Made SensorBase a utility class and renamed it to SensorUtil (#813)

wpilibc/src/main/native/cpp/AnalogInput.cpp

@@ -12,6 +12,7 @@
 #include <HAL/HAL.h>
 #include <HAL/Ports.h>
 
+#include "SensorUtil.h"
 #include "SmartDashboard/SendableBuilder.h"
 #include "Timer.h"
 #include "WPIErrors.h"
@@ -25,7 +26,7 @@ using namespace frc;
  *                on-board 4-7 are on the MXP port.
  */
 AnalogInput::AnalogInput(int channel) {
-  if (!SensorBase::CheckAnalogInputChannel(channel)) {
+  if (!SensorUtil::CheckAnalogInputChannel(channel)) {
     wpi_setWPIErrorWithContext(ChannelIndexOutOfRange,
                                "Analog Input " + wpi::Twine(channel));
     return;

wpilibc/src/main/native/cpp/AnalogOutput.cpp

@@ -12,7 +12,7 @@
 #include <HAL/HAL.h>
 #include <HAL/Ports.h>
 
-#include "SensorBase.h"
+#include "SensorUtil.h"
 #include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"
 
@@ -26,7 +26,7 @@ using namespace frc;
  * @param channel The channel number on the roboRIO to represent.
  */
 AnalogOutput::AnalogOutput(int channel) {
-  if (!SensorBase::CheckAnalogOutputChannel(channel)) {
+  if (!SensorUtil::CheckAnalogOutputChannel(channel)) {
     wpi_setWPIErrorWithContext(ChannelIndexOutOfRange,
                                "analog output " + wpi::Twine(channel));
     m_channel = std::numeric_limits<int>::max();

wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp

@@ -16,6 +16,7 @@
 
 #include "Counter.h"
 #include "Encoder.h"
+#include "SensorUtil.h"
 #include "Utility.h"
 #include "WPIErrors.h"
 

wpilibc/src/main/native/cpp/DigitalInput.cpp

@@ -13,6 +13,7 @@
 #include <HAL/HAL.h>
 #include <HAL/Ports.h>
 
+#include "SensorUtil.h"
 #include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"
 
@@ -26,7 +27,7 @@ using namespace frc;
  * @param channel The DIO channel 0-9 are on-board, 10-25 are on the MXP port
  */
 DigitalInput::DigitalInput(int channel) {
-  if (!CheckDigitalChannel(channel)) {
+  if (!SensorUtil::CheckDigitalChannel(channel)) {
     wpi_setWPIErrorWithContext(ChannelIndexOutOfRange,
                                "Digital Channel " + wpi::Twine(channel));
     m_channel = std::numeric_limits<int>::max();

wpilibc/src/main/native/cpp/DigitalOutput.cpp

@@ -13,7 +13,7 @@
 #include <HAL/HAL.h>
 #include <HAL/Ports.h>
 
-#include "SensorBase.h"
+#include "SensorUtil.h"
 #include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"
 
@@ -29,7 +29,7 @@ using namespace frc;
  */
 DigitalOutput::DigitalOutput(int channel) {
   m_pwmGenerator = HAL_kInvalidHandle;
-  if (!SensorBase::CheckDigitalChannel(channel)) {
+  if (!SensorUtil::CheckDigitalChannel(channel)) {
     wpi_setWPIErrorWithContext(ChannelIndexOutOfRange,
                                "Digital Channel " + wpi::Twine(channel));
     m_channel = std::numeric_limits<int>::max();
@@ -187,7 +187,7 @@ void DigitalOutput::DisablePWM() {
   int32_t status = 0;
 
   // Disable the output by routing to a dead bit.
-  HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, SensorBase::kDigitalChannels,
+  HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, SensorUtil::kDigitalChannels,
                                  &status);
   wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
 

wpilibc/src/main/native/cpp/DoubleSolenoid.cpp

@@ -11,7 +11,7 @@
 #include <HAL/Ports.h>
 #include <HAL/Solenoid.h>
 
-#include "SensorBase.h"
+#include "SensorUtil.h"
 #include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"
 
