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Remove MotorSafetyHelper, create MotorSafety base class instead (#562)

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Most of the MotorSafety implementation was moved into the MotorSafety base
class. SafePWM's inheritance of MotorSafety was moved into PWM to
eliminate Java needing a helper class.

In Java, a helper class for Sendable (SendableImpl) was added due to
lack of multiple inheritance.
This commit is contained in:
Tyler Veness
2018-11-22 21:15:26 -08:00
committed by Peter Johnson
parent df347e3d80
commit acb786a791
39 changed files with 710 additions and 1023 deletions
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35
wpilibc/src/main/native/cpp/RobotDrive.cpp
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@@ -298,7 +298,7 @@ void RobotDrive::MecanumDrive_Cartesian(double x, double y, double rotation,
m_rearLeftMotor->Set(wheelSpeeds[kRearLeftMotor] * m_maxOutput);
m_rearRightMotor->Set(wheelSpeeds[kRearRightMotor] * m_maxOutput);
m_safetyHelper->Feed();
Feed();
}
void RobotDrive::MecanumDrive_Polar(double magnitude, double direction,
@@ -330,7 +330,7 @@ void RobotDrive::MecanumDrive_Polar(double magnitude, double direction,
m_rearLeftMotor->Set(wheelSpeeds[kRearLeftMotor] * m_maxOutput);
m_rearRightMotor->Set(wheelSpeeds[kRearRightMotor] * m_maxOutput);
m_safetyHelper->Feed();
Feed();
}
void RobotDrive::HolonomicDrive(double magnitude, double direction,
@@ -350,7 +350,7 @@ void RobotDrive::SetLeftRightMotorOutputs(double leftOutput,
m_frontRightMotor->Set(-Limit(rightOutput) * m_maxOutput);
m_rearRightMotor->Set(-Limit(rightOutput) * m_maxOutput);
m_safetyHelper->Feed();
Feed();
}
void RobotDrive::SetInvertedMotor(MotorType motor, bool isInverted) {
@@ -380,40 +380,19 @@ void RobotDrive::SetSensitivity(double sensitivity) {
void RobotDrive::SetMaxOutput(double maxOutput) { m_maxOutput = maxOutput; }
void RobotDrive::SetExpiration(double timeout) {
m_safetyHelper->SetExpiration(timeout);
void RobotDrive::GetDescription(wpi::raw_ostream& desc) const {
desc << "RobotDrive";
}
double RobotDrive::GetExpiration() const {
return m_safetyHelper->GetExpiration();
}
bool RobotDrive::IsAlive() const { return m_safetyHelper->IsAlive(); }
void RobotDrive::StopMotor() {
if (m_frontLeftMotor != nullptr) m_frontLeftMotor->StopMotor();
if (m_frontRightMotor != nullptr) m_frontRightMotor->StopMotor();
if (m_rearLeftMotor != nullptr) m_rearLeftMotor->StopMotor();
if (m_rearRightMotor != nullptr) m_rearRightMotor->StopMotor();
m_safetyHelper->Feed();
Feed();
}
bool RobotDrive::IsSafetyEnabled() const {
return m_safetyHelper->IsSafetyEnabled();
}
void RobotDrive::SetSafetyEnabled(bool enabled) {
m_safetyHelper->SetSafetyEnabled(enabled);
}
void RobotDrive::GetDescription(wpi::raw_ostream& desc) const {
desc << "RobotDrive";
}
void RobotDrive::InitRobotDrive() {
m_safetyHelper = std::make_unique<MotorSafetyHelper>(this);
m_safetyHelper->SetSafetyEnabled(true);
}
void RobotDrive::InitRobotDrive() { SetSafetyEnabled(true); }
double RobotDrive::Limit(double number) {
if (number > 1.0) {