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[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
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86
wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp
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@@ -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
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@@ -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
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@@ -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>