[wpilib] PWMSpeedController: Use PWM by composition (#3248)

This cleans up the user experience by removing lower-level functions from the
interface.

Also remove MotorSafety from "raw" PWM.

wpilibc/src/main/native/cpp/DMC60.cpp

@@ -6,16 +6,13 @@
 
 #include <hal/FRCUsageReporting.h>
 
-#include "frc/smartdashboard/SendableRegistry.h"
-
 using namespace frc;
 
-DMC60::DMC60(int channel) : PWMSpeedController(channel) {
-  SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
-  SetPeriodMultiplier(kPeriodMultiplier_1X);
-  SetSpeed(0.0);
-  SetZeroLatch();
+DMC60::DMC60(int channel) : PWMSpeedController("DMC60", channel) {
+  m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
+  m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
+  m_pwm.SetSpeed(0.0);
+  m_pwm.SetZeroLatch();
 
   HAL_Report(HALUsageReporting::kResourceType_DigilentDMC60, GetChannel() + 1);
-  SendableRegistry::GetInstance().SetName(this, "DMC60", GetChannel());
 }

wpilibc/src/main/native/cpp/Jaguar.cpp

@@ -6,16 +6,13 @@
 
 #include <hal/FRCUsageReporting.h>
 
-#include "frc/smartdashboard/SendableRegistry.h"
-
 using namespace frc;
 
-Jaguar::Jaguar(int channel) : PWMSpeedController(channel) {
-  SetBounds(2.31, 1.55, 1.507, 1.454, 0.697);
-  SetPeriodMultiplier(kPeriodMultiplier_1X);
-  SetSpeed(0.0);
-  SetZeroLatch();
+Jaguar::Jaguar(int channel) : PWMSpeedController("Jaguar", channel) {
+  m_pwm.SetBounds(2.31, 1.55, 1.507, 1.454, 0.697);
+  m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
+  m_pwm.SetSpeed(0.0);
+  m_pwm.SetZeroLatch();
 
   HAL_Report(HALUsageReporting::kResourceType_Jaguar, GetChannel() + 1);
-  SendableRegistry::GetInstance().SetName(this, "Jaguar", GetChannel());
 }

wpilibc/src/main/native/cpp/NidecBrushless.cpp

@@ -5,6 +5,7 @@
 #include "frc/NidecBrushless.h"
 
 #include <hal/FRCUsageReporting.h>
+#include <wpi/raw_ostream.h>
 
 #include "frc/smartdashboard/SendableBuilder.h"
 #include "frc/smartdashboard/SendableRegistry.h"

wpilibc/src/main/native/cpp/PWM.cpp

@@ -19,7 +19,7 @@
 
 using namespace frc;
 
-PWM::PWM(int channel) {
+PWM::PWM(int channel, bool registerSendable) {
   if (!SensorUtil::CheckPWMChannel(channel)) {
     wpi_setWPIErrorWithContext(ChannelIndexOutOfRange,
                                "PWM Channel " + wpi::Twine(channel));
@@ -44,9 +44,9 @@ PWM::PWM(int channel) {
   wpi_setHALError(status);
 
   HAL_Report(HALUsageReporting::kResourceType_PWM, channel + 1);
-  SendableRegistry::GetInstance().AddLW(this, "PWM", channel);
-
-  SetSafetyEnabled(false);
+  if (registerSendable) {
+    SendableRegistry::GetInstance().AddLW(this, "PWM", channel);
+  }
 }
 
 PWM::~PWM() {
@@ -59,14 +59,6 @@ PWM::~PWM() {
   wpi_setHALError(status);
 }
 
-void PWM::StopMotor() {
-  SetDisabled();
-}
-
-void PWM::GetDescription(wpi::raw_ostream& desc) const {
-  desc << "PWM " << GetChannel();
-}
-
 void PWM::SetRaw(uint16_t value) {
   if (StatusIsFatal()) {
     return;
@@ -115,8 +107,6 @@ void PWM::SetSpeed(double speed) {
   int32_t status = 0;
   HAL_SetPWMSpeed(m_handle, speed, &status);
   wpi_setHALError(status);
-
-  Feed();
 }
 
