diff --git a/wpilibc/athena/include/CANJaguar.h b/wpilibc/athena/include/CANJaguar.h index d68d8ca40d..b6ffa3cace 100644 --- a/wpilibc/athena/include/CANJaguar.h +++ b/wpilibc/athena/include/CANJaguar.h @@ -92,9 +92,11 @@ class CANJaguar : public MotorSafety, void SetVoltageMode(QuadEncoderStruct, uint16_t codesPerRev); void SetVoltageMode(PotentiometerStruct); + void Set(float value, uint8_t syncGroup); + // CANSpeedController interface virtual float Get() const override; - virtual void Set(float value, uint8_t syncGroup = 0) override; + virtual void Set(float value) override; virtual void Disable() override; virtual void SetP(double p) override; virtual void SetI(double i) override; diff --git a/wpilibc/athena/include/CANSpeedController.h b/wpilibc/athena/include/CANSpeedController.h index 20aae9c065..ccd3710e23 100644 --- a/wpilibc/athena/include/CANSpeedController.h +++ b/wpilibc/athena/include/CANSpeedController.h @@ -64,7 +64,7 @@ class CANSpeedController : public SpeedController { }; virtual float Get() const = 0; - virtual void Set(float value, uint8_t syncGroup = 0) = 0; + virtual void Set(float value) = 0; virtual void StopMotor() = 0; virtual void Disable() = 0; virtual void SetP(double p) = 0; diff --git a/wpilibc/athena/include/CANTalon.h b/wpilibc/athena/include/CANTalon.h index 4ff86fcdd6..b831595503 100644 --- a/wpilibc/athena/include/CANTalon.h +++ b/wpilibc/athena/include/CANTalon.h @@ -242,7 +242,7 @@ class CANTalon : public MotorSafety, // CANSpeedController interface virtual float Get() const override; - virtual void Set(float value, uint8_t syncGroup = 0) override; + virtual void Set(float value) override; virtual void Reset() override; virtual void SetSetpoint(float value) override; virtual void Disable() override; diff --git a/wpilibc/athena/include/PWMSpeedController.h b/wpilibc/athena/include/PWMSpeedController.h index 363f72f4ff..92a92a62a8 100644 --- a/wpilibc/athena/include/PWMSpeedController.h +++ b/wpilibc/athena/include/PWMSpeedController.h @@ -16,7 +16,7 @@ class PWMSpeedController : public SafePWM, public SpeedController { public: virtual ~PWMSpeedController() = default; - virtual void Set(float value, uint8_t syncGroup = 0) override; + virtual void Set(float value) override; virtual float Get() const override; virtual void Disable() override; virtual void StopMotor() override; @@ -31,4 +31,4 @@ class PWMSpeedController : public SafePWM, public SpeedController { private: bool m_isInverted = false; -}; \ No newline at end of file +}; diff --git a/wpilibc/athena/include/RobotDrive.h b/wpilibc/athena/include/RobotDrive.h index 423b7f0cc8..fb1f37c08a 100644 --- a/wpilibc/athena/include/RobotDrive.h +++ b/wpilibc/athena/include/RobotDrive.h @@ -87,7 +87,6 @@ class RobotDrive : public MotorSafety, public ErrorBase { void SetInvertedMotor(MotorType motor, bool isInverted); void SetSensitivity(float sensitivity); void SetMaxOutput(double maxOutput); - void SetCANJaguarSyncGroup(uint8_t syncGroup); void SetExpiration(float timeout) override; float GetExpiration() const override; @@ -111,7 +110,6 @@ class RobotDrive : public MotorSafety, public ErrorBase { std::shared_ptr m_rearLeftMotor; std::shared_ptr m_rearRightMotor; std::unique_ptr m_safetyHelper; - uint8_t m_syncGroup = 0; private: int32_t GetNumMotors() { diff --git a/wpilibc/athena/include/SpeedController.h b/wpilibc/athena/include/SpeedController.h index bc9bc6c066..c9f4b2eca5 100644 --- a/wpilibc/athena/include/SpeedController.h +++ b/wpilibc/athena/include/SpeedController.h @@ -20,10 +20,8 @@ class SpeedController : public PIDOutput { * Common interface for setting the speed of a speed controller. * * @param speed The speed to set. Value should be between -1.0 and 1.0. - * @param syncGroup The update group to add this Set() to, pending - * UpdateSyncGroup(). If 0, update immediately. */ - virtual void Set(float speed, uint8_t syncGroup = 0) = 0; + virtual void Set(float speed) = 0; /** * Common interface for getting the current set speed of a speed controller. diff --git a/wpilibc/athena/src/CANJaguar.cpp b/wpilibc/athena/src/CANJaguar.cpp index 5f76ccddd4..f9111cd76f 100644 --- a/wpilibc/athena/src/CANJaguar.cpp +++ b/wpilibc/athena/src/CANJaguar.cpp @@ -1523,6 +1523,23 @@ void CANJaguar::SetVoltageMode(CANJaguar::PotentiometerStruct) { ConfigPotentiometerTurns(1); } +/** + * Sets the output set-point value. + * + * The scale and the units depend on the mode the Jaguar is in. + *