@@ -26,7 +26,7 @@ using namespace frc;
  * @param reverseChannel The reverse channel number on the PCM (0..7).
  */
 DoubleSolenoid::DoubleSolenoid(int forwardChannel, int reverseChannel)
-    : DoubleSolenoid(SensorBase::GetDefaultSolenoidModule(), forwardChannel,
+    : DoubleSolenoid(SensorUtil::GetDefaultSolenoidModule(), forwardChannel,
                      reverseChannel) {}
 
 /**
@@ -41,18 +41,18 @@ DoubleSolenoid::DoubleSolenoid(int moduleNumber, int forwardChannel,
     : SolenoidBase(moduleNumber),
       m_forwardChannel(forwardChannel),
       m_reverseChannel(reverseChannel) {
-  if (!SensorBase::CheckSolenoidModule(m_moduleNumber)) {
+  if (!SensorUtil::CheckSolenoidModule(m_moduleNumber)) {
     wpi_setWPIErrorWithContext(ModuleIndexOutOfRange,
                                "Solenoid Module " + wpi::Twine(m_moduleNumber));
     return;
   }
-  if (!SensorBase::CheckSolenoidChannel(m_forwardChannel)) {
+  if (!SensorUtil::CheckSolenoidChannel(m_forwardChannel)) {
     wpi_setWPIErrorWithContext(
         ChannelIndexOutOfRange,
         "Solenoid Channel " + wpi::Twine(m_forwardChannel));
     return;
   }
-  if (!SensorBase::CheckSolenoidChannel(m_reverseChannel)) {
+  if (!SensorUtil::CheckSolenoidChannel(m_reverseChannel)) {
     wpi_setWPIErrorWithContext(
         ChannelIndexOutOfRange,
         "Solenoid Channel " + wpi::Twine(m_reverseChannel));

wpilibc/src/main/native/cpp/LiveWindow/LiveWindow.cpp

@@ -186,7 +186,7 @@ void LiveWindow::AddActuator(const wpi::Twine& subsystem,
 
 /**
  * Meant for internal use in other WPILib classes.
- * @deprecated Use SensorBase::SetName() instead.
+ * @deprecated Use SendableBase::SetName() instead.
  */
 void LiveWindow::AddSensor(const wpi::Twine& type, int channel,
                            Sendable* component) {
@@ -197,7 +197,7 @@ void LiveWindow::AddSensor(const wpi::Twine& type, int channel,
 
 /**
  * Meant for internal use in other WPILib classes.
- * @deprecated Use SensorBase::SetName() instead.
+ * @deprecated Use SendableBase::SetName() instead.
  */
 void LiveWindow::AddActuator(const wpi::Twine& type, int channel,
                              Sendable* component) {
@@ -208,7 +208,7 @@ void LiveWindow::AddActuator(const wpi::Twine& type, int channel,
 
 /**
  * Meant for internal use in other WPILib classes.
- * @deprecated Use SensorBase::SetName() instead.
+ * @deprecated Use SendableBase::SetName() instead.
  */
 void LiveWindow::AddActuator(const wpi::Twine& type, int module, int channel,
                              Sendable* component) {

wpilibc/src/main/native/cpp/PWM.cpp

@@ -11,7 +11,7 @@
 #include <HAL/PWM.h>
 #include <HAL/Ports.h>
 
-#include "SensorBase.h"
+#include "SensorUtil.h"
 #include "SmartDashboard/SendableBuilder.h"
 #include "Utility.h"
 #include "WPIErrors.h"
@@ -29,7 +29,7 @@ using namespace frc;
  *                MXP port
  */
 PWM::PWM(int channel) {
-  if (!SensorBase::CheckPWMChannel(channel)) {
+  if (!SensorUtil::CheckPWMChannel(channel)) {
     wpi_setWPIErrorWithContext(ChannelIndexOutOfRange,
                                "PWM Channel " + wpi::Twine(channel));
     return;

wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp

@@ -13,6 +13,7 @@
 #include <wpi/SmallString.h>
 #include <wpi/raw_ostream.h>
 
+#include "SensorUtil.h"
 #include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"
 
