[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.

wpilibj/src/main/java/edu/wpi/first/wpilibj/DMC60.java

@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /**
  * Digilent DMC 60 Speed Controller.
@@ -33,14 +32,13 @@ public class DMC60 extends PWMSpeedController {
    *     the MXP port
    */
   public DMC60(final int channel) {
-    super(channel);
+    super("DMC60", channel);
 
-    setBounds(2.004, 1.52, 1.50, 1.48, 0.997);
-    setPeriodMultiplier(PeriodMultiplier.k1X);
-    setSpeed(0.0);
-    setZeroLatch();
+    m_pwm.setBounds(2.004, 1.52, 1.50, 1.48, 0.997);
+    m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
+    m_pwm.setSpeed(0.0);
+    m_pwm.setZeroLatch();
 
     HAL.report(tResourceType.kResourceType_DigilentDMC60, getChannel() + 1);
-    SendableRegistry.setName(this, "DMC60", getChannel());
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/Jaguar.java

@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /**
  * Texas Instruments / Vex Robotics Jaguar Speed Controller as a PWM device.
@@ -32,14 +31,13 @@ public class Jaguar extends PWMSpeedController {
    *     the MXP port
    */
   public Jaguar(final int channel) {
-    super(channel);
+    super("Jaguar", channel);
 
-    setBounds(2.31, 1.55, 1.507, 1.454, 0.697);
-    setPeriodMultiplier(PeriodMultiplier.k1X);
-    setSpeed(0.0);
-    setZeroLatch();
+    m_pwm.setBounds(2.31, 1.55, 1.507, 1.454, 0.697);
+    m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
+    m_pwm.setSpeed(0.0);
+    m_pwm.setZeroLatch();
 
     HAL.report(tResourceType.kResourceType_Jaguar, getChannel() + 1);
-    SendableRegistry.setName(this, "Jaguar", getChannel());
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java

@@ -23,7 +23,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
  * center value - 999 to 2 = linear scaling from "center" to "full reverse" - 1 = minimum pulse
  * width (currently .5ms) - 0 = disabled (i.e. PWM output is held low)
  */
-public class PWM extends MotorSafety implements Sendable, AutoCloseable {
+public class PWM implements Sendable, AutoCloseable {
   /** Represents the amount to multiply the minimum servo-pulse pwm period by. */
   public enum PeriodMultiplier {
     /** Period Multiplier: don't skip pulses. PWM pulses occur every 5.005 ms */
@@ -42,9 +42,24 @@ public class PWM extends MotorSafety implements Sendable, AutoCloseable {
   /**
    * Allocate a PWM given a channel.
    *
+   * <p>Checks channel value range and allocates the appropriate channel. The allocation is only
+   * done to help users ensure that they don't double assign channels.
+   *
+   * <p>By default, adds itself to SendableRegistry and LiveWindow.
+   *
    * @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the MXP port
    */
   public PWM(final int channel) {
+    this(channel, true);
+  }
+
+  /**
+   * Allocate a PWM given a channel.
+   *
+   * @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the MXP port
+   * @param registerSendable If true, adds this instance to SendableRegistry and LiveWindow
+   */
+  public PWM(final int channel, final boolean registerSendable) {
     SensorUtil.checkPWMChannel(channel);
     m_channel = channel;
 
@@ -55,9 +70,9 @@ public class PWM extends MotorSafety implements Sendable, AutoCloseable {
     PWMJNI.setPWMEliminateDeadband(m_handle, false);
 
     HAL.report(tResourceType.kResourceType_PWM, channel + 1);
-    SendableRegistry.addLW(this, "PWM", channel);
-
-    setSafetyEnabled(false);
+    if (registerSendable) {
+      SendableRegistry.addLW(this, "PWM", channel);
+    }
   }
 
   /** Free the resource associated with the PWM channel and set the value to 0. */
@@ -72,16 +87,6 @@ public class PWM extends MotorSafety implements Sendable, AutoCloseable {
     m_handle = 0;
   }
 
