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Removed sync group from SpeedController interface (#51)

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CANJaguar is the only motor controller using sync groups, so that feature doesn't belong in an interface used by all motor controllers. If teams want to use sync groups, they should cast to the appropriate motor controller type themselves.
This commit is contained in:
Tyler Veness
2016-05-23 20:42:58 -07:00
committed by Peter Johnson
parent e842ff7ad5
commit 9e99df1cf7
29 changed files with 87 additions and 273 deletions
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54
wpilibc/athena/src/RobotDrive.cpp
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@@ -8,7 +8,6 @@
#include "RobotDrive.h"
#include <math.h>
#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);
}