[glass, wpilib] Replace remaining references to Speed Controller with Motor Controller (#4769)

glass/src/libnt/native/cpp/NTMotorController.cpp

@@ -0,0 +1,44 @@
+// 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 "glass/networktables/NTMotorController.h"
+
+#include <fmt/format.h>
+#include <wpi/StringExtras.h>
+
+using namespace glass;
+
+NTMotorControllerModel::NTMotorControllerModel(std::string_view path)
+    : NTMotorControllerModel(nt::NetworkTableInstance::GetDefault(), path) {}
+
+NTMotorControllerModel::NTMotorControllerModel(nt::NetworkTableInstance inst,
+                                               std::string_view path)
+    : m_inst{inst},
+      m_value{inst.GetDoubleTopic(fmt::format("{}/Value", path))
+                  .GetEntry(0, {{nt::PubSubOption::SendAll(true)}})},
+      m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
+      m_controllable{inst.GetBooleanTopic(fmt::format("{}/.controllable", path))
+                         .Subscribe(false)},
+      m_valueData{fmt::format("NT_SpdCtrl:{}", path)},
+      m_nameValue{wpi::rsplit(path, '/').second} {}
+
+void NTMotorControllerModel::SetPercent(double value) {
+  m_value.Set(value);
+}
+
+void NTMotorControllerModel::Update() {
+  for (auto&& v : m_value.ReadQueue()) {
+    m_valueData.SetValue(v.value, v.time);
+  }
+  for (auto&& v : m_name.ReadQueue()) {
+    m_nameValue = std::move(v.value);
+  }
+  for (auto&& v : m_controllable.ReadQueue()) {
+    m_controllableValue = v.value;
+  }
+}
+
+bool NTMotorControllerModel::Exists() {
+  return m_value.Exists();
+}