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

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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); });
}