In percentVbus Mode, the outputValue is from -1.0 to 1.0 (same as PWM + * Jaguar). + *

In voltage Mode, the outputValue is in volts. + *

In current Mode, the outputValue is in amps. + *

In speed Mode, the outputValue is in rotations/minute. + *

In position Mode, the outputValue is in rotations. + * + * @param outputValue The set-point to sent to the motor controller. + */ +void CANJaguar::Set(float outputValue) { + Set(outputValue, 0); +} + /** * Used internally. In order to set the control mode see the methods listed * below. diff --git a/wpilibc/athena/src/CANTalon.cpp b/wpilibc/athena/src/CANTalon.cpp index fb6b66824b..2d3f5f36ab 100644 --- a/wpilibc/athena/src/CANTalon.cpp +++ b/wpilibc/athena/src/CANTalon.cpp @@ -132,7 +132,7 @@ float CANTalon::Get() const { * @param outputValue The setpoint value, as described above. * @see SelectProfileSlot to choose between the two sets of gains. */ -void CANTalon::Set(float value, uint8_t syncGroup) { +void CANTalon::Set(float value) { /* feed safety helper since caller just updated our output */ m_safetyHelper->Feed(); diff --git a/wpilibc/athena/src/PWMSpeedController.cpp b/wpilibc/athena/src/PWMSpeedController.cpp index e117889849..e8f5211dcf 100644 --- a/wpilibc/athena/src/PWMSpeedController.cpp +++ b/wpilibc/athena/src/PWMSpeedController.cpp @@ -21,10 +21,9 @@ PWMSpeedController::PWMSpeedController(uint32_t channel) : SafePWM(channel) {} * The PWM value is set using a range of -1.0 to 1.0, appropriately * scaling the value for the FPGA. * - * @param speed The speed value between -1.0 and 1.0 to set. - * @param syncGroup Unused interface. + * @param speed The speed value between -1.0 and 1.0 to set. */ -void PWMSpeedController::Set(float speed, uint8_t syncGroup) { +void PWMSpeedController::Set(float speed) { SetSpeed(m_isInverted ? -speed : speed); } diff --git a/wpilibc/athena/src/RobotDrive.cpp b/wpilibc/athena/src/RobotDrive.cpp index 8617b4229b..ac482a1094 100644 --- a/wpilibc/athena/src/RobotDrive.cpp +++ b/wpilibc/athena/src/RobotDrive.cpp @@ -8,7 +8,6 @@ #include "RobotDrive.h" #include -#include "CANJaguar.h" #include "GenericHID.h" #include "Joystick.h" #include "Talon.h" @@ -522,17 +521,10 @@ void RobotDrive::MecanumDrive_Cartesian(float x, float y, float rotation, Normalize(wheelSpeeds); - m_frontLeftMotor->Set(wheelSpeeds[kFrontLeftMotor] * m_maxOutput, - m_syncGroup); - m_frontRightMotor->Set(wheelSpeeds[kFrontRightMotor] * m_maxOutput, - m_syncGroup); - m_rearLeftMotor->Set(wheelSpeeds[kRearLeftMotor] * m_maxOutput, m_syncGroup); - m_rearRightMotor->Set(wheelSpeeds[kRearRightMotor] * m_maxOutput, - m_syncGroup); - - if (m_syncGroup != 0) { - CANJaguar::UpdateSyncGroup(m_syncGroup); - } + m_frontLeftMotor->Set(wheelSpeeds[kFrontLeftMotor] * m_maxOutput); + m_frontRightMotor->Set(wheelSpeeds[kFrontRightMotor] * m_maxOutput); + m_rearLeftMotor->Set(wheelSpeeds[kRearLeftMotor] * m_maxOutput); + m_rearRightMotor->Set(wheelSpeeds[kRearRightMotor] * m_maxOutput); m_safetyHelper->Feed(); } @@ -578,17 +570,10 @@ void RobotDrive::MecanumDrive_Polar(float magnitude, float direction, Normalize(wheelSpeeds); - m_frontLeftMotor->Set(wheelSpeeds[kFrontLeftMotor] * m_maxOutput, - m_syncGroup); - m_frontRightMotor->Set(wheelSpeeds[kFrontRightMotor] * m_maxOutput, - m_syncGroup); - m_rearLeftMotor->Set(wheelSpeeds[kRearLeftMotor] * m_maxOutput, m_syncGroup); - m_rearRightMotor->Set(wheelSpeeds[kRearRightMotor] * m_maxOutput, - m_syncGroup); - - if (m_syncGroup != 0) { - CANJaguar::UpdateSyncGroup(m_syncGroup); - } + m_frontLeftMotor->Set(wheelSpeeds[kFrontLeftMotor] * m_maxOutput); + m_frontRightMotor->Set(wheelSpeeds[kFrontRightMotor] * m_maxOutput); + m_rearLeftMotor->Set(wheelSpeeds[kRearLeftMotor] * m_maxOutput); + m_rearRightMotor->Set(wheelSpeeds[kRearRightMotor] * m_maxOutput); m_safetyHelper->Feed(); } @@ -624,16 +609,12 @@ void RobotDrive::SetLeftRightMotorOutputs(float leftOutput, float rightOutput) { wpi_assert(m_rearLeftMotor != nullptr && m_rearRightMotor != nullptr); if (m_frontLeftMotor != nullptr) - m_frontLeftMotor->Set(Limit(leftOutput) * m_maxOutput, m_syncGroup); - m_rearLeftMotor->Set(Limit(leftOutput) * m_maxOutput, m_syncGroup); + m_frontLeftMotor->Set(Limit(leftOutput) * m_maxOutput); + m_rearLeftMotor->Set(Limit(leftOutput) * m_maxOutput); if (m_frontRightMotor != nullptr) - m_frontRightMotor->Set(-Limit(rightOutput) * m_maxOutput, m_syncGroup); - m_rearRightMotor->Set(-Limit(rightOutput) * m_maxOutput, m_syncGroup); - - if (m_syncGroup != 0) { - CANJaguar::UpdateSyncGroup(m_syncGroup); - } + m_frontRightMotor->Set(-Limit(rightOutput) * m_maxOutput); + m_rearRightMotor->Set(-Limit(rightOutput) * m_maxOutput); m_safetyHelper->Feed(); } @@ -732,17 +713,6 @@ void RobotDrive::SetSensitivity(float sensitivity) { */ void RobotDrive::SetMaxOutput(double maxOutput) { m_maxOutput = maxOutput; } -/** - * Set the number of the sync group for the motor controllers. If the motor - * controllers are {@link CANJaguar}s, then they will all be added to this sync - * group, causing them to update their values at the same time. - * - * @param syncGroup the update group to add the motor controllers to - */ -void RobotDrive::SetCANJaguarSyncGroup(uint8_t syncGroup) { - m_syncGroup = syncGroup; -} - void RobotDrive::SetExpiration(float timeout) { m_safetyHelper->SetExpiration(timeout); } diff --git a/wpilibc/sim/include/Jaguar.h b/wpilibc/sim/include/Jaguar.h index c71b81890c..b5dc1caf76 100644 --- a/wpilibc/sim/include/Jaguar.h +++ b/wpilibc/sim/include/Jaguar.h @@ -18,7 +18,7 @@ class Jaguar : public SafePWM, public SpeedController { public: explicit Jaguar(uint32_t channel); virtual ~Jaguar() = default; - virtual void Set(float value, uint8_t syncGroup = 0); + virtual void Set(float value); virtual float Get() const; virtual void Disable(); diff --git a/wpilibc/sim/include/SpeedController.h b/wpilibc/sim/include/SpeedController.h index b102981d0c..350e08b0f6 100644 --- a/wpilibc/sim/include/SpeedController.h +++ b/wpilibc/sim/include/SpeedController.h @@ -18,11 +18,9 @@ class SpeedController : public PIDOutput { /** * Common interface for setting the speed of a speed controller. * - * @param speed The speed to set. Value should be between -1.0 and 1.0. - * @param syncGroup The update group to add this Set() to, pending - * UpdateSyncGroup(). If 0, update immediately. + * @param speed The speed to set. Value should be between -1.0 and 1.0. */ - virtual void Set(float speed, uint8_t syncGroup = 0) = 0; + virtual void Set(float speed) = 0; /** * Common interface for getting the current set speed of a speed controller. * diff --git a/wpilibc/sim/include/Talon.h b/wpilibc/sim/include/Talon.h index e257235989..bcdaa211a3 100644 --- a/wpilibc/sim/include/Talon.h +++ b/wpilibc/sim/include/Talon.h @@ -18,7 +18,7 @@ class Talon : public SafePWM, public SpeedController { public: explicit Talon(uint32_t channel); virtual ~Talon() = default; - virtual void Set(float value, uint8_t syncGroup = 0); + virtual void Set(float value); virtual float Get() const; virtual void Disable(); diff --git a/wpilibc/sim/include/Victor.h b/wpilibc/sim/include/Victor.h index 8021629696..1b98816f7b 100644 --- a/wpilibc/sim/include/Victor.h +++ b/wpilibc/sim/include/Victor.h @@ -18,7 +18,7 @@ class Victor : public SafePWM, public SpeedController { public: explicit Victor(uint32_t channel); virtual ~Victor() = default; - virtual void Set(float value, uint8_t syncGroup = 0); + virtual void Set(float value); virtual float Get() const; virtual void Disable(); diff --git a/wpilibc/sim/src/Jaguar.cpp b/wpilibc/sim/src/Jaguar.cpp index 01627fec1a..e1691d1dfa 100644 --- a/wpilibc/sim/src/Jaguar.cpp +++ b/wpilibc/sim/src/Jaguar.cpp @@ -35,10 +35,9 @@ Jaguar::Jaguar(uint32_t channel) : SafePWM(channel) { * The PWM value is set using a range of -1.0 to 1.0, appropriately * scaling the value for the FPGA. * - * @param speed The speed value between -1.0 and 1.0 to set. - * @param syncGroup Unused interface. + * @param speed The speed value between -1.0 and 1.0 to set. */ -void Jaguar::Set(float speed, uint8_t syncGroup) { SetSpeed(speed); } +void Jaguar::Set(float speed) { SetSpeed(speed); } /** * Get the recently set value of the PWM. diff --git a/wpilibc/sim/src/RobotDrive.cpp b/wpilibc/sim/src/RobotDrive.cpp index f591b330a4..137fb58389 100644 --- a/wpilibc/sim/src/RobotDrive.cpp +++ b/wpilibc/sim/src/RobotDrive.cpp @@ -506,22 +506,14 @@ void RobotDrive::MecanumDrive_Cartesian(float x, float y, float rotation, Normalize(wheelSpeeds); - uint8_t syncGroup = 0x80; - m_frontLeftMotor->Set(wheelSpeeds[kFrontLeftMotor] * - m_invertedMotors[kFrontLeftMotor] * m_maxOutput, - syncGroup); + m_invertedMotors[kFrontLeftMotor] * m_maxOutput); m_frontRightMotor->Set(wheelSpeeds[kFrontRightMotor] * - m_invertedMotors[kFrontRightMotor] * m_maxOutput, - syncGroup); + m_invertedMotors[kFrontRightMotor] * m_maxOutput); m_rearLeftMotor->Set(wheelSpeeds[kRearLeftMotor] * - m_invertedMotors[kRearLeftMotor] * m_maxOutput, - syncGroup); + m_invertedMotors[kRearLeftMotor] * m_maxOutput); m_rearRightMotor->Set(wheelSpeeds[kRearRightMotor] * - m_invertedMotors[kRearRightMotor] * m_maxOutput, - syncGroup); - - // CANJaguar::UpdateSyncGroup(syncGroup); + m_invertedMotors[kRearRightMotor] * m_maxOutput); // FIXME: m_safetyHelper->Feed(); } @@ -564,22 +556,14 @@ void RobotDrive::MecanumDrive_Polar(float magnitude, float direction, Normalize(wheelSpeeds); - uint8_t syncGroup = 0x80; - m_frontLeftMotor->Set(wheelSpeeds[kFrontLeftMotor] * - m_invertedMotors[kFrontLeftMotor] * m_maxOutput, - syncGroup); + m_invertedMotors[kFrontLeftMotor] * m_maxOutput); m_frontRightMotor->Set(wheelSpeeds[kFrontRightMotor] * - m_invertedMotors[kFrontRightMotor] * m_maxOutput, - syncGroup); + m_invertedMotors[kFrontRightMotor] * m_maxOutput); m_rearLeftMotor->Set(wheelSpeeds[kRearLeftMotor] * - m_invertedMotors[kRearLeftMotor] * m_maxOutput, - syncGroup); + m_invertedMotors[kRearLeftMotor] * m_maxOutput); m_rearRightMotor->Set(wheelSpeeds[kRearRightMotor] * - m_invertedMotors[kRearRightMotor] * m_maxOutput, - syncGroup); - - // CANJaguar::UpdateSyncGroup(syncGroup); + m_invertedMotors[kRearRightMotor] * m_maxOutput); // FIXME: m_safetyHelper->Feed(); } @@ -614,25 +598,17 @@ void RobotDrive::HolonomicDrive(float magnitude, float direction, void RobotDrive::SetLeftRightMotorOutputs(float leftOutput, float rightOutput) { wpi_assert(m_rearLeftMotor != nullptr && m_rearRightMotor != nullptr); - uint8_t syncGroup = 0x80; - if (m_frontLeftMotor != nullptr) m_frontLeftMotor->Set( - Limit(leftOutput) * m_invertedMotors[kFrontLeftMotor] * m_maxOutput, - syncGroup); + Limit(leftOutput) * m_invertedMotors[kFrontLeftMotor] * m_maxOutput); m_rearLeftMotor->Set( - Limit(leftOutput) * m_invertedMotors[kRearLeftMotor] * m_maxOutput, - syncGroup); + Limit(leftOutput) * m_invertedMotors[kRearLeftMotor] * m_maxOutput); if (m_frontRightMotor != nullptr) m_frontRightMotor->Set( - -Limit(rightOutput) * m_invertedMotors[kFrontRightMotor] * m_maxOutput, - syncGroup); + -Limit(rightOutput) * m_invertedMotors[kFrontRightMotor] * m_maxOutput); m_rearRightMotor->Set( - -Limit(rightOutput) * m_invertedMotors[kRearRightMotor] * m_maxOutput, - syncGroup); - - // CANJaguar::UpdateSyncGroup(syncGroup); + -Limit(rightOutput) * m_invertedMotors[kRearRightMotor] * m_maxOutput); // FIXME: