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[wpilib] Replace MecanumDriveMotorVoltages with a functional interface (#6760)

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This commit is contained in:
Wispy
2024-12-08 19:05:06 -06:00
committed by GitHub
parent d5edb4060d
commit cc41a0ed24
11 changed files with 453 additions and 1040 deletions
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15
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java
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@@ -5,7 +5,6 @@
package edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.subsystems;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.kinematics.MecanumDriveMotorVoltages;
import edu.wpi.first.math.kinematics.MecanumDriveOdometry;
import edu.wpi.first.math.kinematics.MecanumDriveWheelPositions;
import edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds;
@@ -125,11 +124,15 @@ public class DriveSubsystem extends SubsystemBase {
}
/** Sets the front left drive MotorController to a voltage. */
public void setDriveMotorControllersVolts(MecanumDriveMotorVoltages volts) {
m_frontLeft.setVoltage(volts.frontLeftVoltage);
m_rearLeft.setVoltage(volts.rearLeftVoltage);
m_frontRight.setVoltage(volts.frontRightVoltage);
m_rearRight.setVoltage(volts.rearRightVoltage);
public void setDriveMotorControllersVolts(
double frontLeftVoltage,
double frontRightVoltage,
double rearLeftVoltage,
double rearRightVoltage) {
m_frontLeft.setVoltage(frontLeftVoltage);
m_rearLeft.setVoltage(rearLeftVoltage);
m_frontRight.setVoltage(frontRightVoltage);
m_rearRight.setVoltage(rearRightVoltage);
}
/** Resets the drive encoders to currently read a position of 0. */