@@ -77,7 +78,7 @@ double PowerDistributionPanel::GetTemperature() const {
 double PowerDistributionPanel::GetCurrent(int channel) const {
   int32_t status = 0;
 
-  if (!CheckPDPChannel(channel)) {
+  if (!SensorUtil::CheckPDPChannel(channel)) {
     wpi::SmallString<32> str;
     wpi::raw_svector_ostream buf(str);
     buf << "PDP Channel " << channel;
@@ -174,7 +175,7 @@ void PowerDistributionPanel::ClearStickyFaults() {
 
 void PowerDistributionPanel::InitSendable(SendableBuilder& builder) {
   builder.SetSmartDashboardType("PowerDistributionPanel");
-  for (int i = 0; i < kPDPChannels; ++i) {
+  for (int i = 0; i < SensorUtil::kPDPChannels; ++i) {
     builder.AddDoubleProperty("Chan" + wpi::Twine(i),
                               [=]() { return GetCurrent(i); }, nullptr);
   }

wpilibc/src/main/native/cpp/Relay.cpp

@@ -13,7 +13,7 @@
 #include <wpi/raw_ostream.h>
 
 #include "MotorSafetyHelper.h"
-#include "SensorBase.h"
+#include "SensorUtil.h"
 #include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"
 
@@ -30,7 +30,7 @@ using namespace frc;
  */
 Relay::Relay(int channel, Relay::Direction direction)
     : m_channel(channel), m_direction(direction) {
-  if (!SensorBase::CheckRelayChannel(m_channel)) {
+  if (!SensorUtil::CheckRelayChannel(m_channel)) {
     wpi_setWPIErrorWithContext(ChannelIndexOutOfRange,
                                "Relay Channel " + wpi::Twine(m_channel));
     return;

wpilibc/src/main/native/cpp/SensorUtil.cpp

@@ -5,7 +5,7 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
-#include "SensorBase.h"
+#include "SensorUtil.h"
 
 #include <HAL/AnalogInput.h>
 #include <HAL/AnalogOutput.h>
@@ -17,24 +17,22 @@
 #include <HAL/Relay.h>
 #include <HAL/Solenoid.h>
 
-#include "WPIErrors.h"
-
 using namespace frc;
 
-const int SensorBase::kDigitalChannels = HAL_GetNumDigitalChannels();
-const int SensorBase::kAnalogInputs = HAL_GetNumAnalogInputs();
-const int SensorBase::kSolenoidChannels = HAL_GetNumSolenoidChannels();
-const int SensorBase::kSolenoidModules = HAL_GetNumPCMModules();
-const int SensorBase::kPwmChannels = HAL_GetNumPWMChannels();
-const int SensorBase::kRelayChannels = HAL_GetNumRelayHeaders();
-const int SensorBase::kPDPChannels = HAL_GetNumPDPChannels();
+const int SensorUtil::kDigitalChannels = HAL_GetNumDigitalChannels();
+const int SensorUtil::kAnalogInputs = HAL_GetNumAnalogInputs();
+const int SensorUtil::kSolenoidChannels = HAL_GetNumSolenoidChannels();
+const int SensorUtil::kSolenoidModules = HAL_GetNumPCMModules();
+const int SensorUtil::kPwmChannels = HAL_GetNumPWMChannels();
+const int SensorUtil::kRelayChannels = HAL_GetNumRelayHeaders();
+const int SensorUtil::kPDPChannels = HAL_GetNumPDPChannels();
 
 /**
  * Check that the solenoid module number is valid.
  *
  * @return Solenoid module is valid and present
  */
-bool SensorBase::CheckSolenoidModule(int moduleNumber) {
+bool SensorUtil::CheckSolenoidModule(int moduleNumber) {
   return HAL_CheckSolenoidModule(moduleNumber);
 }
 
