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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
wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveMotorVoltages.java
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@@ -4,13 +4,9 @@
package edu.wpi.first.math.kinematics;
import edu.wpi.first.math.kinematics.proto.MecanumDriveMotorVoltagesProto;
import edu.wpi.first.math.kinematics.struct.MecanumDriveMotorVoltagesStruct;
import edu.wpi.first.util.protobuf.ProtobufSerializable;
import edu.wpi.first.util.struct.StructSerializable;
/** Represents the motor voltages for a mecanum drive drivetrain. */
public class MecanumDriveMotorVoltages implements ProtobufSerializable, StructSerializable {
@Deprecated(since = "2025", forRemoval = true)
public class MecanumDriveMotorVoltages {
/** Voltage of the front left motor. */
public double frontLeftVoltage;
@@ -52,11 +48,4 @@ public class MecanumDriveMotorVoltages implements ProtobufSerializable, StructSe
+ "Rear Left: %.2f V, Rear Right: %.2f V)",
frontLeftVoltage, frontRightVoltage, rearLeftVoltage, rearRightVoltage);
}
/** MecanumDriveMotorVoltages struct for serialization. */
public static final MecanumDriveMotorVoltagesStruct struct =
new MecanumDriveMotorVoltagesStruct();
/** MecanumDriveMotorVoltages protobuf for serialization. */
public static final MecanumDriveMotorVoltagesProto proto = new MecanumDriveMotorVoltagesProto();
}

42
wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/MecanumDriveMotorVoltagesProto.java
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@@ -1,42 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.math.kinematics.proto;
import edu.wpi.first.math.kinematics.MecanumDriveMotorVoltages;
import edu.wpi.first.math.proto.Kinematics.ProtobufMecanumDriveMotorVoltages;
import edu.wpi.first.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
public final class MecanumDriveMotorVoltagesProto
implements Protobuf<MecanumDriveMotorVoltages, ProtobufMecanumDriveMotorVoltages> {
@Override
public Class<MecanumDriveMotorVoltages> getTypeClass() {
return MecanumDriveMotorVoltages.class;
}
@Override
public Descriptor getDescriptor() {
return ProtobufMecanumDriveMotorVoltages.getDescriptor();
}
@Override
public ProtobufMecanumDriveMotorVoltages createMessage() {
return ProtobufMecanumDriveMotorVoltages.newInstance();
}
@Override
public MecanumDriveMotorVoltages unpack(ProtobufMecanumDriveMotorVoltages msg) {
return new MecanumDriveMotorVoltages(
msg.getFrontLeft(), msg.getFrontRight(), msg.getRearLeft(), msg.getRearRight());
}
@Override
public void pack(ProtobufMecanumDriveMotorVoltages msg, MecanumDriveMotorVoltages value) {
msg.setFrontLeft(value.frontLeftVoltage);
msg.setFrontRight(value.frontRightVoltage);
msg.setRearLeft(value.rearLeftVoltage);
msg.setRearRight(value.rearRightVoltage);
}
}

48
wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/MecanumDriveMotorVoltagesStruct.java
View File

@@ -1,48 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.math.kinematics.struct;
import edu.wpi.first.math.kinematics.MecanumDriveMotorVoltages;
import edu.wpi.first.util.struct.Struct;
import java.nio.ByteBuffer;
public final class MecanumDriveMotorVoltagesStruct implements Struct<MecanumDriveMotorVoltages> {
@Override
public Class<MecanumDriveMotorVoltages> getTypeClass() {
return MecanumDriveMotorVoltages.class;
}
@Override
public String getTypeName() {
return "MecanumDriveMotorVoltages";
}
@Override
public int getSize() {
return kSizeDouble * 4;
}
@Override
public String getSchema() {
return "double front_left;double front_right;double rear_left;double rear_right";
}
@Override
public MecanumDriveMotorVoltages unpack(ByteBuffer bb) {
double front_left = bb.getDouble();
double front_right = bb.getDouble();
double rear_left = bb.getDouble();
double rear_right = bb.getDouble();
return new MecanumDriveMotorVoltages(front_left, front_right, rear_left, rear_right);
}
@Override
public void pack(ByteBuffer bb, MecanumDriveMotorVoltages value) {
bb.putDouble(value.frontLeftVoltage);
bb.putDouble(value.frontRightVoltage);
bb.putDouble(value.rearLeftVoltage);
bb.putDouble(value.rearRightVoltage);
}
}