 double PWM::GetSpeed() const {
@@ -223,8 +213,7 @@ int PWM::GetChannel() const {
 void PWM::InitSendable(SendableBuilder& builder) {
   builder.SetSmartDashboardType("PWM");
   builder.SetActuator(true);
-  builder.SetSafeState([=]() { SetDisabled(); });
+  builder.SetSafeState([=] { SetDisabled(); });
   builder.AddDoubleProperty(
-      "Value", [=]() { return GetRaw(); },
-      [=](double value) { SetRaw(value); });
+      "Value", [=] { return GetRaw(); }, [=](double value) { SetRaw(value); });
 }

wpilibc/src/main/native/cpp/PWMSparkMax.cpp

@@ -10,12 +10,12 @@
 
 using namespace frc;
 
-PWMSparkMax::PWMSparkMax(int channel) : PWMSpeedController(channel) {
-  SetBounds(2.003, 1.55, 1.50, 1.46, 0.999);
-  SetPeriodMultiplier(kPeriodMultiplier_1X);
-  SetSpeed(0.0);
-  SetZeroLatch();
+PWMSparkMax::PWMSparkMax(int channel)
+    : PWMSpeedController("PWMSparkMax", channel) {
+  m_pwm.SetBounds(2.003, 1.55, 1.50, 1.46, 0.999);
+  m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
+  m_pwm.SetSpeed(0.0);
+  m_pwm.SetZeroLatch();
 
   HAL_Report(HALUsageReporting::kResourceType_RevSparkMaxPWM, GetChannel() + 1);
-  SendableRegistry::GetInstance().SetName(this, "PWMSparkMax", GetChannel());
 }

wpilibc/src/main/native/cpp/PWMSpeedController.cpp

@@ -4,16 +4,18 @@
 
 #include "frc/PWMSpeedController.h"
 
+#include <wpi/raw_ostream.h>
+
 #include "frc/smartdashboard/SendableBuilder.h"
 
 using namespace frc;
 
 void PWMSpeedController::Set(double speed) {
-  SetSpeed(m_isInverted ? -speed : speed);
+  m_pwm.SetSpeed(m_isInverted ? -speed : speed);
 }
 
 double PWMSpeedController::Get() const {
-  return GetSpeed() * (m_isInverted ? -1.0 : 1.0);
+  return m_pwm.GetSpeed() * (m_isInverted ? -1.0 : 1.0);
 }
 
 void PWMSpeedController::SetInverted(bool isInverted) {
@@ -25,24 +27,34 @@ bool PWMSpeedController::GetInverted() const {
 }
 
 void PWMSpeedController::Disable() {
-  SetDisabled();
+  m_pwm.SetDisabled();
 }
 
 void PWMSpeedController::StopMotor() {
-  PWM::StopMotor();
+  Disable();
+}
+
+void PWMSpeedController::GetDescription(wpi::raw_ostream& desc) const {
+  desc << "PWM " << GetChannel();
+}
+
+int PWMSpeedController::GetChannel() const {
+  return m_pwm.GetChannel();
 }
 
 void PWMSpeedController::PIDWrite(double output) {
   Set(output);
 }
 
-PWMSpeedController::PWMSpeedController(int channel) : PWM(channel) {}
+PWMSpeedController::PWMSpeedController(const wpi::Twine& name, int channel)
+    : m_pwm(channel, false) {
+  SendableRegistry::GetInstance().AddLW(this, name, channel);
+}
 
 void PWMSpeedController::InitSendable(SendableBuilder& builder) {
   builder.SetSmartDashboardType("Speed Controller");
   builder.SetActuator(true);
-  builder.SetSafeState([=]() { SetDisabled(); });
+  builder.SetSafeState([=] { Disable(); });
   builder.AddDoubleProperty(
-      "Value", [=]() { return GetSpeed(); },
-      [=](double value) { SetSpeed(value); });
+      "Value", [=] { return Get(); }, [=](double value) { Set(value); });
 }

wpilibc/src/main/native/cpp/PWMTalonFX.cpp

@@ -6,16 +6,14 @@
 
 #include <hal/FRCUsageReporting.h>
 
-#include "frc/smartdashboard/SendableRegistry.h"
-
 using namespace frc;
 
