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Split Sendable into NT and non-NT portions (#3432)

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The non-NT portion has been moved to wpiutil.
The NT portion has been moved to ntcore (as NTSendable).

SendableBuilder similarly split and moved.

SendableRegistry moved to wpiutil.

In C++, SendableHelper also moved to wpiutil.

This enables use of Sendable from wpimath and also enables
moving several classes from wpilib to wpimath.
This commit is contained in:
Peter Johnson
2021-06-13 16:38:05 -07:00
committed by GitHub
parent ef4ea84cb5
commit b417d961ec
196 changed files with 1147 additions and 891 deletions
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8
wpilibc/src/main/native/cpp/controller/PIDController.cpp
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@@ -8,11 +8,11 @@
#include <cmath>
#include <hal/FRCUsageReporting.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/MathUtil.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc2;
@@ -31,7 +31,7 @@ PIDController::PIDController(double Kp, double Ki, double Kd,
static int instances = 0;
instances++;
HAL_Report(HALUsageReporting::kResourceType_PIDController2, instances);
frc::SendableRegistry::GetInstance().Add(this, "PIDController", instances);
wpi::SendableRegistry::GetInstance().Add(this, "PIDController", instances);
}
void PIDController::SetPID(double Kp, double Ki, double Kd) {
@@ -161,7 +161,7 @@ void PIDController::Reset() {
m_totalError = 0;
}
void PIDController::InitSendable(frc::SendableBuilder& builder) {
void PIDController::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("PIDController");
builder.AddDoubleProperty(
"p", [this] { return GetP(); }, [this](double value) { SetP(value); });