.h | 43 ------ .../native/include/frc/motorcontrol/Victor.h | 43 ------ .../cpp/motorcontrol/NidecBrushless.cpp | 86 ----------- .../include/frc/motorcontrol/NidecBrushless.h | 103 ------------- .../include/frc/shuffleboard/BuiltInWidgets.h | 4 - .../src/main/native/cpp/CounterTest.cpp | 6 +- .../src/main/native/cpp/DMATest.cpp | 4 +- .../src/main/native/cpp/MotorEncoderTest.cpp | 6 +- .../main/native/cpp/MotorInvertingTest.cpp | 6 +- .../src/generate/pwm_motor_controllers.json | 53 ------- .../wpi/first/wpilibj/motorcontrol/DMC60.java | 48 ------ .../first/wpilibj/motorcontrol/Jaguar.java | 48 ------ .../wpi/first/wpilibj/motorcontrol/SD540.java | 48 ------ .../first/wpilibj/motorcontrol/Victor.java | 48 ------ .../wpilibj/motorcontrol/NidecBrushless.java | 145 ------------------ .../wpilibj/shuffleboard/BuiltInWidgets.java | 4 - .../java/edu/wpi/first/wpilibj/DMATest.java | 4 +- .../edu/wpi/first/wpilibj/test/TestBench.java | 22 ++- 25 files changed, 20 insertions(+), 871 deletions(-) delete mode 100644 wpilibc/src/generated/main/native/cpp/motorcontrol/DMC60.cpp delete mode 100644 wpilibc/src/generated/main/native/cpp/motorcontrol/Jaguar.cpp delete mode 100644 wpilibc/src/generated/main/native/cpp/motorcontrol/SD540.cpp delete mode 100644 wpilibc/src/generated/main/native/cpp/motorcontrol/Victor.cpp delete mode 100644 wpilibc/src/generated/main/native/include/frc/motorcontrol/DMC60.h delete mode 100644 wpilibc/src/generated/main/native/include/frc/motorcontrol/Jaguar.h delete mode 100644 wpilibc/src/generated/main/native/include/frc/motorcontrol/SD540.h delete mode 100644 wpilibc/src/generated/main/native/include/frc/motorcontrol/Victor.h delete mode 100644 wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp delete mode 100644 wpilibc/src/main/native/include/frc/motorcontrol/NidecBrushless.h delete mode 100644 wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/DMC60.java delete mode 100644 wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Jaguar.java delete mode 100644 wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/SD540.java delete mode 100644 wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Victor.java delete mode 100644 wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/NidecBrushless.java diff --git a/styleguide/spotbugs-exclude.xml b/styleguide/spotbugs-exclude.xml index 084206b4e0..f3fbffb591 100644 --- a/styleguide/spotbugs-exclude.xml +++ b/styleguide/spotbugs-exclude.xml @@ -32,10 +32,6 @@ - - - - diff --git a/wpilibc/src/generated/main/native/cpp/motorcontrol/DMC60.cpp b/wpilibc/src/generated/main/native/cpp/motorcontrol/DMC60.cpp deleted file mode 100644 index 72eac176fd..0000000000 --- a/wpilibc/src/generated/main/native/cpp/motorcontrol/DMC60.cpp +++ /dev/null @@ -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 - -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); -} diff --git a/wpilibc/src/generated/main/native/cpp/motorcontrol/Jaguar.cpp b/wpilibc/src/generated/main/native/cpp/motorcontrol/Jaguar.cpp deleted file mode 100644 index 348ff568df..0000000000 --- a/wpilibc/src/generated/main/native/cpp/motorcontrol/Jaguar.cpp +++ /dev/null @@ -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 - -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); -} diff --git a/wpilibc/src/generated/main/native/cpp/motorcontrol/SD540.cpp b/wpilibc/src/generated/main/native/cpp/motorcontrol/SD540.cpp deleted file mode 100644 index c39e77f63f..0000000000 --- a/wpilibc/src/generated/main/native/cpp/motorcontrol/SD540.cpp +++ /dev/null @@ -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 - -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); -} diff --git a/wpilibc/src/generated/main/native/cpp/motorcontrol/Victor.cpp b/wpilibc/src/generated/main/native/cpp/motorcontrol/Victor.cpp deleted file mode 100644 index 7062518bef..0000000000 --- a/wpilibc/src/generated/main/native/cpp/motorcontrol/Victor.cpp +++ /dev/null @@ -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 - -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); -} diff --git a/wpilibc/src/generated/main/native/include/frc/motorcontrol/DMC60.h b/wpilibc/src/generated/main/native/include/frc/motorcontrol/DMC60.h deleted file mode 100644 index e994dc86d2..0000000000 --- a/wpilibc/src/generated/main/native/include/frc/motorcontrol/DMC60.h +++ /dev/null @@ -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 diff --git a/wpilibc/src/generated/main/native/include/frc/motorcontrol/Jaguar.h b/wpilibc/src/generated/main/native/include/frc/motorcontrol/Jaguar.h deleted file mode 100644 index 513b4c43ef..0000000000 --- a/wpilibc/src/generated/main/native/include/frc/motorcontrol/Jaguar.h +++ /dev/null @@ -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 diff --git a/wpilibc/src/generated/main/native/include/frc/motorcontrol/SD540.h b/wpilibc/src/generated/main/native/include/frc/motorcontrol/SD540.h deleted file mode 100644 index 5cbc4f9584..0000000000 --- a/wpilibc/src/generated/main/native/include/frc/motorcontrol/SD540.h +++ /dev/null @@ -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 diff --git a/wpilibc/src/generated/main/native/include/frc/motorcontrol/Victor.h b/wpilibc/src/generated/main/native/include/frc/motorcontrol/Victor.h deleted file mode 100644 index 95d6ed0fc3..0000000000 --- a/wpilibc/src/generated/main/native/include/frc/motorcontrol/Victor.h +++ /dev/null @@ -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 diff --git a/wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp b/wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp deleted file mode 100644 index 5acf3c818d..0000000000 --- a/wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp +++ /dev/null @@ -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 - -#include -#include -#include -#include - -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); }); -} diff --git a/wpilibc/src/main/native/include/frc/motorcontrol/NidecBrushless.h b/wpilibc/src/main/native/include/frc/motorcontrol/NidecBrushless.h deleted file mode 100644 index d50c836170..0000000000 --- a/wpilibc/src/main/native/include/frc/motorcontrol/NidecBrushless.h +++ /dev/null @@ -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 - -#include -#include -#include - -#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 { - 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 diff --git a/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h b/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h index d7ed1d5751..654c27e990 100644 --- a/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h +++ b/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h @@ -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.
Supported types:
    *
  • PWMMotorController
    • - *
  • DMC60
    • - *
  • Jaguar
    • *
  • PWMTalonSRX
    • *
  • PWMVictorSPX
    • - *
  • SD540
    • *
  • Spark
    • *
  • Talon
    • - *
  • Victor
    • *
  • VictorSP
    • *
  • MotorControllerGroup
    • *
  • Any custom subclass of {@code SpeedContorller}
    • diff --git a/wpilibcIntegrationTests/src/main/native/cpp/CounterTest.cpp b/wpilibcIntegrationTests/src/main/native/cpp/CounterTest.cpp index e562d6af80..a47d4b3d4e 100644 --- a/wpilibcIntegrationTests/src/main/native/cpp/CounterTest.cpp +++ b/wpilibcIntegrationTests/src/main/native/cpp/CounterTest.cpp @@ -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(); diff --git a/wpilibcIntegrationTests/src/main/native/cpp/DMATest.cpp b/wpilibcIntegrationTests/src/main/native/cpp/DMATest.cpp index 35d94b5549..61211acbe1 100644 --- a/wpilibcIntegrationTests/src/main/native/cpp/DMATest.cpp +++ b/wpilibcIntegrationTests/src/main/native/cpp/DMATest.cpp @@ -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 { diff --git a/wpilibcIntegrationTests/src/main/native/cpp/MotorEncoderTest.cpp b/wpilibcIntegrationTests/src/main/native/cpp/MotorEncoderTest.cpp index 949950472c..1a65a301fc 100644 --- a/wpilibcIntegrationTests/src/main/native/cpp/MotorEncoderTest.cpp +++ b/wpilibcIntegrationTests/src/main/native/cpp/MotorEncoderTest.cpp @@ -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 { 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; diff --git a/wpilibcIntegrationTests/src/main/native/cpp/MotorInvertingTest.cpp b/wpilibcIntegrationTests/src/main/native/cpp/MotorInvertingTest.cpp index 49a419c10d..92f2e447f5 100644 --- a/wpilibcIntegrationTests/src/main/native/cpp/MotorInvertingTest.cpp +++ b/wpilibcIntegrationTests/src/main/native/cpp/MotorInvertingTest.cpp @@ -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; diff --git a/wpilibj/src/generate/pwm_motor_controllers.json b/wpilibj/src/generate/pwm_motor_controllers.json index c04935fba1..dab2a74870 100644 --- a/wpilibj/src/generate/pwm_motor_controllers.json +++ b/wpilibj/src/generate/pwm_motor_controllers.json @@ -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", diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/DMC60.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/DMC60.java deleted file mode 100644 index 25e11c159b..0000000000 --- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/DMC60.java +++ /dev/null @@ -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. - * - *

