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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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4
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DMATest.java
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@@ -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
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@@ -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