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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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8
wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
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@@ -79,7 +79,7 @@ void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation,
m_rightMotor.Set(Limit(rightMotorOutput) * m_maxOutput *
m_rightSideInvertMultiplier);
m_safetyHelper.Feed();
Feed();
}
void DifferentialDrive::CurvatureDrive(double xSpeed, double zRotation,
@@ -152,7 +152,7 @@ void DifferentialDrive::CurvatureDrive(double xSpeed, double zRotation,
m_rightMotor.Set(rightMotorOutput * m_maxOutput *
m_rightSideInvertMultiplier);
m_safetyHelper.Feed();
Feed();
}
void DifferentialDrive::TankDrive(double leftSpeed, double rightSpeed,
@@ -180,7 +180,7 @@ void DifferentialDrive::TankDrive(double leftSpeed, double rightSpeed,
m_leftMotor.Set(leftSpeed * m_maxOutput);
m_rightMotor.Set(rightSpeed * m_maxOutput * m_rightSideInvertMultiplier);
m_safetyHelper.Feed();
Feed();
}
void DifferentialDrive::SetQuickStopThreshold(double threshold) {
@@ -202,7 +202,7 @@ void DifferentialDrive::SetRightSideInverted(bool rightSideInverted) {
void DifferentialDrive::StopMotor() {
m_leftMotor.StopMotor();
m_rightMotor.StopMotor();
m_safetyHelper.Feed();
Feed();
}
void DifferentialDrive::GetDescription(wpi::raw_ostream& desc) const {

4
wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
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@@ -73,7 +73,7 @@ void KilloughDrive::DriveCartesian(double ySpeed, double xSpeed,
m_rightMotor.Set(wheelSpeeds[kRight] * m_maxOutput);
m_backMotor.Set(wheelSpeeds[kBack] * m_maxOutput);
m_safetyHelper.Feed();
Feed();
}
void KilloughDrive::DrivePolar(double magnitude, double angle,
@@ -92,7 +92,7 @@ void KilloughDrive::StopMotor() {
m_leftMotor.StopMotor();
m_rightMotor.StopMotor();
m_backMotor.StopMotor();
m_safetyHelper.Feed();
Feed();
}
void KilloughDrive::GetDescription(wpi::raw_ostream& desc) const {

4
wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
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@@ -70,7 +70,7 @@ void MecanumDrive::DriveCartesian(double ySpeed, double xSpeed,
m_rearRightMotor.Set(wheelSpeeds[kRearRight] * m_maxOutput *
m_rightSideInvertMultiplier);
m_safetyHelper.Feed();
Feed();
}
void MecanumDrive::DrivePolar(double magnitude, double angle,
@@ -98,7 +98,7 @@ void MecanumDrive::StopMotor() {
m_frontRightMotor.StopMotor();
m_rearLeftMotor.StopMotor();
m_rearRightMotor.StopMotor();
m_safetyHelper.Feed();
Feed();
}
void MecanumDrive::GetDescription(wpi::raw_ostream& desc) const {

22
wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp
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@@ -18,31 +18,13 @@
using namespace frc;
RobotDriveBase::RobotDriveBase() { m_safetyHelper.SetSafetyEnabled(true); }
RobotDriveBase::RobotDriveBase() { SetSafetyEnabled(true); }
void RobotDriveBase::SetDeadband(double deadband) { m_deadband = deadband; }
void RobotDriveBase::SetMaxOutput(double maxOutput) { m_maxOutput = maxOutput; }
void RobotDriveBase::FeedWatchdog() { m_safetyHelper.Feed(); }
void RobotDriveBase::SetExpiration(double timeout) {
m_safetyHelper.SetExpiration(timeout);
}
double RobotDriveBase::GetExpiration() const {
return m_safetyHelper.GetExpiration();
}
bool RobotDriveBase::IsAlive() const { return m_safetyHelper.IsAlive(); }
bool RobotDriveBase::IsSafetyEnabled() const {
return m_safetyHelper.IsSafetyEnabled();
}
void RobotDriveBase::SetSafetyEnabled(bool enabled) {
m_safetyHelper.SetSafetyEnabled(enabled);
}
void RobotDriveBase::FeedWatchdog() { Feed(); }
double RobotDriveBase::Limit(double value) {
if (value > 1.0) {