-PWMTalonFX::PWMTalonFX(int channel) : PWMSpeedController(channel) {
-  SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
-  SetPeriodMultiplier(kPeriodMultiplier_1X);
-  SetSpeed(0.0);
-  SetZeroLatch();
+PWMTalonFX::PWMTalonFX(int channel)
+    : PWMSpeedController("PWMTalonFX", channel) {
+  m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
+  m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
+  m_pwm.SetSpeed(0.0);
+  m_pwm.SetZeroLatch();
 
   HAL_Report(HALUsageReporting::kResourceType_TalonFX, GetChannel() + 1);
-  SendableRegistry::GetInstance().SetName(this, "PWMTalonFX", GetChannel());
 }

wpilibc/src/main/native/cpp/PWMTalonSRX.cpp

@@ -6,16 +6,14 @@
 
 #include <hal/FRCUsageReporting.h>
 
-#include "frc/smartdashboard/SendableRegistry.h"
-
 using namespace frc;
 
-PWMTalonSRX::PWMTalonSRX(int channel) : PWMSpeedController(channel) {
-  SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
-  SetPeriodMultiplier(kPeriodMultiplier_1X);
-  SetSpeed(0.0);
-  SetZeroLatch();
+PWMTalonSRX::PWMTalonSRX(int channel)
+    : PWMSpeedController("PWMTalonSRX", channel) {
+  m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
+  m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
+  m_pwm.SetSpeed(0.0);
+  m_pwm.SetZeroLatch();
 
   HAL_Report(HALUsageReporting::kResourceType_PWMTalonSRX, GetChannel() + 1);
-  SendableRegistry::GetInstance().SetName(this, "PWMTalonSRX", GetChannel());
 }

wpilibc/src/main/native/cpp/PWMVenom.cpp

@@ -6,16 +6,13 @@
 
 #include <hal/FRCUsageReporting.h>
 
-#include "frc/smartdashboard/SendableRegistry.h"
-
 using namespace frc;
 
-PWMVenom::PWMVenom(int channel) : PWMSpeedController(channel) {
-  SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
-  SetPeriodMultiplier(kPeriodMultiplier_1X);
-  SetSpeed(0.0);
-  SetZeroLatch();
+PWMVenom::PWMVenom(int channel) : PWMSpeedController("PWMVenom", channel) {
+  m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
+  m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
+  m_pwm.SetSpeed(0.0);
+  m_pwm.SetZeroLatch();
 
   HAL_Report(HALUsageReporting::kResourceType_FusionVenom, GetChannel() + 1);
-  SendableRegistry::GetInstance().SetName(this, "PWMVenom", GetChannel());
 }

wpilibc/src/main/native/cpp/PWMVictorSPX.cpp

@@ -6,16 +6,14 @@
 
 #include <hal/FRCUsageReporting.h>
 
-#include "frc/smartdashboard/SendableRegistry.h"
-
 using namespace frc;
 
-PWMVictorSPX::PWMVictorSPX(int channel) : PWMSpeedController(channel) {
-  SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
-  SetPeriodMultiplier(kPeriodMultiplier_1X);
-  SetSpeed(0.0);
-  SetZeroLatch();
+PWMVictorSPX::PWMVictorSPX(int channel)
+    : PWMSpeedController("PWMVictorSPX", channel) {
+  m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
+  m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
+  m_pwm.SetSpeed(0.0);
+  m_pwm.SetZeroLatch();
 
   HAL_Report(HALUsageReporting::kResourceType_PWMVictorSPX, GetChannel() + 1);
-  SendableRegistry::GetInstance().SetName(this, "PWMVictorSPX", GetChannel());
 }

wpilibc/src/main/native/cpp/SD540.cpp

@@ -6,17 +6,14 @@
 
 #include <hal/FRCUsageReporting.h>
 
-#include "frc/smartdashboard/SendableRegistry.h"
-
 using namespace frc;
 
-SD540::SD540(int channel) : PWMSpeedController(channel) {
-  SetBounds(2.05, 1.55, 1.50, 1.44, 0.94);
-  SetPeriodMultiplier(kPeriodMultiplier_1X);
-  SetSpeed(0.0);
-  SetZeroLatch();
+SD540::SD540(int channel) : PWMSpeedController("SD540", channel) {
+  m_pwm.SetBounds(2.05, 1.55, 1.50, 1.44, 0.94);
+  m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
+  m_pwm.SetSpeed(0.0);
+  m_pwm.SetZeroLatch();
 
