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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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4
wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp
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@@ -12,6 +12,8 @@ using namespace frc;
// Can't use a delegated constructor here because of an MSVC bug.
// https://developercommunity.visualstudio.com/content/problem/583/compiler-bug-with-delegating-a-constructor.html
WPI_IGNORE_DEPRECATED
MotorControllerGroup::MotorControllerGroup(
std::vector<std::reference_wrapper<MotorController>>&& motorControllers)
: m_motorControllers(std::move(motorControllers)) {
@@ -74,3 +76,5 @@ void MotorControllerGroup::InitSendable(wpi::SendableBuilder& builder) {
"Value", [=, this] { return Get(); },
[=, this](double value) { Set(value); });
}
WPI_UNIGNORE_DEPRECATED

4
wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp
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@@ -11,6 +11,8 @@
using namespace frc;
WPI_IGNORE_DEPRECATED
NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
: m_dio(dioChannel), m_pwm(pwmChannel) {
wpi::SendableRegistry::AddChild(this, &m_dio);
@@ -26,6 +28,8 @@ NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
wpi::SendableRegistry::AddLW(this, "Nidec Brushless", pwmChannel);
}
WPI_UNIGNORE_DEPRECATED
void NidecBrushless::Set(double speed) {
if (!m_disabled) {
m_speed = speed;

28
wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
View File

@@ -8,13 +8,31 @@
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/RobotController.h"
using namespace frc;
void PWMMotorController::Set(double speed) {
m_pwm.SetSpeed(m_isInverted ? -speed : speed);
if (m_isInverted) {
speed = -speed;
}
m_pwm.SetSpeed(speed);
for (auto& follower : m_nonowningFollowers) {
follower->Set(speed);
}
for (auto& follower : m_owningFollowers) {
follower->Set(speed);
}
Feed();
}
void PWMMotorController::SetVoltage(units::volt_t output) {
// NOLINTNEXTLINE(bugprone-integer-division)
Set(output / RobotController::GetBatteryVoltage());
}
double PWMMotorController::Get() const {
return m_pwm.GetSpeed() * (m_isInverted ? -1.0 : 1.0);
}
@@ -48,11 +66,19 @@ void PWMMotorController::EnableDeadbandElimination(bool eliminateDeadband) {
m_pwm.EnableDeadbandElimination(eliminateDeadband);
}
void PWMMotorController::AddFollower(PWMMotorController& follower) {
m_nonowningFollowers.emplace_back(&follower);
}
WPI_IGNORE_DEPRECATED
PWMMotorController::PWMMotorController(std::string_view name, int channel)
: m_pwm(channel, false) {
wpi::SendableRegistry::AddLW(this, name, channel);
}
WPI_UNIGNORE_DEPRECATED
void PWMMotorController::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Motor Controller");
builder.SetActuator(true);