@@ -46,7 +44,7 @@ bool SensorBase::CheckSolenoidModule(int moduleNumber) {
  *
  * @return Digital channel is valid
  */
-bool SensorBase::CheckDigitalChannel(int channel) {
+bool SensorUtil::CheckDigitalChannel(int channel) {
   return HAL_CheckDIOChannel(channel);
 }
 
@@ -58,7 +56,7 @@ bool SensorBase::CheckDigitalChannel(int channel) {
  *
  * @return Relay channel is valid
  */
-bool SensorBase::CheckRelayChannel(int channel) {
+bool SensorUtil::CheckRelayChannel(int channel) {
   return HAL_CheckRelayChannel(channel);
 }
 
@@ -70,7 +68,7 @@ bool SensorBase::CheckRelayChannel(int channel) {
  *
  * @return PWM channel is valid
  */
-bool SensorBase::CheckPWMChannel(int channel) {
+bool SensorUtil::CheckPWMChannel(int channel) {
   return HAL_CheckPWMChannel(channel);
 }
 
@@ -82,7 +80,7 @@ bool SensorBase::CheckPWMChannel(int channel) {
  *
  * @return Analog channel is valid
  */
-bool SensorBase::CheckAnalogInputChannel(int channel) {
+bool SensorUtil::CheckAnalogInputChannel(int channel) {
   return HAL_CheckAnalogInputChannel(channel);
 }
 
@@ -94,7 +92,7 @@ bool SensorBase::CheckAnalogInputChannel(int channel) {
  *
  * @return Analog channel is valid
  */
-bool SensorBase::CheckAnalogOutputChannel(int channel) {
+bool SensorUtil::CheckAnalogOutputChannel(int channel) {
   return HAL_CheckAnalogOutputChannel(channel);
 }
 
@@ -103,7 +101,7 @@ bool SensorBase::CheckAnalogOutputChannel(int channel) {
  *
  * @return Solenoid channel is valid
  */
-bool SensorBase::CheckSolenoidChannel(int channel) {
+bool SensorUtil::CheckSolenoidChannel(int channel) {
   return HAL_CheckSolenoidChannel(channel);
 }
 
@@ -112,6 +110,6 @@ bool SensorBase::CheckSolenoidChannel(int channel) {
  *
  * @return PDP channel is valid
  */
-bool SensorBase::CheckPDPChannel(int channel) {
+bool SensorUtil::CheckPDPChannel(int channel) {
   return HAL_CheckPDPModule(channel);
 }

wpilibc/src/main/native/cpp/Solenoid.cpp

@@ -11,7 +11,7 @@
 #include <HAL/Ports.h>
 #include <HAL/Solenoid.h>
 
-#include "SensorBase.h"
+#include "SensorUtil.h"
 #include "SmartDashboard/SendableBuilder.h"
 #include "WPIErrors.h"
 
@@ -23,7 +23,7 @@ using namespace frc;
  * @param channel The channel on the PCM to control (0..7).
  */
 Solenoid::Solenoid(int channel)
-    : Solenoid(SensorBase::GetDefaultSolenoidModule(), channel) {}
+    : Solenoid(SensorUtil::GetDefaultSolenoidModule(), channel) {}
 
 /**
  * Constructor.
@@ -33,12 +33,12 @@ Solenoid::Solenoid(int channel)
  */
 Solenoid::Solenoid(int moduleNumber, int channel)
     : SolenoidBase(moduleNumber), m_channel(channel) {
-  if (!SensorBase::CheckSolenoidModule(m_moduleNumber)) {
+  if (!SensorUtil::CheckSolenoidModule(m_moduleNumber)) {
     wpi_setWPIErrorWithContext(ModuleIndexOutOfRange,
                                "Solenoid Module " + wpi::Twine(m_moduleNumber));
     return;
   }
-  if (!SensorBase::CheckSolenoidChannel(m_channel)) {
+  if (!SensorUtil::CheckSolenoidChannel(m_channel)) {
     wpi_setWPIErrorWithContext(ChannelIndexOutOfRange,
                                "Solenoid Channel " + wpi::Twine(m_channel));
     return;