-  @Override
-  public void stopMotor() {
-    setDisabled();
-  }
-
-  @Override
-  public String getDescription() {
-    return "PWM " + getChannel();
-  }
-
   /**
    * Optionally eliminate the deadband from a speed controller.
    *

wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSparkMax.java

@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /**
  * REV Robotics SPARK MAX Speed Controller with PWM control.
@@ -28,14 +27,13 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 public class PWMSparkMax extends PWMSpeedController {
   /** Common initialization code called by all constructors. */
   public PWMSparkMax(final int channel) {
-    super(channel);
+    super("PWMSparkMax", channel);
 
-    setBounds(2.003, 1.55, 1.50, 1.46, 0.999);
-    setPeriodMultiplier(PeriodMultiplier.k1X);
-    setSpeed(0.0);
-    setZeroLatch();
+    m_pwm.setBounds(2.003, 1.55, 1.50, 1.46, 0.999);
+    m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
+    m_pwm.setSpeed(0.0);
+    m_pwm.setZeroLatch();
 
     HAL.report(tResourceType.kResourceType_RevSparkMaxPWM, getChannel() + 1);
-    SendableRegistry.setName(this, "PWMSparkMax", getChannel());
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSpeedController.java

@@ -5,24 +5,31 @@
 package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /** Common base class for all PWM Speed Controllers. */
-public abstract class PWMSpeedController extends PWM implements SpeedController {
+public abstract class PWMSpeedController extends MotorSafety
+    implements SpeedController, Sendable, AutoCloseable {
   private boolean m_isInverted;
+  protected PWM m_pwm;
 
   /**
    * Constructor.
    *
+   * @param name Name to use for SendableRegistry
    * @param channel The PWM channel that the controller is attached to. 0-9 are on-board, 10-19 are
    *     on the MXP port
    */
-  protected PWMSpeedController(int channel) {
-    super(channel);
+  protected PWMSpeedController(final String name, final int channel) {
+    m_pwm = new PWM(channel, false);
+    SendableRegistry.addLW(this, name, channel);
   }
 
+  /** Free the resource associated with the PWM channel and set the value to 0. */
   @Override
-  public String getDescription() {
-    return "PWM " + getChannel();
+  public void close() {
+    SendableRegistry.remove(this);
+    m_pwm.close();
   }
 
   /**
@@ -35,7 +42,7 @@ public abstract class PWMSpeedController extends PWM implements SpeedController
    */
   @Override
   public void set(double speed) {
-    setSpeed(m_isInverted ? -speed : speed);
+    m_pwm.setSpeed(m_isInverted ? -speed : speed);
     feed();
   }
 
@@ -48,7 +55,7 @@ public abstract class PWMSpeedController extends PWM implements SpeedController
    */
   @Override
   public double get() {
-    return getSpeed() * (m_isInverted ? -1.0 : 1.0);
+    return m_pwm.getSpeed() * (m_isInverted ? -1.0 : 1.0);
   }
 
   @Override
@@ -63,7 +70,26 @@ public abstract class PWMSpeedController extends PWM implements SpeedController
 
   @Override
   public void disable() {
-    setDisabled();
+    m_pwm.setDisabled();
+  }
+
+  @Override
+  public void stopMotor() {
+    disable();
+  }
+
+  @Override
+  public String getDescription() {
+    return "PWM " + getChannel();
+  }
+
+  /**
+   * Gets the PWM channel number.
+   *
+   * @return The channel number.
+   */
+  public int getChannel() {
+    return m_pwm.getChannel();
   }
 
   /**
@@ -80,7 +106,7 @@ public abstract class PWMSpeedController extends PWM implements SpeedController
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("Speed Controller");
     builder.setActuator(true);
-    builder.setSafeState(this::setDisabled);
-    builder.addDoubleProperty("Value", this::getSpeed, this::setSpeed);
+    builder.setSafeState(this::disable);
+    builder.addDoubleProperty("Value", this::get, this::set);
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonFX.java

@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /**
  * Cross the Road Electronics (CTRE) Talon FX Speed Controller with PWM control.
@@ -33,14 +32,13 @@ public class PWMTalonFX extends PWMSpeedController {
    *     the MXP port
    */
   public PWMTalonFX(final int channel) {
-    super(channel);
+    super("PWMTalonFX", channel);
 
