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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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11
wpilibc/src/main/native/include/frc/controller/PIDController.h
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@@ -8,17 +8,16 @@
#include <limits>
#include <units/time.h>
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
namespace frc2 {
/**
* Implements a PID control loop.
*/
class PIDController : public frc::Sendable,
public frc::SendableHelper<PIDController> {
class PIDController : public wpi::Sendable,
public wpi::SendableHelper<PIDController> {
public:
/**
* Allocates a PIDController with the given constants for Kp, Ki, and Kd.
@@ -193,7 +192,7 @@ class PIDController : public frc::Sendable,
*/
void Reset();
void InitSendable(frc::SendableBuilder& builder) override;
void InitSendable(wpi::SendableBuilder& builder) override;
private:
// Factor for "proportional" control