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

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This commit is contained in:
Jordan McMichael
2022-12-05 23:06:43 -05:00
committed by GitHub
parent 72e21a1ed1
commit 8618dd4160
20 changed files with 63 additions and 63 deletions
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2
wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardWidget.cpp
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@@ -20,7 +20,7 @@ static constexpr const char* widgetStrings[] = {
"ComboBox Chooser",
"Split Button Chooser",
"Encoder",
"Speed Controller",
"Motor Controller",
"Command",
"PID Command",
"PID Controller",

2
wpilibc/src/main/native/include/frc/PWM.h
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@@ -166,7 +166,7 @@ class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
/**
* Optionally eliminate the deadband from a motor controller.
*
* @param eliminateDeadband If true, set the motor curve on the speed
* @param eliminateDeadband If true, set the motor curve on the motor
* controller to eliminate the deadband in the middle
* of the range. Otherwise, keep the full range
* without modifying any values.

2
wpilibc/src/main/native/include/frc/motorcontrol/MotorController.h
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@@ -23,7 +23,7 @@ class MotorController {
virtual void Set(double speed) = 0;
/**
* Sets the voltage output of the SpeedController. Compensates for
* Sets the voltage output of the MotorController. Compensates for
* the current bus voltage to ensure that the desired voltage is output even
* if the battery voltage is below 12V - highly useful when the voltage
* outputs are "meaningful" (e.g. they come from a feedforward calculation).

2
wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h
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@@ -64,7 +64,7 @@ class PWMMotorController : public MotorController,
/**
* Optionally eliminate the deadband from a motor controller.
*
* @param eliminateDeadband If true, set the motor curve on the speed
* @param eliminateDeadband If true, set the motor curve on the motor
* controller to eliminate the deadband in the middle
* of the range. Otherwise, keep the full range
* without modifying any values.

2
wpilibc/src/main/native/include/frc/shuffleboard/ComplexWidget.h
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@@ -21,7 +21,7 @@ namespace frc {
class ShuffleboardContainer;
/**
* A Shuffleboard widget that handles a Sendable object such as a speed
* A Shuffleboard widget that handles a Sendable object such as a motor
* controller or sensor.
*/
class ComplexWidget final : public ShuffleboardWidget<ComplexWidget> {

56
wpilibc/src/test/native/cpp/motorcontrol/MotorControllerGroupTest.cpp
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@@ -18,13 +18,13 @@ std::ostream& operator<<(std::ostream& os,
const MotorControllerGroupTestType& type) {
switch (type) {
case TEST_ONE:
os << "MotorControllerGroup with one speed controller";
os << "MotorControllerGroup with one motor controller";
break;
case TEST_TWO:
os << "MotorControllerGroup with two speed controllers";
os << "MotorControllerGroup with two motor controllers";
break;
case TEST_THREE:
os << "MotorControllerGroup with three speed controllers";
os << "MotorControllerGroup with three motor controllers";
break;
}
@@ -37,32 +37,32 @@ std::ostream& operator<<(std::ostream& os,
class MotorControllerGroupTest
: public testing::TestWithParam<MotorControllerGroupTestType> {
protected:
std::vector<MockMotorController> m_speedControllers;
std::vector<MockMotorController> m_motorControllers;
std::unique_ptr<MotorControllerGroup> m_group;
void SetUp() override {
switch (GetParam()) {
case TEST_ONE: {
m_speedControllers.emplace_back();
m_group = std::make_unique<MotorControllerGroup>(m_speedControllers[0]);
m_motorControllers.emplace_back();
m_group = std::make_unique<MotorControllerGroup>(m_motorControllers[0]);
break;
}
case TEST_TWO: {
m_speedControllers.emplace_back();
m_speedControllers.emplace_back();
m_group = std::make_unique<MotorControllerGroup>(m_speedControllers[0],
m_speedControllers[1]);
m_motorControllers.emplace_back();
m_motorControllers.emplace_back();
m_group = std::make_unique<MotorControllerGroup>(m_motorControllers[0],
m_motorControllers[1]);
break;
}
case TEST_THREE: {
m_speedControllers.emplace_back();
m_speedControllers.emplace_back();
m_speedControllers.emplace_back();
m_group = std::make_unique<MotorControllerGroup>(m_speedControllers[0],
m_speedControllers[1],
m_speedControllers[2]);
m_motorControllers.emplace_back();
m_motorControllers.emplace_back();
m_motorControllers.emplace_back();
m_group = std::make_unique<MotorControllerGroup>(m_motorControllers[0],
m_motorControllers[1],
m_motorControllers[2]);
break;
}
}
@@ -72,8 +72,8 @@ class MotorControllerGroupTest
TEST_P(MotorControllerGroupTest, Set) {
m_group->Set(1.0);
for (auto& speedController : m_speedControllers) {
EXPECT_FLOAT_EQ(speedController.Get(), 1.0);
for (auto& motorController : m_motorControllers) {
EXPECT_FLOAT_EQ(motorController.Get(), 1.0);
}
}
@@ -84,13 +84,13 @@ TEST_P(MotorControllerGroupTest, GetInverted) {
}
TEST_P(MotorControllerGroupTest, SetInvertedDoesNotModifyMotorControllers) {
for (auto& speedController : m_speedControllers) {
speedController.SetInverted(false);
for (auto& motorController : m_motorControllers) {
motorController.SetInverted(false);
}
m_group->SetInverted(true);
for (auto& speedController : m_speedControllers) {
EXPECT_EQ(speedController.GetInverted(), false);
for (auto& motorController : m_motorControllers) {
EXPECT_EQ(motorController.GetInverted(), false);
}
}
@@ -98,8 +98,8 @@ TEST_P(MotorControllerGroupTest, SetInvertedDoesInvert) {
m_group->SetInverted(true);
m_group->Set(1.0);
for (auto& speedController : m_speedControllers) {
EXPECT_FLOAT_EQ(speedController.Get(), -1.0);
for (auto& motorController : m_motorControllers) {
EXPECT_FLOAT_EQ(motorController.Get(), -1.0);
}
}
@@ -107,8 +107,8 @@ TEST_P(MotorControllerGroupTest, Disable) {
m_group->Set(1.0);
m_group->Disable();
for (auto& speedController : m_speedControllers) {
EXPECT_FLOAT_EQ(speedController.Get(), 0.0);
for (auto& motorController : m_motorControllers) {
EXPECT_FLOAT_EQ(motorController.Get(), 0.0);
}
}
@@ -116,8 +116,8 @@ TEST_P(MotorControllerGroupTest, StopMotor) {
m_group->Set(1.0);
m_group->StopMotor();
for (auto& speedController : m_speedControllers) {
EXPECT_FLOAT_EQ(speedController.Get(), 0.0);
for (auto& motorController : m_motorControllers) {
EXPECT_FLOAT_EQ(motorController.Get(), 0.0);
}
}