wpilibc/src/main/native/include/ADXL345_I2C.h

@@ -7,8 +7,9 @@
 
 #pragma once
 
+#include "ErrorBase.h"
 #include "I2C.h"
-#include "SensorBase.h"
+#include "SmartDashboard/SendableBase.h"
 #include "interfaces/Accelerometer.h"
 
 namespace frc {
@@ -20,7 +21,9 @@ namespace frc {
  * an I2C bus. This class assumes the default (not alternate) sensor address of
  * 0x1D (7-bit address).
  */
-class ADXL345_I2C : public SensorBase, public Accelerometer {
+class ADXL345_I2C : public ErrorBase,
+                    public SendableBase,
+                    public Accelerometer {
  public:
   enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
 

wpilibc/src/main/native/include/ADXL345_SPI.h

@@ -7,8 +7,9 @@
 
 #pragma once
 
+#include "ErrorBase.h"
 #include "SPI.h"
-#include "SensorBase.h"
+#include "SmartDashboard/SendableBase.h"
 #include "interfaces/Accelerometer.h"
 
 namespace frc {
@@ -19,7 +20,9 @@ namespace frc {
  * This class allows access to an Analog Devices ADXL345 3-axis accelerometer
  * via SPI. This class assumes the sensor is wired in 4-wire SPI mode.
  */
-class ADXL345_SPI : public SensorBase, public Accelerometer {
+class ADXL345_SPI : public ErrorBase,
+                    public SendableBase,
+                    public Accelerometer {
  public:
   enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
 

wpilibc/src/main/native/include/ADXL362.h

@@ -7,8 +7,9 @@
 
 #pragma once
 
+#include "ErrorBase.h"
 #include "SPI.h"
-#include "SensorBase.h"
+#include "SmartDashboard/SendableBase.h"
 #include "interfaces/Accelerometer.h"
 
 namespace frc {
@@ -18,7 +19,7 @@ namespace frc {
  *
  * This class allows access to an Analog Devices ADXL362 3-axis accelerometer.
  */
-class ADXL362 : public SensorBase, public Accelerometer {
+class ADXL362 : public ErrorBase, public SendableBase, public Accelerometer {
  public:
   enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
   struct AllAxes {

wpilibc/src/main/native/include/AnalogAccelerometer.h

@@ -10,8 +10,9 @@
 #include <memory>
 
 #include "AnalogInput.h"
+#include "ErrorBase.h"
 #include "PIDSource.h"
-#include "SensorBase.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
@@ -22,7 +23,9 @@ namespace frc {
  * sensors have multiple axis and can be treated as multiple devices. Each is
  * calibrated by finding the center value over a period of time.
  */
-class AnalogAccelerometer : public SensorBase, public PIDSource {
+class AnalogAccelerometer : public ErrorBase,
+                            public SendableBase,
+                            public PIDSource {
  public:
   explicit AnalogAccelerometer(int channel);
   explicit AnalogAccelerometer(AnalogInput* channel);

wpilibc/src/main/native/include/AnalogInput.h

@@ -11,8 +11,9 @@
 
 #include <HAL/Types.h>
 
+#include "ErrorBase.h"
 #include "PIDSource.h"
-#include "SensorBase.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
@@ -28,7 +29,7 @@ namespace frc {
  * are divided by the number of samples to retain the resolution, but get more
  * stable values.
  */
-class AnalogInput : public SensorBase, public PIDSource {
+class AnalogInput : public ErrorBase, public SendableBase, public PIDSource {
   friend class AnalogTrigger;
   friend class AnalogGyro;
 

wpilibc/src/main/native/include/AnalogPotentiometer.h

@@ -10,7 +10,8 @@
 #include <memory>
 
 #include "AnalogInput.h"
-#include "SensorBase.h"
+#include "ErrorBase.h"
+#include "SmartDashboard/SendableBase.h"
 #include "interfaces/Potentiometer.h"
 
 namespace frc {
@@ -21,7 +22,9 @@ namespace frc {
  * units you choose, by way of the scaling and offset constants passed to the
  * constructor.
  */
-class AnalogPotentiometer : public SensorBase, public Potentiometer {
+class AnalogPotentiometer : public ErrorBase,
+                            public SendableBase,
+                            public Potentiometer {
  public:
   /**
    * AnalogPotentiometer constructor.

