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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 {