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[wpilib] Propagate PWMMotorController stopMotor() and disable() to followers (#6750)

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This commit is contained in:
Brendan Raykoff
2024-06-18 09:40:32 -04:00
committed by GitHub
parent 3a0ee5c9a7
commit e884221a8d
2 changed files with 22 additions and 0 deletions
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14
wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
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@@ -47,11 +47,25 @@ bool PWMMotorController::GetInverted() const {
void PWMMotorController::Disable() {
m_pwm.SetDisabled();
for (auto& follower : m_nonowningFollowers) {
follower->Disable();
}
for (auto& follower : m_owningFollowers) {
follower->Disable();
}
}
void PWMMotorController::StopMotor() {
// Don't use Set(0) as that will feed the watch kitty
m_pwm.SetSpeed(0);
for (auto& follower : m_nonowningFollowers) {
follower->StopMotor();
}
for (auto& follower : m_owningFollowers) {
follower->StopMotor();
}
}
std::string PWMMotorController::GetDescription() const {

8
wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java
View File

@@ -88,12 +88,20 @@ public abstract class PWMMotorController extends MotorSafety
@Override
public void disable() {
m_pwm.setDisabled();
for (var follower : m_followers) {
follower.disable();
}
}
@Override
public void stopMotor() {
// Don't use set(0) as that will feed the watch kitty
m_pwm.setSpeed(0);
for (var follower : m_followers) {
follower.stopMotor();
}
}
@Override