    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. - * - *

      - *
    • 2.004ms = full "forward" - *
    • 1.520ms = the "high end" of the deadband range - *
    • 1.500ms = center of the deadband range (off) - *
    • 1.480ms = the "low end" of the deadband range - *
    • 0.997ms = full "reverse" - *
    - */ -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); - } -} diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Jaguar.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Jaguar.java deleted file mode 100644 index d9638942a3..0000000000 --- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Jaguar.java +++ /dev/null @@ -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. - * - *

    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. - * - *

      - *
    • 2.310ms = full "forward" - *
    • 1.550ms = the "high end" of the deadband range - *
    • 1.507ms = center of the deadband range (off) - *
    • 1.454ms = the "low end" of the deadband range - *
    • 0.697ms = full "reverse" - *
    - */ -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); - } -} diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/SD540.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/SD540.java deleted file mode 100644 index 1ee4eebc00..0000000000 --- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/SD540.java +++ /dev/null @@ -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. - * - *

    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. - * - *

      - *
    • 2.050ms = full "forward" - *
    • 1.550ms = the "high end" of the deadband range - *
    • 1.500ms = center of the deadband range (off) - *
    • 1.440ms = the "low end" of the deadband range - *
    • 0.940ms = full "reverse" - *
    - */ -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); - } -} diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Victor.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Victor.java deleted file mode 100644 index 6c6a0c21b0..0000000000 --- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Victor.java +++ /dev/null @@ -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. - * - *

    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. - * - *

      - *
    • 2.027ms = full "forward" - *
    • 1.525ms = the "high end" of the deadband range - *
    • 1.507ms = center of the deadband range (off) - *
    • 1.490ms = the "low end" of the deadband range - *
    • 1.026ms = full "reverse" - *
    - */ -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); - } -} diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/NidecBrushless.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/NidecBrushless.java deleted file mode 100644 index 01af76563c..0000000000 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/NidecBrushless.java +++ /dev/null @@ -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. - * - *

    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); - } -} diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java index c034a4a433..33017321c6 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java @@ -250,17 +250,13 @@ public enum BuiltInWidgets implements WidgetType { * *

      *
    • {@link edu.wpi.first.wpilibj.motorcontrol.PWMMotorController} - *
    • {@link edu.wpi.first.wpilibj.motorcontrol.DMC60} - *
    • {@link edu.wpi.first.wpilibj.motorcontrol.Jaguar} *
    • {@link edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax} *
    • {@link edu.wpi.first.wpilibj.motorcontrol.PWMTalonFX} *
    • {@link edu.wpi.first.wpilibj.motorcontrol.PWMTalonSRX} *
    • {@link edu.wpi.first.wpilibj.motorcontrol.PWMVenom} *
    • {@link edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX} - *
    • {@link edu.wpi.first.wpilibj.motorcontrol.SD540} *
    • {@link edu.wpi.first.wpilibj.motorcontrol.Spark} *
    • {@link edu.wpi.first.wpilibj.motorcontrol.Talon} - *
    • {@link edu.wpi.first.wpilibj.motorcontrol.Victor} *
    • {@link edu.wpi.first.wpilibj.motorcontrol.VictorSP} *
    • {@link edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup} *
    • Any custom subclass of {@code MotorController} diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DMATest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DMATest.java index 1da5c6fe81..964d762813 100644 --- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DMATest.java +++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DMATest.java @@ -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(); diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java index cba5a35713..eaf675e3cf 100644 --- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java +++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java @@ -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 getVictorPair() { + public static MotorEncoderFixture 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 getJaguarPair() { + public static MotorEncoderFixture getJaguarPair() { return new MotorEncoderFixture<>() { @Override - protected Jaguar giveMotorController() { - return new Jaguar(kJaguarChannel); + protected Talon giveMotorController() { + return new Talon(kJaguarChannel); } @Override