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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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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 {