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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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5
wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp
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@@ -30,6 +30,11 @@ DriveSubsystem::DriveSubsystem()
m_odometry{kDriveKinematics, m_gyro.GetRotation2d(),
getCurrentWheelDistances(), frc::Pose2d{}} {
wpi::SendableRegistry::AddChild(&m_drive, &m_frontLeft);
wpi::SendableRegistry::AddChild(&m_drive, &m_rearLeft);
wpi::SendableRegistry::AddChild(&m_drive, &m_frontRight);
wpi::SendableRegistry::AddChild(&m_drive, &m_rearRight);
// Set the distance per pulse for the encoders
m_frontLeftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
m_rearLeftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);

5
wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/subsystems/DriveSubsystem.h
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@@ -148,7 +148,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
frc::PWMSparkMax m_rearRight;
// The robot's drive
frc::MecanumDrive m_drive{m_frontLeft, m_rearLeft, m_frontRight, m_rearRight};
frc::MecanumDrive m_drive{[&](double output) { m_frontLeft.Set(output); },
[&](double output) { m_rearLeft.Set(output); },
[&](double output) { m_frontRight.Set(output); },
[&](double output) { m_rearRight.Set(output); }};
// The front-left-side drive encoder
frc::Encoder m_frontLeftEncoder;