m_safetyHelper->Feed(); } diff --git a/wpilibc/sim/src/Talon.cpp b/wpilibc/sim/src/Talon.cpp index 06b8c2b782..24221125a7 100644 --- a/wpilibc/sim/src/Talon.cpp +++ b/wpilibc/sim/src/Talon.cpp @@ -40,10 +40,9 @@ Talon::Talon(uint32_t channel) : SafePWM(channel) { * The PWM value is set using a range of -1.0 to 1.0, appropriately * scaling the value for the FPGA. * - * @param speed The speed value between -1.0 and 1.0 to set. - * @param syncGroup Unused interface. + * @param speed The speed value between -1.0 and 1.0 to set. */ -void Talon::Set(float speed, uint8_t syncGroup) { SetSpeed(speed); } +void Talon::Set(float speed) { SetSpeed(speed); } /** * Get the recently set value of the PWM. diff --git a/wpilibc/sim/src/Victor.cpp b/wpilibc/sim/src/Victor.cpp index 905c73a3f3..571a9e0400 100644 --- a/wpilibc/sim/src/Victor.cpp +++ b/wpilibc/sim/src/Victor.cpp @@ -42,10 +42,9 @@ Victor::Victor(uint32_t channel) : SafePWM(channel) { * The PWM value is set using a range of -1.0 to 1.0, appropriately * scaling the value for the FPGA. * - * @param speed The speed value between -1.0 and 1.0 to set. - * @param syncGroup Unused interface. + * @param speed The speed value between -1.0 and 1.0 to set. */ -void Victor::Set(float speed, uint8_t syncGroup) { SetSpeed(speed); } +void Victor::Set(float speed) { SetSpeed(speed); } /** * Get the recently set value of the PWM. diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANJaguar.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANJaguar.java index e1b44f23a9..260a43c8bc 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANJaguar.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANJaguar.java @@ -372,7 +372,6 @@ public class CANJaguar implements MotorSafety, PIDOutput, CANSpeedController { * @param syncGroup The update group to add this set() to, pending UpdateSyncGroup(). If 0, * update immediately. */ - @Override public void set(double outputValue, byte syncGroup) { int messageID; byte[] data = new byte[8]; diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANTalon.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANTalon.java index 1af15907fc..0bb8d421a6 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANTalon.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANTalon.java @@ -417,17 +417,6 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, CANSpeedCont } } - /** - * Sets the output of the Talon. - * - * @param outputValue See set(). - * @param thisValueDoesNotDoAnything corresponds to syncGroup from Jaguar; not relevant here. - */ - @Override - public void set(double outputValue, byte thisValueDoesNotDoAnything) { - set(outputValue); - } - /** * Sets the appropriate output on the talon, depending on the mode. * diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWMSpeedController.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWMSpeedController.java index 40c7ebe84d..80fd8829a8 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWMSpeedController.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWMSpeedController.java @@ -23,25 +23,6 @@ public abstract class PWMSpeedController extends SafePWM implements SpeedControl super(channel); } - /** - * Set the PWM value. - * - *

The PWM value is set using a range of -1.0 to 1.0, appropriately scaling the value for the - * FPGA. - * - * @param speed The speed to set. Value should be between -1.0 and 1.0. - * @param syncGroup The update group to add this Set() to, pending UpdateSyncGroup(). If 0, update - * immediately. - * @deprecated For compatibility with CANJaguar - * - */ - @Deprecated - @Override - public void set(double speed, byte syncGroup) { - setSpeed(m_isInverted ? -speed : speed); - Feed(); - } - /** * Set the PWM value. * diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotDrive.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotDrive.java index fe3545acaa..912c891ff1 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotDrive.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotDrive.java @@ -72,7 +72,6 @@ public class RobotDrive implements MotorSafety { protected SpeedController m_rearLeftMotor; protected SpeedController m_rearRightMotor; protected boolean m_allocatedSpeedControllers; - protected byte m_syncGroup = 0; protected static boolean kArcadeRatioCurve_Reported = false; protected static boolean kTank_Reported = false; protected static boolean kArcadeStandard_Reported = false; @@ -503,14 +502,10 @@ public class RobotDrive implements MotorSafety { wheelSpeeds[MotorType.kRearRight_val] = xIn + yIn - rotation; normalize(wheelSpeeds); - m_frontLeftMotor.set(wheelSpeeds[MotorType.kFrontLeft_val] * m_maxOutput, m_syncGroup); - m_frontRightMotor.set(wheelSpeeds[MotorType.kFrontRight_val] * m_maxOutput, m_syncGroup); - m_rearLeftMotor.set(wheelSpeeds[MotorType.kRearLeft_val] * m_maxOutput, m_syncGroup); - m_rearRightMotor.set(wheelSpeeds[MotorType.kRearRight_val] * m_maxOutput, m_syncGroup); - - if (m_syncGroup != 0) { - CANJaguar.updateSyncGroup(m_syncGroup); - } + m_frontLeftMotor.set(wheelSpeeds[MotorType.kFrontLeft_val] * m_maxOutput); + m_frontRightMotor.set(wheelSpeeds[MotorType.kFrontRight_val] * m_maxOutput); + m_rearLeftMotor.set(wheelSpeeds[MotorType.kRearLeft_val] * m_maxOutput); + m_rearRightMotor.set(wheelSpeeds[MotorType.kRearRight_val] * m_maxOutput); if (m_safetyHelper != null) { m_safetyHelper.feed(); @@ -551,14 +546,10 @@ public class RobotDrive implements MotorSafety { normalize(wheelSpeeds); - m_frontLeftMotor.set(wheelSpeeds[MotorType.kFrontLeft_val] * m_maxOutput, m_syncGroup); - m_frontRightMotor.set(wheelSpeeds[MotorType.kFrontRight_val] * m_maxOutput, m_syncGroup); - m_rearLeftMotor.set(wheelSpeeds[MotorType.kRearLeft_val] * m_maxOutput, m_syncGroup); - m_rearRightMotor.set(wheelSpeeds[MotorType.kRearRight_val] * m_maxOutput, m_syncGroup); - - if (m_syncGroup != 0) { - CANJaguar.updateSyncGroup(m_syncGroup); - } + m_frontLeftMotor.set(wheelSpeeds[MotorType.kFrontLeft_val] * m_maxOutput); + m_frontRightMotor.set(wheelSpeeds[MotorType.kFrontRight_val] * m_maxOutput); + m_rearLeftMotor.set(wheelSpeeds[MotorType.kRearLeft_val] * m_maxOutput); + m_rearRightMotor.set(wheelSpeeds[MotorType.kRearRight_val] * m_maxOutput); if (m_safetyHelper != null) { m_safetyHelper.feed(); @@ -594,18 +585,14 @@ public class RobotDrive implements MotorSafety { } if (m_frontLeftMotor != null) { - m_frontLeftMotor.set(limit(leftOutput) * m_maxOutput, m_syncGroup); + m_frontLeftMotor.set(limit(leftOutput) * m_maxOutput); } - m_rearLeftMotor.set(limit(leftOutput) * m_maxOutput, m_syncGroup); + m_rearLeftMotor.set(limit(leftOutput) * m_maxOutput); if (m_frontRightMotor != null) { - m_frontRightMotor.set(-limit(rightOutput) * m_maxOutput, m_syncGroup); - } - m_rearRightMotor.set(-limit(rightOutput) * m_maxOutput, m_syncGroup); - - if (m_syncGroup != 0) { - CANJaguar.updateSyncGroup(m_syncGroup); + m_frontRightMotor.set(-limit(rightOutput) * m_maxOutput); } + m_rearRightMotor.set(-limit(rightOutput) * m_maxOutput); if (m_safetyHelper != null) { m_safetyHelper.feed(); @@ -704,17 +691,6 @@ public class RobotDrive implements MotorSafety { m_maxOutput = maxOutput; } - /** - * Set the number of the sync group for the motor controllers. If the motor controllers are {@link - * CANJaguar}s, then they will all be added to this sync group, causing them to update their - * values at the same time. - * - * @param syncGroup the update group to add the motor controllers to - */ - public void setCANJaguarSyncGroup(byte syncGroup) { - m_syncGroup = syncGroup; - } - /** * Free the speed controllers if they were allocated locally. */ diff --git a/wpilibj/src/shared/java/edu/wpi/first/wpilibj/SpeedController.java b/wpilibj/src/shared/java/edu/wpi/first/wpilibj/SpeedController.java index 65c902f065..9c71038d28 100644 --- a/wpilibj/src/shared/java/edu/wpi/first/wpilibj/SpeedController.java +++ b/wpilibj/src/shared/java/edu/wpi/first/wpilibj/SpeedController.java @@ -19,15 +19,6 @@ public interface SpeedController extends PIDOutput { */ double get(); - /** - * Common interface for setting the speed of a speed controller. - * - * @param speed The speed to set. Value should be between -1.0 and 1.0. - * @param syncGroup The update group to add this Set() to, pending UpdateSyncGroup(). If 0, update - * immediately. - */ - void set(double speed, byte syncGroup); - /** * Common interface for setting the speed of a speed controller. * diff --git a/wpilibj/src/sim/java/edu/wpi/first/wpilibj/Jaguar.java b/wpilibj/src/sim/java/edu/wpi/first/wpilibj/Jaguar.java index b2b41a2ed9..1cab5ce47e 100644 --- a/wpilibj/src/sim/java/edu/wpi/first/wpilibj/Jaguar.java +++ b/wpilibj/src/sim/java/edu/wpi/first/wpilibj/Jaguar.java @@ -43,22 +43,6 @@ public class Jaguar implements SpeedController, PIDOutput, MotorSafety, LiveWind initJaguar(channel); } - /** - * Set the PWM value. - * - * @param speed The speed to set. Value should be between -1.0 and 1.0. - * @param syncGroup The update group to add this Set() to, pending UpdateSyncGroup(). If 0, - * update immediately. - * @deprecated For compatibility with CANJaguar - * - * The PWM value is set using a range of -1.0 to 1.0, appropriately scaling the value for the - * FPGA. - */ - @Deprecated - public void set(double speed, byte syncGroup) { - impl.set(speed, syncGroup); - } - /** * Set the PWM value. * diff --git a/wpilibj/src/sim/java/edu/wpi/first/wpilibj/RobotDrive.java b/wpilibj/src/sim/java/edu/wpi/first/wpilibj/RobotDrive.java index 4f8716fe39..68e83a0ba9 100644 --- a/wpilibj/src/sim/java/edu/wpi/first/wpilibj/RobotDrive.java +++ b/wpilibj/src/sim/java/edu/wpi/first/wpilibj/RobotDrive.java @@ -504,16 +504,14 @@ public class RobotDrive implements MotorSafety { normalize(wheelSpeeds); - byte syncGroup = (byte) 0x80; - m_frontLeftMotor.set(wheelSpeeds[MotorType.kFrontLeft_val] * m_invertedMotors[MotorType - .kFrontLeft_val] * m_maxOutput, syncGroup); + .kFrontLeft_val] * m_maxOutput); m_frontRightMotor.set(wheelSpeeds[MotorType.kFrontRight_val] * m_invertedMotors[MotorType - .kFrontRight_val] * m_maxOutput, syncGroup); + .kFrontRight_val] * m_maxOutput); m_rearLeftMotor.set(wheelSpeeds[MotorType.kRearLeft_val] * m_invertedMotors[MotorType - .kRearLeft_val] * m_maxOutput, syncGroup); + .kRearLeft_val] * m_maxOutput); m_rearRightMotor.set(wheelSpeeds[MotorType.kRearRight_val] * m_invertedMotors[MotorType - .kRearRight_val] * m_maxOutput, syncGroup); + .kRearRight_val] * m_maxOutput); if (m_safetyHelper != null) m_safetyHelper.feed(); } @@ -551,16 +549,14 @@ public class RobotDrive implements MotorSafety { normalize(wheelSpeeds); - byte syncGroup = (byte) 0x80; - m_frontLeftMotor.set(wheelSpeeds[MotorType.kFrontLeft_val] * m_invertedMotors[MotorType - .kFrontLeft_val] * m_maxOutput, syncGroup); + .kFrontLeft_val] * m_maxOutput); m_frontRightMotor.set(wheelSpeeds[MotorType.kFrontRight_val] * m_invertedMotors[MotorType - .kFrontRight_val] * m_maxOutput, syncGroup); + .kFrontRight_val] * m_maxOutput); m_rearLeftMotor.set(wheelSpeeds[MotorType.kRearLeft_val] * m_invertedMotors[MotorType - .kRearLeft_val] * m_maxOutput, syncGroup); + .kRearLeft_val] * m_maxOutput); m_rearRightMotor.set(wheelSpeeds[MotorType.kRearRight_val] * m_invertedMotors[MotorType - .kRearRight_val] * m_maxOutput, syncGroup); + .kRearRight_val] * m_maxOutput); if (m_safetyHelper != null) m_safetyHelper.feed(); } @@ -593,21 +589,19 @@ public class RobotDrive implements MotorSafety { throw new NullPointerException("Null motor provided"); } - byte syncGroup = (byte) 0x80; - if (m_frontLeftMotor != null) { m_frontLeftMotor.set(limit(leftOutput) * m_invertedMotors[MotorType.kFrontLeft_val] * - m_maxOutput, syncGroup); + m_maxOutput); } m_rearLeftMotor.set(limit(leftOutput) * m_invertedMotors[MotorType.kRearLeft_val] * - m_maxOutput, syncGroup); + m_maxOutput); if (m_frontRightMotor != null) { m_frontRightMotor.set(-limit(rightOutput) * m_invertedMotors[MotorType.kFrontRight_val] * - m_maxOutput, syncGroup); + m_maxOutput); } m_rearRightMotor.set(-limit(rightOutput) * m_invertedMotors[MotorType.kRearRight_val] * - m_maxOutput, syncGroup); + m_maxOutput); if (m_safetyHelper != null) m_safetyHelper.feed(); } diff --git a/wpilibj/src/sim/java/edu/wpi/first/wpilibj/Servo.java b/wpilibj/src/sim/java/edu/wpi/first/wpilibj/Servo.java index 88774b0dc8..358cd4c1d1 100644 --- a/wpilibj/src/sim/java/edu/wpi/first/wpilibj/Servo.java +++ b/wpilibj/src/sim/java/edu/wpi/first/wpilibj/Servo.java @@ -41,20 +41,6 @@ public class Servo implements SpeedController, LiveWindowSendable { impl = new SimSpeedController("simulator/pwm/" + channel); } - /** - * Set the PWM value. - * - * @param speed The speed to set. Value should be between -1.0 and 1.0. - * @param syncGroup The update group to add this Set() to, pending UpdateSyncGroup(). If 0, - * update immediately. - * @deprecated The PWM value is set using a range of -1.0 to 1.0, appropriately scaling the value - * for the FPGA. - */ - @Deprecated - public void set(double speed, byte syncGroup) { - impl.set(speed, syncGroup); - } - /** * Write out the PID value as seen in the PIDOutput base object. * diff --git a/wpilibj/src/sim/java/edu/wpi/first/wpilibj/SpeedController.java b/wpilibj/src/sim/java/edu/wpi/first/wpilibj/SpeedController.java index 17402abe1a..71e397f3cb 100644 --- a/wpilibj/src/sim/java/edu/wpi/first/wpilibj/SpeedController.java +++ b/wpilibj/src/sim/java/edu/wpi/first/wpilibj/SpeedController.java @@ -19,15 +19,6 @@ public interface SpeedController extends PIDOutput { */ double get(); - /** - * Common interface for setting the speed of a speed controller. - * - * @param speed The speed to set. Value should be between -1.0 and 1.0. - * @param syncGroup The update group to add this Set() to, pending UpdateSyncGroup(). If 0, - * update immediately. - */ - void set(double speed, byte syncGroup); - /** * Common interface for setting the speed of a speed controller. * diff --git a/wpilibj/src/sim/java/edu/wpi/first/wpilibj/Talon.java b/wpilibj/src/sim/java/edu/wpi/first/wpilibj/Talon.java index ef14c82af1..fdb497249c 100644 --- a/wpilibj/src/sim/java/edu/wpi/first/wpilibj/Talon.java +++ b/wpilibj/src/sim/java/edu/wpi/first/wpilibj/Talon.java @@ -53,22 +53,6 @@ public class Talon implements SpeedController, PIDOutput, MotorSafety, LiveWindo initTalon(channel); } - /** - * Set the PWM value. - * - *

The PWM value is set using a range of -1.0 to 1.0, appropriately scaling the value for the - * FPGA. - * - * @param speed The speed to set. Value should be between -1.0 and 1.0. - * @param syncGroup The update group to add this Set() to, pending UpdateSyncGroup(). If 0, - * update immediately. - * @deprecated For compatibility with CANJaguar - */ - @Deprecated - public void set(double speed, byte syncGroup) { - m_impl.set(speed, syncGroup); - } - /** * Set the PWM value. * diff --git a/wpilibj/src/sim/java/edu/wpi/first/wpilibj/Victor.java b/wpilibj/src/sim/java/edu/wpi/first/wpilibj/Victor.java index 3ff9a0f3a2..6ea2931ac0 100644 --- a/wpilibj/src/sim/java/edu/wpi/first/wpilibj/Victor.java +++ b/wpilibj/src/sim/java/edu/wpi/first/wpilibj/Victor.java @@ -55,22 +55,6 @@ public class Victor implements SpeedController, PIDOutput, MotorSafety, LiveWind initVictor(channel); } - /** - * Set the PWM value. - * - *

The PWM value is set using a range of -1.0 to 1.0, appropriately scaling the value for the - * FPGA. - * - * @param speed The speed to set. Value should be between -1.0 and 1.0. - * @param syncGroup The update group to add this Set() to, pending UpdateSyncGroup(). If 0, - * update immediately. - * @deprecated For compatibility with CANJaguar. - */ - @Deprecated - public void set(double speed, byte syncGroup) { - m_impl.set(speed, syncGroup); - } - /** * Set the PWM value. *