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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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9
wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp
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@@ -6,15 +6,14 @@
#include <fmt/format.h>
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
using namespace frc;
NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
: m_dio(dioChannel), m_pwm(pwmChannel) {
auto& registry = SendableRegistry::GetInstance();
auto& registry = wpi::SendableRegistry::GetInstance();
registry.AddChild(this, &m_dio);
registry.AddChild(this, &m_pwm);
SetExpiration(0_s);
@@ -72,7 +71,7 @@ int NidecBrushless::GetChannel() const {
return m_pwm.GetChannel();
}
void NidecBrushless::InitSendable(SendableBuilder& builder) {
void NidecBrushless::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Nidec Brushless");
builder.SetActuator(true);
builder.SetSafeState([=] { StopMotor(); });