-    setBounds(2.004, 1.52, 1.50, 1.48, 0.997);
-    setPeriodMultiplier(PeriodMultiplier.k1X);
-    setSpeed(0.0);
-    setZeroLatch();
+    m_pwm.setBounds(2.004, 1.52, 1.50, 1.48, 0.997);
+    m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
+    m_pwm.setSpeed(0.0);
+    m_pwm.setZeroLatch();
 
     HAL.report(tResourceType.kResourceType_TalonFX, getChannel() + 1);
-    SendableRegistry.setName(this, "PWMTalonFX", getChannel());
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonSRX.java

@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /**
  * Cross the Road Electronics (CTRE) Talon SRX Speed Controller with PWM control.
@@ -33,14 +32,13 @@ public class PWMTalonSRX extends PWMSpeedController {
    *     on the MXP port
    */
   public PWMTalonSRX(final int channel) {
-    super(channel);
+    super("PWMTalonSRX", channel);
 
-    setBounds(2.004, 1.52, 1.50, 1.48, 0.997);
-    setPeriodMultiplier(PeriodMultiplier.k1X);
-    setSpeed(0.0);
-    setZeroLatch();
+    m_pwm.setBounds(2.004, 1.52, 1.50, 1.48, 0.997);
+    m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
+    m_pwm.setSpeed(0.0);
+    m_pwm.setZeroLatch();
 
     HAL.report(tResourceType.kResourceType_PWMTalonSRX, getChannel() + 1);
-    SendableRegistry.setName(this, "PWMTalonSRX", getChannel());
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVenom.java

@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /**
  * Playing with Fusion Venom Smart Motor with PWM control.
@@ -32,14 +31,13 @@ public class PWMVenom extends PWMSpeedController {
    *     the MXP port
    */
   public PWMVenom(final int channel) {
-    super(channel);
+    super("PWMVenom", channel);
 
-    setBounds(2.004, 1.52, 1.50, 1.48, 0.997);
-    setPeriodMultiplier(PeriodMultiplier.k1X);
-    setSpeed(0.0);
-    setZeroLatch();
+    m_pwm.setBounds(2.004, 1.52, 1.50, 1.48, 0.997);
+    m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
+    m_pwm.setSpeed(0.0);
+    m_pwm.setZeroLatch();
 
     HAL.report(tResourceType.kResourceType_FusionVenom, getChannel() + 1);
-    SendableRegistry.setName(this, "PWMVenom", getChannel());
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVictorSPX.java

@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /**
  * Cross the Road Electronics (CTRE) Victor SPX Speed Controller with PWM control.
@@ -33,14 +32,13 @@ public class PWMVictorSPX extends PWMSpeedController {
    *     are on the MXP port
    */
   public PWMVictorSPX(final int channel) {
-    super(channel);
+    super("PWMVictorSPX", channel);
 
-    setBounds(2.004, 1.52, 1.50, 1.48, 0.997);
-    setPeriodMultiplier(PeriodMultiplier.k1X);
-    setSpeed(0.0);
-    setZeroLatch();
+    m_pwm.setBounds(2.004, 1.52, 1.50, 1.48, 0.997);
+    m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
+    m_pwm.setSpeed(0.0);
+    m_pwm.setZeroLatch();
 
     HAL.report(tResourceType.kResourceType_PWMVictorSPX, getChannel() + 1);
-    SendableRegistry.setName(this, "PWMVictorSPX", getChannel());
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/SD540.java

@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /**
  * Mindsensors SD540 Speed Controller.
@@ -26,17 +25,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
  * </ul>
  */
 public class SD540 extends PWMSpeedController {
-  /** Common initialization code called by all constructors. */
-  protected void initSD540() {
-    setBounds(2.05, 1.55, 1.50, 1.44, 0.94);
-    setPeriodMultiplier(PeriodMultiplier.k1X);
-    setSpeed(0.0);
-    setZeroLatch();
-
-    HAL.report(tResourceType.kResourceType_MindsensorsSD540, getChannel() + 1);
-    SendableRegistry.setName(this, "SD540", getChannel());
-  }
-
   /**
    * Constructor.
    *
@@ -44,7 +32,13 @@ public class SD540 extends PWMSpeedController {
    *     the MXP port
    */
   public SD540(final int channel) {
-    super(channel);
-    initSD540();
+    super("SD540", channel);
+
+    m_pwm.setBounds(2.05, 1.55, 1.50, 1.44, 0.94);
+    m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
+    m_pwm.setSpeed(0.0);
+    m_pwm.setZeroLatch();
+
+    HAL.report(tResourceType.kResourceType_MindsensorsSD540, getChannel() + 1);
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/Spark.java

