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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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38
wpilibj/src/test/java/edu/wpi/first/wpilibj/drive/DifferentialDriveTest.java
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@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.drive;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.wpilibj.motorcontrol.MockMotorController;
import edu.wpi.first.wpilibj.motorcontrol.MockPWMMotorController;
import org.junit.jupiter.api.Test;
class DifferentialDriveTest {
@@ -250,9 +250,9 @@ class DifferentialDriveTest {
@Test
void testArcadeDrive() {
var left = new MockMotorController();
var right = new MockMotorController();
var drive = new DifferentialDrive(left, right);
var left = new MockPWMMotorController();
var right = new MockPWMMotorController();
var drive = new DifferentialDrive(left::set, right::set);
drive.setDeadband(0.0);
// Forward
@@ -288,9 +288,9 @@ class DifferentialDriveTest {
@Test
void testArcadeDriveSquared() {
var left = new MockMotorController();
var right = new MockMotorController();
var drive = new DifferentialDrive(left, right);
var left = new MockPWMMotorController();
var right = new MockPWMMotorController();
var drive = new DifferentialDrive(left::set, right::set);
drive.setDeadband(0.0);
// Forward
@@ -326,9 +326,9 @@ class DifferentialDriveTest {
@Test
void testCurvatureDrive() {
var left = new MockMotorController();
var right = new MockMotorController();
var drive = new DifferentialDrive(left, right);
var left = new MockPWMMotorController();
var right = new MockPWMMotorController();
var drive = new DifferentialDrive(left::set, right::set);
drive.setDeadband(0.0);
// Forward
@@ -364,9 +364,9 @@ class DifferentialDriveTest {
@Test
void testCurvatureDriveTurnInPlace() {
var left = new MockMotorController();
var right = new MockMotorController();
var drive = new DifferentialDrive(left, right);
var left = new MockPWMMotorController();
var right = new MockPWMMotorController();
var drive = new DifferentialDrive(left::set, right::set);
drive.setDeadband(0.0);
// Forward
@@ -402,9 +402,9 @@ class DifferentialDriveTest {
@Test
void testTankDrive() {
var left = new MockMotorController();
var right = new MockMotorController();
var drive = new DifferentialDrive(left, right);
var left = new MockPWMMotorController();
var right = new MockPWMMotorController();
var drive = new DifferentialDrive(left::set, right::set);
drive.setDeadband(0.0);
// Forward
@@ -440,9 +440,9 @@ class DifferentialDriveTest {
@Test
void testTankDriveSquared() {
var left = new MockMotorController();
var right = new MockMotorController();
var drive = new DifferentialDrive(left, right);
var left = new MockPWMMotorController();
var right = new MockPWMMotorController();
var drive = new DifferentialDrive(left::set, right::set);
drive.setDeadband(0.0);
// Forward

32
wpilibj/src/test/java/edu/wpi/first/wpilibj/drive/MecanumDriveTest.java
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@@ -7,7 +7,7 @@ package edu.wpi.first.wpilibj.drive;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj.motorcontrol.MockMotorController;
import edu.wpi.first.wpilibj.motorcontrol.MockPWMMotorController;
import org.junit.jupiter.api.Test;
class MecanumDriveTest {
@@ -89,11 +89,11 @@ class MecanumDriveTest {
@Test
void testCartesian() {
var fl = new MockMotorController();
var fr = new MockMotorController();
var rl = new MockMotorController();
var rr = new MockMotorController();
var drive = new MecanumDrive(fl, rl, fr, rr);
var fl = new MockPWMMotorController();
var rl = new MockPWMMotorController();
var fr = new MockPWMMotorController();
var rr = new MockPWMMotorController();
var drive = new MecanumDrive(fl::set, rl::set, fr::set, rr::set);
drive.setDeadband(0.0);
// Forward
@@ -134,11 +134,11 @@ class MecanumDriveTest {
@Test
void testCartesianGyro90CW() {
var fl = new MockMotorController();
var fr = new MockMotorController();
var rl = new MockMotorController();
var rr = new MockMotorController();
var drive = new MecanumDrive(fl, rl, fr, rr);
var fl = new MockPWMMotorController();
var rl = new MockPWMMotorController();
var fr = new MockPWMMotorController();
var rr = new MockPWMMotorController();
var drive = new MecanumDrive(fl::set, rl::set, fr::set, rr::set);
drive.setDeadband(0.0);
// Forward in global frame; left in robot frame
@@ -179,11 +179,11 @@ class MecanumDriveTest {
@Test
void testPolar() {
var fl = new MockMotorController();
var fr = new MockMotorController();
var rl = new MockMotorController();
var rr = new MockMotorController();
var drive = new MecanumDrive(fl, rl, fr, rr);
var fl = new MockPWMMotorController();
var rl = new MockPWMMotorController();
var fr = new MockPWMMotorController();
var rr = new MockPWMMotorController();
var drive = new MecanumDrive(fl::set, rl::set, fr::set, rr::set);
drive.setDeadband(0.0);
// Forward

1
wpilibj/src/test/java/edu/wpi/first/wpilibj/motorcontrol/MockMotorController.java
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@@ -4,6 +4,7 @@
package edu.wpi.first.wpilibj.motorcontrol;
@SuppressWarnings("removal")
public class MockMotorController implements MotorController {
private double m_speed;
private boolean m_isInverted;

34
wpilibj/src/test/java/edu/wpi/first/wpilibj/motorcontrol/MockPWMMotorController.java Normal file
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@@ -0,0 +1,34 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.motorcontrol;
public class MockPWMMotorController {
private double m_speed;
private boolean m_isInverted;
public void set(double speed) {
m_speed = m_isInverted ? -speed : speed;
}
public double get() {
return m_speed;
}
public void setInverted(boolean isInverted) {
m_isInverted = isInverted;
}
public boolean getInverted() {
return m_isInverted;
}
public void disable() {
m_speed = 0;
}
public void stopMotor() {
disable();
}
}

1
wpilibj/src/test/java/edu/wpi/first/wpilibj/motorcontrol/MotorControllerGroupTest.java
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@@ -15,6 +15,7 @@ import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.Arguments;
import org.junit.jupiter.params.provider.MethodSource;
@SuppressWarnings("removal")
class MotorControllerGroupTest {
private static Stream<Arguments> motorControllerArguments() {
return IntStream.of(1, 2, 3)