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[wpilib] Add functional interface equivalents to MotorController (#6053)

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This does not deprecate any current functionality, but prepares the way for future deprecation.

The drive classes now accept void(double) functions, which makes them more flexible.

The C++ API ended up a bit more verbose, but the Java API is really concise with method references, which is >80% of our userbase. For example:

`DifferentialDrive drive = new DifferentialDrive(m_leftMotor::set, m_rightMotor::set);`

Lambdas can be passed to interoperate with vendor motor controller APIs that don't have e.g., set(double), so CTRE doesn't have to maintain their WPI_ classes anymore.

MotorControllerGroup was replaced with PWMMotorController.addFollower() for PWM motor controllers. Users of CAN motor controllers should use their vendor's follower functionality.
This commit is contained in:
Tyler Veness
2024-01-01 13:37:51 -08:00
committed by GitHub
parent 8aca706217
commit e7c9f27683
132 changed files with 1159 additions and 697 deletions
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51
wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
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@@ -16,11 +16,21 @@
using namespace frc;
WPI_IGNORE_DEPRECATED
DifferentialDrive::DifferentialDrive(MotorController& leftMotor,
MotorController& rightMotor)
: m_leftMotor(&leftMotor), m_rightMotor(&rightMotor) {
wpi::SendableRegistry::AddChild(this, m_leftMotor);
wpi::SendableRegistry::AddChild(this, m_rightMotor);
: DifferentialDrive{[&](double output) { leftMotor.Set(output); },
[&](double output) { rightMotor.Set(output); }} {
wpi::SendableRegistry::AddChild(this, &leftMotor);
wpi::SendableRegistry::AddChild(this, &rightMotor);
}
WPI_UNIGNORE_DEPRECATED
DifferentialDrive::DifferentialDrive(std::function<void(double)> leftMotor,
std::function<void(double)> rightMotor)
: m_leftMotor{std::move(leftMotor)}, m_rightMotor{std::move(rightMotor)} {
static int instances = 0;
++instances;
wpi::SendableRegistry::AddLW(this, "DifferentialDrive", instances);
@@ -40,8 +50,11 @@ void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation,
auto [left, right] = ArcadeDriveIK(xSpeed, zRotation, squareInputs);
m_leftMotor->Set(left * m_maxOutput);
m_rightMotor->Set(right * m_maxOutput);
m_leftOutput = left * m_maxOutput;
m_rightOutput = right * m_maxOutput;
m_leftMotor(m_leftOutput);
m_rightMotor(m_rightOutput);
Feed();
}
@@ -60,8 +73,11 @@ void DifferentialDrive::CurvatureDrive(double xSpeed, double zRotation,
auto [left, right] = CurvatureDriveIK(xSpeed, zRotation, allowTurnInPlace);
m_leftMotor->Set(left * m_maxOutput);
m_rightMotor->Set(right * m_maxOutput);
m_leftOutput = left * m_maxOutput;
m_rightOutput = right * m_maxOutput;
m_leftMotor(m_leftOutput);
m_rightMotor(m_rightOutput);
Feed();
}
@@ -80,8 +96,11 @@ void DifferentialDrive::TankDrive(double leftSpeed, double rightSpeed,
auto [left, right] = TankDriveIK(leftSpeed, rightSpeed, squareInputs);
m_leftMotor->Set(left * m_maxOutput);
m_rightMotor->Set(right * m_maxOutput);
m_leftOutput = left * m_maxOutput;
m_rightOutput = right * m_maxOutput;
m_leftMotor(m_leftOutput);
m_rightMotor(m_rightOutput);
Feed();
}
@@ -157,8 +176,12 @@ DifferentialDrive::WheelSpeeds DifferentialDrive::TankDriveIK(
}
void DifferentialDrive::StopMotor() {
m_leftMotor->StopMotor();
m_rightMotor->StopMotor();
m_leftOutput = 0.0;
m_rightOutput = 0.0;
m_leftMotor(0.0);
m_rightMotor(0.0);
Feed();
}
@@ -171,9 +194,7 @@ void DifferentialDrive::InitSendable(wpi::SendableBuilder& builder) {
builder.SetActuator(true);
builder.SetSafeState([=, this] { StopMotor(); });
builder.AddDoubleProperty(
"Left Motor Speed", [=, this] { return m_leftMotor->Get(); },
[=, this](double value) { m_leftMotor->Set(value); });
"Left Motor Speed", [&] { return m_leftOutput; }, m_leftMotor);
builder.AddDoubleProperty(
"Right Motor Speed", [=, this] { return m_rightMotor->Get(); },
[=, this](double value) { m_rightMotor->Set(value); });
"Right Motor Speed", [&] { return m_rightOutput; }, m_rightMotor);
}