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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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145
wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/NidecBrushless.java
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@@ -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
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@@ -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}