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[wpilib] Rename MotorController setDutyCycle() to setThrottle() (#8720)

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Fixes #8716.
This commit is contained in:
Tyler Veness
2026-04-09 22:28:01 -07:00
committed by GitHub
parent a4e035ba64
commit b6849a8da3
160 changed files with 659 additions and 706 deletions
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4
wpilibc/src/main/native/cpp/hardware/expansionhub/ExpansionHubMotor.cpp
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@@ -92,10 +92,10 @@ ExpansionHubMotor::~ExpansionHubMotor() noexcept {
m_hub.UnreserveMotor(m_channel);
}
void ExpansionHubMotor::SetDutyCycle(double dutyCycle) {
void ExpansionHubMotor::SetThrottle(double throttle) {
SetEnabled(true);
m_modePublisher.Set(kPercentageMode);
m_setpointPublisher.Set(dutyCycle);
m_setpointPublisher.Set(throttle);
}
void ExpansionHubMotor::SetVoltage(wpi::units::volt_t voltage) {

2
wpilibc/src/main/native/cpp/hardware/motor/MotorController.cpp
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@@ -10,5 +10,5 @@ using namespace wpi;
void MotorController::SetVoltage(wpi::units::volt_t voltage) {
// NOLINTNEXTLINE(bugprone-integer-division)
SetDutyCycle(voltage / RobotController::GetBatteryVoltage());
SetThrottle(voltage / RobotController::GetBatteryVoltage());
}

34
wpilibc/src/main/native/cpp/hardware/motor/PWMMotorController.cpp
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@@ -14,28 +14,28 @@
using namespace wpi;
void PWMMotorController::SetDutyCycle(double dutyCycle) {
void PWMMotorController::SetThrottle(double throttle) {
if (m_isInverted) {
dutyCycle = -dutyCycle;
throttle = -throttle;
}
SetDutyCycleInternal(dutyCycle);
SetDutyCycleInternal(throttle);
for (auto& follower : m_nonowningFollowers) {
follower->SetDutyCycle(dutyCycle);
follower->SetThrottle(throttle);
}
for (auto& follower : m_owningFollowers) {
follower->SetDutyCycle(dutyCycle);
follower->SetThrottle(throttle);
}
Feed();
}
double PWMMotorController::GetDutyCycle() const {
double PWMMotorController::GetThrottle() const {
return GetDutyCycleInternal() * (m_isInverted ? -1.0 : 1.0);
}
wpi::units::volt_t PWMMotorController::GetVoltage() const {
return GetDutyCycle() * RobotController::GetBatteryVoltage();
return GetThrottle() * RobotController::GetBatteryVoltage();
}
void PWMMotorController::SetInverted(bool isInverted) {
@@ -49,8 +49,8 @@ bool PWMMotorController::GetInverted() const {
void PWMMotorController::Disable() {
m_pwm.SetDisabled();
if (m_simDutyCycle) {
m_simDutyCycle.Set(0.0);
if (m_simThrottle) {
m_simThrottle.Set(0.0);
}
for (auto& follower : m_nonowningFollowers) {
@@ -81,28 +81,24 @@ void PWMMotorController::AddFollower(PWMMotorController& follower) {
m_nonowningFollowers.emplace_back(&follower);
}
WPI_IGNORE_DEPRECATED
PWMMotorController::PWMMotorController(std::string_view name, int channel)
: m_pwm(channel, false) {
wpi::util::SendableRegistry::Add(this, name, channel);
m_simDevice = wpi::hal::SimDevice{"PWMMotorController", channel};
if (m_simDevice) {
m_simDutyCycle = m_simDevice.CreateDouble(
"DutyCycle", wpi::hal::SimDevice::Direction::OUTPUT, 0.0);
m_simThrottle = m_simDevice.CreateDouble(
"Throttle", wpi::hal::SimDevice::Direction::OUTPUT, 0.0);
m_pwm.SetSimDevice(m_simDevice);
}
}
WPI_UNIGNORE_DEPRECATED
void PWMMotorController::InitSendable(wpi::util::SendableBuilder& builder) {
builder.SetSmartDashboardType("Motor Controller");
builder.SetActuator(true);
builder.AddDoubleProperty(
"Value", [=, this] { return GetDutyCycle(); },
[=, this](double value) { SetDutyCycle(value); });
"Value", [=, this] { return GetThrottle(); },
[=, this](double value) { SetThrottle(value); });
}
wpi::units::microsecond_t PWMMotorController::GetMinPositivePwm() const {
@@ -136,8 +132,8 @@ void PWMMotorController::SetDutyCycleInternal(double dutyCycle) {
dutyCycle = 0.0;
}
if (m_simDutyCycle) {
m_simDutyCycle.Set(dutyCycle);
if (m_simThrottle) {
m_simThrottle.Set(dutyCycle);
}
wpi::units::microsecond_t rawValue;