Remove CANSpeedController interface. (#806)

CANJaguar is no longer supported, and CANTalon no longer uses this interface.

wpilibc/src/main/native/include/CANSpeedController.h

@@ -1,115 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2014-2017 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <stdint.h>
-
-#include "SpeedController.h"
-
-namespace frc {
-
-/**
- * Interface for "smart" CAN-based speed controllers.
- */
-class CANSpeedController : public SpeedController {
- public:
-  enum ControlMode {
-    kPercentVbus = 0,
-    kCurrent = 1,
-    kSpeed = 2,
-    kPosition = 3,
-    kVoltage = 4,
-    kFollower = 5,
-    kMotionProfile = 6,
-  };
-
-  // Helper function for the ControlMode enum
-  virtual bool IsModePID(ControlMode mode) const = 0;
-
-  enum Faults {
-    kCurrentFault = 1,
-    kTemperatureFault = 2,
-    kBusVoltageFault = 4,
-    kGateDriverFault = 8,
-    // SRX extensions
-    kFwdLimitSwitch = 0x10,
-    kRevLimitSwitch = 0x20,
-    kFwdSoftLimit = 0x40,
-    kRevSoftLimit = 0x80,
-  };
-
-  enum Limits { kForwardLimit = 1, kReverseLimit = 2 };
-
-  enum NeutralMode {
-    /**
-     * Use the NeutralMode that is set by the jumper wire on the CAN device
-     */
-    kNeutralMode_Jumper = 0,
-    /**
-     * Stop the motor's rotation by applying a force.
-     */
-    kNeutralMode_Brake = 1,
-    /**
-     * Do not attempt to stop the motor. Instead allow it to coast to a stop
-     * without applying resistance.
-     */
-    kNeutralMode_Coast = 2
-  };
-
-  enum LimitMode {
-    /**
-     * Only use switches for limits
-     */
-    kLimitMode_SwitchInputsOnly = 0,
-    /**
-     * Use both switches and soft limits
-     */
-    kLimitMode_SoftPositionLimits = 1,
-    // SRX extensions
-    /**
-     * Disable switches and disable soft limits
-     */
-    kLimitMode_SrxDisableSwitchInputs = 2,
-  };
-
-  virtual double Get() const = 0;
-  virtual void Set(double value) = 0;
-  virtual void StopMotor() = 0;
-  virtual void Disable() = 0;
-  virtual void SetP(double p) = 0;
-  virtual void SetI(double i) = 0;
-  virtual void SetD(double d) = 0;
-  virtual void SetPID(double p, double i, double d) = 0;
-  virtual double GetP() const = 0;
-  virtual double GetI() const = 0;
-  virtual double GetD() const = 0;
-  virtual double GetBusVoltage() const = 0;
-  virtual double GetOutputVoltage() const = 0;
-  virtual double GetOutputCurrent() const = 0;
-  virtual double GetTemperature() const = 0;
-  virtual double GetPosition() const = 0;
-  virtual double GetSpeed() const = 0;
-  virtual bool GetForwardLimitOK() const = 0;
-  virtual bool GetReverseLimitOK() const = 0;
-  virtual uint16_t GetFaults() const = 0;
-  virtual void SetVoltageRampRate(double rampRate) = 0;
-  virtual int GetFirmwareVersion() const = 0;
-  virtual void ConfigNeutralMode(NeutralMode mode) = 0;
-  virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) = 0;
-  virtual void ConfigPotentiometerTurns(uint16_t turns) = 0;
-  virtual void ConfigSoftPositionLimits(double forwardLimitPosition,
-                                        double reverseLimitPosition) = 0;
-  virtual void DisableSoftPositionLimits() = 0;
-  virtual void ConfigLimitMode(LimitMode mode) = 0;
-  virtual void ConfigForwardLimit(double forwardLimitPosition) = 0;
-  virtual void ConfigReverseLimit(double reverseLimitPosition) = 0;
-  virtual void ConfigMaxOutputVoltage(double voltage) = 0;
-  virtual void ConfigFaultTime(double faultTime) = 0;
-};
-
-}  // namespace frc