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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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8
wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Drive.cpp
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@@ -9,10 +9,16 @@
#include <frc2/command/Commands.h>
Drive::Drive() {
wpi::SendableRegistry::AddChild(&m_drive, &m_leftLeader);
wpi::SendableRegistry::AddChild(&m_drive, &m_rightLeader);
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_rightMotors.SetInverted(true);
m_rightLeader.SetInverted(true);
// Sets the distance per pulse for the encoders
m_leftEncoder.SetDistancePerPulse(DriveConstants::kEncoderDistancePerPulse);

8
wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.h
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@@ -8,7 +8,6 @@
#include <frc/Encoder.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc/motorcontrol/MotorControllerGroup.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc2/command/CommandPtr.h>
#include <frc2/command/SubsystemBase.h>
@@ -45,10 +44,9 @@ class Drive : public frc2::SubsystemBase {
frc::PWMSparkMax m_rightLeader{DriveConstants::kRightMotor1Port};
frc::PWMSparkMax m_rightFollower{DriveConstants::kRightMotor2Port};
frc::MotorControllerGroup m_leftMotors{m_leftLeader, m_leftFollower};
frc::MotorControllerGroup m_rightMotors{m_rightLeader, m_rightFollower};
frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
frc::DifferentialDrive m_drive{
[&](double output) { m_leftLeader.Set(output); },
[&](double output) { m_rightLeader.Set(output); }};
frc::Encoder m_leftEncoder{DriveConstants::kLeftEncoderPorts[0],
DriveConstants::kLeftEncoderPorts[1],