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Remove CANSpeedController interface. (#806)

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CANJaguar is no longer supported, and CANTalon no longer uses this interface.
This commit is contained in:
Peter Johnson
2017-12-04 20:03:07 -08:00
committed by GitHub
parent 0994364591
commit b428d1e4b3
2 changed files with 0 additions and 261 deletions
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146
wpilibj/src/main/java/edu/wpi/first/wpilibj/CANSpeedController.java
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@@ -1,146 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2017 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj;
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
public interface CANSpeedController extends SpeedController, PIDInterface, LiveWindowSendable {
/**
* Mode determines how the motor is controlled, used internally. This is meant to be subclassed by
* enums
*
* <p>Note that the Jaguar does not support follower mode.
*/
interface ControlMode {
/**
* Gets the name of this control mode. Since this interface should only be subclassed by
* enumerations, this will be overridden by the builtin name() method.
*/
String name();
/**
* Checks if this control mode is PID-compatible.
*/
boolean isPID();
/**
* Gets the integer value of this control mode.
*/
int getValue();
}
/**
* Gets the current control mode.
*
* @return the current control mode
*/
ControlMode getControlMode();
/**
* Sets the control mode of this speed controller.
*
* @param mode the the new mode
*/
void setControlMode(int mode);
/**
* Set the proportional PID constant.
*/
@SuppressWarnings("ParameterName")
void setP(double p);
/**
* Set the integral PID constant.
*/
@SuppressWarnings("ParameterName")
void setI(double i);
/**
* Set the derivative PID constant.
*/
@SuppressWarnings("ParameterName")
void setD(double d);
/**
* Set the feed-forward PID constant. This method is optional to implement.
*/
@SuppressWarnings("ParameterName")
default void setF(double f) {
}
/**
* Gets the feed-forward PID constant. This method is optional to implement. If a subclass does
* not implement this, it will always return zero.
*/
default double getF() {
return 0.0;
}
/**
* Get the current input (battery) voltage.
*
* @return the input voltage to the controller (in Volts).
*/
double getBusVoltage();
/**
* Get the current output voltage.
*
* @return the output voltage to the motor in volts.
*/
double getOutputVoltage();
/**
* Get the current being applied to the motor.
*
* @return the current motor current (in Amperes).
*/
double getOutputCurrent();
/**
* Get the current temperature of the controller.
*
* @return the current temperature of the controller, in degrees Celsius.
*/
double getTemperature();
/**
* Return the current position of whatever the current selected sensor is.
*
* <p>See specific implementations for more information on selecting feedback sensors.
*
* @return the current sensor position.
*/
double getPosition();
/**
* Return the current velocity of whatever the current selected sensor is.
*
* <p>See specific implementations for more information on selecting feedback sensors.
*
* @return the current sensor velocity.
*/
double getSpeed();
/**
* Set the maximum rate of change of the output voltage.
*
* @param rampRate the maximum rate of change of the voltage, in Volts / sec.
*/
void setVoltageRampRate(double rampRate);
/**
* All CAN Speed Controllers have the same SmartDashboard type: "CANSpeedController".
*/
String SMART_DASHBOARD_TYPE = "CANSpeedController";
@Override
default String getSmartDashboardType() {
return SMART_DASHBOARD_TYPE;
}
}