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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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wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Drivetrain.h
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@@ -118,7 +118,9 @@ class Drivetrain : public frc2::SubsystemBase {
frc::Encoder m_leftEncoder{4, 5};
frc::Encoder m_rightEncoder{6, 7};
frc::DifferentialDrive m_drive{m_leftMotor, m_rightMotor};
frc::DifferentialDrive m_drive{
[&](double output) { m_leftMotor.Set(output); },
[&](double output) { m_rightMotor.Set(output); }};
frc::XRPGyro m_gyro;
frc::BuiltInAccelerometer m_accelerometer;