@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /**
  * REV Robotics SPARK Speed Controller.
@@ -26,17 +25,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
  * </ul>
  */
 public class Spark extends PWMSpeedController {
-  /** Common initialization code called by all constructors. */
-  protected void initSpark() {
-    setBounds(2.003, 1.55, 1.50, 1.46, 0.999);
-    setPeriodMultiplier(PeriodMultiplier.k1X);
-    setSpeed(0.0);
-    setZeroLatch();
-
-    HAL.report(tResourceType.kResourceType_RevSPARK, getChannel() + 1);
-    SendableRegistry.setName(this, "Spark", getChannel());
-  }
-
   /**
    * Constructor.
    *
@@ -44,7 +32,13 @@ public class Spark extends PWMSpeedController {
    *     the MXP port
    */
   public Spark(final int channel) {
-    super(channel);
-    initSpark();
+    super("Spark", channel);
+
+    m_pwm.setBounds(2.003, 1.55, 1.50, 1.46, 0.999);
+    m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
+    m_pwm.setSpeed(0.0);
+    m_pwm.setZeroLatch();
+
+    HAL.report(tResourceType.kResourceType_RevSPARK, getChannel() + 1);
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/Talon.java

@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /**
  * Cross the Road Electronics (CTRE) Talon and Talon SR Speed Controller.
@@ -32,14 +31,13 @@ public class Talon extends PWMSpeedController {
    *     the MXP port
    */
   public Talon(final int channel) {
-    super(channel);
+    super("Talon", channel);
 
-    setBounds(2.037, 1.539, 1.513, 1.487, 0.989);
-    setPeriodMultiplier(PeriodMultiplier.k1X);
-    setSpeed(0.0);
-    setZeroLatch();
+    m_pwm.setBounds(2.037, 1.539, 1.513, 1.487, 0.989);
+    m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
+    m_pwm.setSpeed(0.0);
+    m_pwm.setZeroLatch();
 
     HAL.report(tResourceType.kResourceType_Talon, getChannel() + 1);
-    SendableRegistry.setName(this, "Talon", getChannel());
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/Victor.java

@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /**
  * VEX Robotics Victor 888 Speed Controller The Vex Robotics Victor 884 Speed Controller can also be
@@ -35,14 +34,13 @@ public class Victor extends PWMSpeedController {
    *     the MXP port
    */
   public Victor(final int channel) {
-    super(channel);
+    super("Victor", channel);
 
-    setBounds(2.027, 1.525, 1.507, 1.49, 1.026);
-    setPeriodMultiplier(PeriodMultiplier.k2X);
-    setSpeed(0.0);
-    setZeroLatch();
+    m_pwm.setBounds(2.027, 1.525, 1.507, 1.49, 1.026);
+    m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k2X);
+    m_pwm.setSpeed(0.0);
+    m_pwm.setZeroLatch();
 
     HAL.report(tResourceType.kResourceType_Victor, getChannel() + 1);
-    SendableRegistry.setName(this, "Victor", getChannel());
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/VictorSP.java

@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
 
 /**
  * VEX Robotics Victor SP Speed Controller.
@@ -33,14 +32,13 @@ public class VictorSP extends PWMSpeedController {
    *     the MXP port
    */
   public VictorSP(final int channel) {
-    super(channel);
+    super("VictorSP", channel);
 
-    setBounds(2.004, 1.52, 1.50, 1.48, 0.997);
-    setPeriodMultiplier(PeriodMultiplier.k1X);
-    setSpeed(0.0);
-    setZeroLatch();
+    m_pwm.setBounds(2.004, 1.52, 1.50, 1.48, 0.997);
+    m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
+    m_pwm.setSpeed(0.0);
+    m_pwm.setZeroLatch();
 
     HAL.report(tResourceType.kResourceType_VictorSP, getChannel() + 1);
-    SendableRegistry.setName(this, "VictorSP", getChannel());
   }
 }