   HAL_Report(HALUsageReporting::kResourceType_MindsensorsSD540,
              GetChannel() + 1);
-  SendableRegistry::GetInstance().SetName(this, "SD540", GetChannel());
 }

wpilibc/src/main/native/cpp/Spark.cpp

@@ -6,16 +6,13 @@
 
 #include <hal/FRCUsageReporting.h>
 
-#include "frc/smartdashboard/SendableRegistry.h"
-
 using namespace frc;
 
-Spark::Spark(int channel) : PWMSpeedController(channel) {
-  SetBounds(2.003, 1.55, 1.50, 1.46, 0.999);
-  SetPeriodMultiplier(kPeriodMultiplier_1X);
-  SetSpeed(0.0);
-  SetZeroLatch();
+Spark::Spark(int channel) : PWMSpeedController("Spark", channel) {
+  m_pwm.SetBounds(2.003, 1.55, 1.50, 1.46, 0.999);
+  m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
+  m_pwm.SetSpeed(0.0);
+  m_pwm.SetZeroLatch();
 
   HAL_Report(HALUsageReporting::kResourceType_RevSPARK, GetChannel() + 1);
-  SendableRegistry::GetInstance().SetName(this, "Spark", GetChannel());
 }

wpilibc/src/main/native/cpp/Talon.cpp

@@ -6,16 +6,13 @@
 
 #include <hal/FRCUsageReporting.h>
 
-#include "frc/smartdashboard/SendableRegistry.h"
-
 using namespace frc;
 
-Talon::Talon(int channel) : PWMSpeedController(channel) {
-  SetBounds(2.037, 1.539, 1.513, 1.487, 0.989);
-  SetPeriodMultiplier(kPeriodMultiplier_1X);
-  SetSpeed(0.0);
-  SetZeroLatch();
+Talon::Talon(int channel) : PWMSpeedController("Talon", channel) {
+  m_pwm.SetBounds(2.037, 1.539, 1.513, 1.487, 0.989);
+  m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
+  m_pwm.SetSpeed(0.0);
+  m_pwm.SetZeroLatch();
 
   HAL_Report(HALUsageReporting::kResourceType_Talon, GetChannel() + 1);
-  SendableRegistry::GetInstance().SetName(this, "Talon", GetChannel());
 }

wpilibc/src/main/native/cpp/Victor.cpp

@@ -6,16 +6,13 @@
 
 #include <hal/FRCUsageReporting.h>
 
-#include "frc/smartdashboard/SendableRegistry.h"
-
 using namespace frc;
 
-Victor::Victor(int channel) : PWMSpeedController(channel) {
-  SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
-  SetPeriodMultiplier(kPeriodMultiplier_2X);
-  SetSpeed(0.0);
-  SetZeroLatch();
+Victor::Victor(int channel) : PWMSpeedController("Victor", channel) {
+  m_pwm.SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
+  m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_2X);
+  m_pwm.SetSpeed(0.0);
+  m_pwm.SetZeroLatch();
 
   HAL_Report(HALUsageReporting::kResourceType_Victor, GetChannel() + 1);
-  SendableRegistry::GetInstance().SetName(this, "Victor", GetChannel());
 }

wpilibc/src/main/native/cpp/VictorSP.cpp

@@ -6,16 +6,13 @@
 
 #include <hal/FRCUsageReporting.h>
 
-#include "frc/smartdashboard/SendableRegistry.h"
-
 using namespace frc;
 
-VictorSP::VictorSP(int channel) : PWMSpeedController(channel) {
-  SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
-  SetPeriodMultiplier(kPeriodMultiplier_1X);
-  SetSpeed(0.0);
-  SetZeroLatch();
+VictorSP::VictorSP(int channel) : PWMSpeedController("VictorSP", channel) {
+  m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
+  m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
+  m_pwm.SetSpeed(0.0);
+  m_pwm.SetZeroLatch();
 
   HAL_Report(HALUsageReporting::kResourceType_VictorSP, GetChannel() + 1);
-  SendableRegistry::GetInstance().SetName(this, "VictorSP", GetChannel());
 }