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[wpilib] Remove Servo Classes (#8270)

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SystemCore doesn't directly support Servos. It would be possible to still use a Servo Power Module, but those are fairly rare, and we should probably use a different class for that case, so users don't attempt to hook a servo directly up to systemcore. That will depend on what happens with the rules in 2027.

Rev Servo Hubs are a current working replacement for systemcore users.
This commit is contained in:
Thad House
2025-10-02 22:39:55 -07:00
committed by GitHub
parent c46b54a523
commit e369c721ca
8 changed files with 0 additions and 553 deletions
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84
wpilibc/src/main/native/cpp/Servo.cpp
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// 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.
#include "frc/Servo.h"
#include <hal/UsageReporting.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
using namespace frc;
Servo::Servo(int channel) : m_pwm(channel, false) {
wpi::SendableRegistry::Add(this, "Servo", channel);
// Assign defaults for period multiplier for the servo PWM control signal
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_20Ms);
HAL_ReportUsage("IO", channel, "Servo");
wpi::SendableRegistry::SetName(this, "Servo", channel);
m_simDevice = hal::SimDevice{"Servo", channel};
if (m_simDevice) {
m_simPosition = m_simDevice.CreateDouble("Position", true, 0.0);
m_pwm.SetSimDevice(m_simDevice);
}
}
void Servo::Set(double value) {
value = std::clamp(value, 0.0, 1.0);
if (m_simPosition) {
m_simPosition.Set(value);
}
units::microsecond_t rawValue =
(value * GetFullRangeScaleFactor()) + m_minPwm;
m_pwm.SetPulseTime(rawValue);
}
double Servo::Get() const {
units::microsecond_t rawValue = m_pwm.GetPulseTime();
if (rawValue < m_minPwm) {
return 0.0;
} else if (rawValue > m_maxPwm) {
return 1.0;
}
return (rawValue - m_minPwm).to<double>() /
GetFullRangeScaleFactor().to<double>();
}
void Servo::SetAngle(double degrees) {
if (degrees < kMinServoAngle) {
degrees = kMinServoAngle;
} else if (degrees > kMaxServoAngle) {
degrees = kMaxServoAngle;
}
Set((degrees - kMinServoAngle) / GetServoAngleRange());
}
double Servo::GetAngle() const {
return Get() * GetServoAngleRange() + kMinServoAngle;
}
void Servo::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Servo");
builder.AddDoubleProperty(
"Value", [=, this] { return Get(); },
[=, this](double value) { Set(value); });
}
double Servo::GetServoAngleRange() {
return kMaxServoAngle - kMinServoAngle;
}
units::microsecond_t Servo::GetFullRangeScaleFactor() const {
return m_maxPwm - m_minPwm;
}
int Servo::GetChannel() const {
return m_pwm.GetChannel();
}

28
wpilibc/src/main/native/cpp/simulation/ServoSim.cpp
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@@ -1,28 +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.
#include "frc/simulation/ServoSim.h"
#include <hal/SimDevice.h>
#include <units/length.h>
#include "frc/simulation/SimDeviceSim.h"
using namespace frc;
using namespace frc::sim;
ServoSim::ServoSim(const Servo& servo) : ServoSim(servo.GetChannel()) {}
ServoSim::ServoSim(int channel) {
frc::sim::SimDeviceSim deviceSim{"Servo", channel};
m_simPosition = deviceSim.GetDouble("Position");
}
double ServoSim::GetPosition() const {
return m_simPosition.Get();
}
double ServoSim::GetAngle() const {
return GetPosition() * Servo::GetServoAngleRange() + Servo::kMinServoAngle;
}