From cb720048b846f276f4acb4feb6b506d0cae837a2 Mon Sep 17 00:00:00 2001 From: Thad House Date: Sat, 1 Nov 2025 21:45:19 +0000 Subject: [PATCH] [wpilib] Remove Jaguar (and other) motor controllers (#8299) --- hal/src/main/native/sim/DigitalInternal.h | 4 +--- wpilibc/src/main/native/include/frc/WPIErrors.mac | 2 -- wpilibc/src/main/python/pyproject.toml | 4 ---- wpilibc/src/main/python/semiwrap/DMC60.yml | 7 ------- wpilibc/src/main/python/semiwrap/Jaguar.yml | 7 ------- wpilibc/src/main/python/semiwrap/SD540.yml | 7 ------- wpilibc/src/main/python/semiwrap/Victor.yml | 7 ------- wpilibc/src/main/python/wpilib/__init__.py | 8 -------- 8 files changed, 1 insertion(+), 45 deletions(-) delete mode 100644 wpilibc/src/main/python/semiwrap/DMC60.yml delete mode 100644 wpilibc/src/main/python/semiwrap/Jaguar.yml delete mode 100644 wpilibc/src/main/python/semiwrap/SD540.yml delete mode 100644 wpilibc/src/main/python/semiwrap/Victor.yml diff --git a/hal/src/main/native/sim/DigitalInternal.h b/hal/src/main/native/sim/DigitalInternal.h index 079d9dd8b9..50bb2a12e9 100644 --- a/hal/src/main/native/sim/DigitalInternal.h +++ b/hal/src/main/native/sim/DigitalInternal.h @@ -29,9 +29,7 @@ constexpr int32_t kExpectedLoopTiming = 40; * reliably down to 10.0 ms; starting at about 8.5ms, the servo sometimes hums * and get hot; by 5.0ms the hum is nearly continuous * - 10ms periods work well for Victor 884 - * - 5ms periods allows higher update rates for Luminary Micro Jaguar motor - * controllers. Due to the shipping firmware on the Jaguar, we can't run the - * update period less than 5.05 ms. + * - 5ms periods allows higher update rates for modern motor controllers. * * kDefaultPwmPeriod is the 1x period (5.05 ms). In hardware, the period * scaling is implemented as an output squelch to get longer periods for old diff --git a/wpilibc/src/main/native/include/frc/WPIErrors.mac b/wpilibc/src/main/native/include/frc/WPIErrors.mac index c6c96e9c57..6105677a0f 100644 --- a/wpilibc/src/main/native/include/frc/WPIErrors.mac +++ b/wpilibc/src/main/native/include/frc/WPIErrors.mac @@ -46,8 +46,6 @@ S(LineNotOutput, -27, "Cannot SetDigitalOutput for a line not configured for output") S(ParameterOutOfRange, -28, "A parameter is out of range") S(SPIClockRateTooLow, -29, "SPI clock rate was below the minimum supported") -S(JaguarVersionError, -30, "Jaguar firmware version error") -S(JaguarMessageNotFound, -31, "Jaguar message not found") S(NetworkTablesReadError, -40, "Error reading NetworkTables socket") S(NetworkTablesBufferFull, -41, "Buffer full writing to NetworkTables socket") S(NetworkTablesWrongType, -42, diff --git a/wpilibc/src/main/python/pyproject.toml b/wpilibc/src/main/python/pyproject.toml index 5b8af56e55..7f4ab0c7c4 100644 --- a/wpilibc/src/main/python/pyproject.toml +++ b/wpilibc/src/main/python/pyproject.toml @@ -156,8 +156,6 @@ MotorController = "frc/motorcontrol/MotorController.h" DriverStationModeThread = "frc/internal/DriverStationModeThread.h" # frc/motorcontrol -DMC60 = "frc/motorcontrol/DMC60.h" -Jaguar = "frc/motorcontrol/Jaguar.h" Koors40 = "frc/motorcontrol/Koors40.h" MotorControllerGroup = "rpy/MotorControllerGroup.h" PWMMotorController = "frc/motorcontrol/PWMMotorController.h" @@ -167,11 +165,9 @@ PWMTalonFX = "frc/motorcontrol/PWMTalonFX.h" PWMTalonSRX = "frc/motorcontrol/PWMTalonSRX.h" PWMVenom = "frc/motorcontrol/PWMVenom.h" PWMVictorSPX = "frc/motorcontrol/PWMVictorSPX.h" -SD540 = "frc/motorcontrol/SD540.h" Spark = "frc/motorcontrol/Spark.h" SparkMini = "frc/motorcontrol/SparkMini.h" Talon = "frc/motorcontrol/Talon.h" -Victor = "frc/motorcontrol/Victor.h" VictorSP = "frc/motorcontrol/VictorSP.h" # frc/smartdashboard diff --git a/wpilibc/src/main/python/semiwrap/DMC60.yml b/wpilibc/src/main/python/semiwrap/DMC60.yml deleted file mode 100644 index 4adbfcadc6..0000000000 --- a/wpilibc/src/main/python/semiwrap/DMC60.yml +++ /dev/null @@ -1,7 +0,0 @@ -extra_includes: -- wpi/sendable/SendableBuilder.h - -classes: - frc::DMC60: - methods: - DMC60: diff --git a/wpilibc/src/main/python/semiwrap/Jaguar.yml b/wpilibc/src/main/python/semiwrap/Jaguar.yml deleted file mode 100644 index 20503e66c4..0000000000 --- a/wpilibc/src/main/python/semiwrap/Jaguar.yml +++ /dev/null @@ -1,7 +0,0 @@ -extra_includes: -- wpi/sendable/SendableBuilder.h - -classes: - frc::Jaguar: - methods: - Jaguar: diff --git a/wpilibc/src/main/python/semiwrap/SD540.yml b/wpilibc/src/main/python/semiwrap/SD540.yml deleted file mode 100644 index 756428a73d..0000000000 --- a/wpilibc/src/main/python/semiwrap/SD540.yml +++ /dev/null @@ -1,7 +0,0 @@ -extra_includes: -- wpi/sendable/SendableBuilder.h - -classes: - frc::SD540: - methods: - SD540: diff --git a/wpilibc/src/main/python/semiwrap/Victor.yml b/wpilibc/src/main/python/semiwrap/Victor.yml deleted file mode 100644 index b55c81f1c7..0000000000 --- a/wpilibc/src/main/python/semiwrap/Victor.yml +++ /dev/null @@ -1,7 +0,0 @@ -extra_includes: -- wpi/sendable/SendableBuilder.h - -classes: - frc::Victor: - methods: - Victor: diff --git a/wpilibc/src/main/python/wpilib/__init__.py b/wpilibc/src/main/python/wpilib/__init__.py index 878ae63ff4..a4c9ba9040 100644 --- a/wpilibc/src/main/python/wpilib/__init__.py +++ b/wpilibc/src/main/python/wpilib/__init__.py @@ -18,7 +18,6 @@ from ._wpilib import ( Color8Bit, Compressor, CompressorConfigType, - DMC60, DSControlWord, DataLogManager, DigitalInput, @@ -32,7 +31,6 @@ from ._wpilib import ( FieldObject2d, I2C, IterativeRobotBase, - Jaguar, Joystick, Koors40, LEDPattern, @@ -64,7 +62,6 @@ from ._wpilib import ( RobotController, RobotState, RuntimeType, - SD540, SendableBuilderImpl, SendableChooser, SendableChooserBase, @@ -82,7 +79,6 @@ from ._wpilib import ( Timer, TimesliceRobot, Tracer, - Victor, VictorSP, Watchdog, XboxController, @@ -109,7 +105,6 @@ __all__ = [ "Color8Bit", "Compressor", "CompressorConfigType", - "DMC60", "DSControlWord", "DataLogManager", "DigitalInput", @@ -123,7 +118,6 @@ __all__ = [ "FieldObject2d", "I2C", "IterativeRobotBase", - "Jaguar", "Joystick", "Koors40", "LEDPattern", @@ -155,7 +149,6 @@ __all__ = [ "RobotController", "RobotState", "RuntimeType", - "SD540", "SendableBuilderImpl", "SendableChooser", "SendableChooserBase", @@ -173,7 +166,6 @@ __all__ = [ "Timer", "TimesliceRobot", "Tracer", - "Victor", "VictorSP", "Watchdog", "XboxController",