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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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1
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/MotorEncoderFixture.java
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@@ -22,6 +22,7 @@ import java.util.logging.Logger;
* fixture. This allows tests to be mailable so that you can easily reconfigure the physical testbed
* without breaking the tests.
*/
@SuppressWarnings("removal")
public abstract class MotorEncoderFixture<T extends MotorController> implements ITestFixture {
private static final Logger logger = Logger.getLogger(MotorEncoderFixture.class.getName());
private boolean m_initialized = false;

40
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MockMotorController.java
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@@ -1,40 +0,0 @@
// 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 MockMotorController implements MotorController {
private double m_speed;
private boolean m_isInverted;
@Override
public void set(double speed) {
m_speed = m_isInverted ? -speed : speed;
}
@Override
public double get() {
return m_speed;
}
@Override
public void setInverted(boolean isInverted) {
m_isInverted = isInverted;
}
@Override
public boolean getInverted() {
return m_isInverted;
}
@Override
public void disable() {
m_speed = 0;
}
@Override
public void stopMotor() {
disable();
}
}