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[wpilib] Enable ExpansionHub motors and servos on any set (#8619)

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This more matches the existing FTC SDK. And removes the footgun of
needing to call set.
This commit is contained in:
Thad House
2026-02-17 20:19:52 -08:00
committed by GitHub
parent 1dbffb972f
commit af01a72725
4 changed files with 11 additions and 0 deletions
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wpilibc/src/main/native/cpp/hardware/expansionhub/ExpansionHubMotor.cpp
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@@ -93,21 +93,25 @@ ExpansionHubMotor::~ExpansionHubMotor() noexcept {
}
void ExpansionHubMotor::SetPercentagePower(double power) {
SetEnabled(true);
m_modePublisher.Set(kPercentageMode);
m_setpointPublisher.Set(power);
}
void ExpansionHubMotor::SetVoltage(wpi::units::volt_t voltage) {
SetEnabled(true);
m_modePublisher.Set(kVoltageMode);
m_setpointPublisher.Set(voltage.value());
}
void ExpansionHubMotor::SetPositionSetpoint(double setpoint) {
SetEnabled(true);
m_modePublisher.Set(kPositionMode);
m_setpointPublisher.Set(setpoint);
}
void ExpansionHubMotor::SetVelocitySetpoint(double setpoint) {
SetEnabled(true);
m_modePublisher.Set(kVelocityMode);
m_setpointPublisher.Set(setpoint);
}