[wpilib] Remove Servo Classes (#8270)

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.

wpilibc/src/main/native/include/frc/Servo.h

@@ -1,112 +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.
-
-#pragma once
-
-#include <hal/SimDevice.h>
-#include <units/angle.h>
-
-#include "frc/PWM.h"
-
-namespace frc {
-
-namespace sim {
-class ServoSim;
-}  // namespace sim
-
-/**
- * Standard hobby style servo.
- *
- * The range parameters default to the appropriate values for the Hitec HS-322HD
- * servo provided in the FIRST Kit of Parts in 2008.
- */
-class Servo : public wpi::Sendable, public wpi::SendableHelper<Servo> {
- public:
-  friend class frc::sim::ServoSim;
-
-  /**
-   * Constructor.
-   *
-   * By default, 2.4 ms is used as the max PWM value and 0.6 ms is used as the
-   * min PWM value.
-   *
-   * @param channel The PWM channel to which the servo is attached. 0-9 are
-   *                on-board, 10-19 are on the MXP port
-   */
-  explicit Servo(int channel);
-
-  Servo(Servo&&) = default;
-  Servo& operator=(Servo&&) = default;
-
-  /**
-   * Set the servo position.
-   *
-   * Servo values range from 0.0 to 1.0 corresponding to the range of full left
-   * to full right.
-   *
-   * @param value Position from 0.0 to 1.0.
-   */
-  void Set(double value);
-
-  /**
-   * Get the servo position.
-   *
-   * Servo values range from 0.0 to 1.0 corresponding to the range of full left
-   * to full right. This returns the commanded position, not the position that
-   * the servo is actually at, as the servo does not report its own position.
-   *
-   * @return Position from 0.0 to 1.0.
-   */
-  double Get() const;
-
-  /**
-   * Set the servo angle.
-   *
-   * The angles are based on the HS-322HD Servo, and have a range of 0 to 180
-   * degrees.
-   *
-   * Servo angles that are out of the supported range of the servo simply
-   * "saturate" in that direction. In other words, if the servo has a range of
-   * (X degrees to Y degrees) than angles of less than X result in an angle of
-   * X being set and angles of more than Y degrees result in an angle of Y being
-   * set.
-   *
-   * @param angle The angle in degrees to set the servo.
-   */
-  void SetAngle(double angle);
-
-  /**
-   * Get the servo angle.
-   *
-   * This returns the commanded angle, not the angle that the servo is actually
-   * at, as the servo does not report its own angle.
-   *
-   * @return The angle in degrees to which the servo is set.
-   */
-  double GetAngle() const;
-
-  int GetChannel() const;
-
-  void InitSendable(wpi::SendableBuilder& builder) override;
-
- private:
-  static double GetServoAngleRange();
-  units::microsecond_t GetFullRangeScaleFactor() const;
-
-  static constexpr double kMaxServoAngle = 180.0;
-  static constexpr double kMinServoAngle = 0.0;
-
-  static constexpr units::millisecond_t kDefaultMaxServoPWM = 2.4_ms;
-  static constexpr units::millisecond_t kDefaultMinServoPWM = 0.6_ms;
-
-  units::millisecond_t m_maxPwm = kDefaultMaxServoPWM;
-  units::millisecond_t m_minPwm = kDefaultMinServoPWM;
-
-  hal::SimDevice m_simDevice;
-  hal::SimDouble m_simPosition;
-
-  PWM m_pwm;
-};
-
-}  // namespace frc

wpilibc/src/main/native/include/frc/simulation/ServoSim.h

@@ -1,31 +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.
-
-#pragma once
-
-#include <hal/SimDevice.h>
-#include <units/length.h>
-
-#include "frc/Servo.h"
-
-namespace frc {
-
-class Servo;
-
-namespace sim {
-class ServoSim {
- public:
-  explicit ServoSim(const Servo& servo);
-
-  explicit ServoSim(int channel);
-
-  double GetPosition() const;
-
-  double GetAngle() const;
-
- private:
-  hal::SimDouble m_simPosition;
-};
-}  // namespace sim
-}  // namespace frc