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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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13
wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
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@@ -7,10 +7,13 @@
#include "ExampleGlobalMeasurementSensor.h"
Drivetrain::Drivetrain() {
m_leftLeader.AddFollower(m_leftFollower);
m_rightLeader.AddFollower(m_rightFollower);
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's
// gearbox is constructed, you might have to invert the left side instead.
m_rightGroup.SetInverted(true);
m_rightLeader.SetInverted(true);
m_gyro.Reset();
@@ -37,8 +40,8 @@ void Drivetrain::SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds) {
const double rightOutput = m_rightPIDController.Calculate(
m_rightEncoder.GetRate(), speeds.right.value());
m_leftGroup.SetVoltage(units::volt_t{leftOutput} + leftFeedforward);
m_rightGroup.SetVoltage(units::volt_t{rightOutput} + rightFeedforward);
m_leftLeader.SetVoltage(units::volt_t{leftOutput} + leftFeedforward);
m_rightLeader.SetVoltage(units::volt_t{rightOutput} + rightFeedforward);
}
void Drivetrain::Drive(units::meters_per_second_t xSpeed,
@@ -110,9 +113,9 @@ void Drivetrain::SimulationPeriodic() {
// To update our simulation, we set motor voltage inputs, update the
// simulation, and write the simulated positions and velocities to our
// simulated encoder and gyro.
m_drivetrainSimulator.SetInputs(units::volt_t{m_leftGroup.Get()} *
m_drivetrainSimulator.SetInputs(units::volt_t{m_leftLeader.Get()} *
frc::RobotController::GetInputVoltage(),
units::volt_t{m_rightGroup.Get()} *
units::volt_t{m_rightLeader.Get()} *
frc::RobotController::GetInputVoltage());
m_drivetrainSimulator.Update(20_ms);

4
wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
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@@ -21,7 +21,6 @@
#include <frc/geometry/Quaternion.h>
#include <frc/geometry/Transform3d.h>
#include <frc/kinematics/DifferentialDriveKinematics.h>
#include <frc/motorcontrol/MotorControllerGroup.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc/simulation/AnalogGyroSim.h>
#include <frc/simulation/DifferentialDrivetrainSim.h>
@@ -140,9 +139,6 @@ class Drivetrain {
frc::PWMSparkMax m_rightLeader{3};
frc::PWMSparkMax m_rightFollower{4};
frc::MotorControllerGroup m_leftGroup{m_leftLeader, m_leftFollower};
frc::MotorControllerGroup m_rightGroup{m_rightLeader, m_rightFollower};
frc::Encoder m_leftEncoder{0, 1};
frc::Encoder m_rightEncoder{2, 3};