wpilibc/src/main/native/include/AnalogTrigger.h

@@ -12,13 +12,14 @@
 #include <HAL/Types.h>
 
 #include "AnalogTriggerOutput.h"
-#include "SensorBase.h"
+#include "ErrorBase.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
 class AnalogInput;
 
-class AnalogTrigger : public SensorBase {
+class AnalogTrigger : public ErrorBase, public SendableBase {
   friend class AnalogTriggerOutput;
 
  public:

wpilibc/src/main/native/include/BuiltInAccelerometer.h

@@ -7,7 +7,8 @@
 
 #pragma once
 
-#include "SensorBase.h"
+#include "ErrorBase.h"
+#include "SmartDashboard/SendableBase.h"
 #include "interfaces/Accelerometer.h"
 
 namespace frc {
@@ -17,7 +18,9 @@ namespace frc {
  *
  * This class allows access to the roboRIO's internal accelerometer.
  */
-class BuiltInAccelerometer : public SensorBase, public Accelerometer {
+class BuiltInAccelerometer : public ErrorBase,
+                             public SendableBase,
+                             public Accelerometer {
  public:
   explicit BuiltInAccelerometer(Range range = kRange_8G);
 

wpilibc/src/main/native/include/Compressor.h

@@ -10,7 +10,7 @@
 #include <HAL/Types.h>
 
 #include "ErrorBase.h"
-#include "SensorBase.h"
+#include "SensorUtil.h"
 #include "SmartDashboard/SendableBase.h"
 
 namespace frc {
@@ -33,7 +33,7 @@ namespace frc {
 class Compressor : public ErrorBase, public SendableBase {
  public:
   // Default PCM ID is 0
-  explicit Compressor(int pcmID = SensorBase::GetDefaultSolenoidModule());
+  explicit Compressor(int pcmID = SensorUtil::GetDefaultSolenoidModule());
   ~Compressor() override = default;
 
   void Start();

wpilibc/src/main/native/include/Counter.h

@@ -14,7 +14,8 @@
 
 #include "AnalogTrigger.h"
 #include "CounterBase.h"
-#include "SensorBase.h"
+#include "ErrorBase.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
@@ -30,7 +31,7 @@ class DigitalGlitchFilter;
  * All counters will immediately start counting - Reset() them if you need them
  * to be zeroed before use.
  */
-class Counter : public SensorBase, public CounterBase {
+class Counter : public ErrorBase, public SendableBase, public CounterBase {
  public:
   enum Mode {
     kTwoPulse = 0,

wpilibc/src/main/native/include/DigitalGlitchFilter.h

@@ -14,7 +14,8 @@
 #include <wpi/mutex.h>
 
 #include "DigitalSource.h"
-#include "SensorBase.h"
+#include "ErrorBase.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
@@ -28,7 +29,7 @@ class Counter;
  * filter. The filter lets the user configure the time that an input must remain
  * high or low before it is classified as high or low.
  */
-class DigitalGlitchFilter : public SensorBase {
+class DigitalGlitchFilter : public ErrorBase, public SendableBase {
  public:
   DigitalGlitchFilter();
   ~DigitalGlitchFilter() override;

wpilibc/src/main/native/include/Encoder.h

@@ -13,8 +13,9 @@
 
 #include "Counter.h"
 #include "CounterBase.h"
+#include "ErrorBase.h"
 #include "PIDSource.h"
-#include "SensorBase.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
@@ -36,7 +37,10 @@ class DigitalGlitchFilter;
  * All encoders will immediately start counting - Reset() them if you need them
  * to be zeroed before use.
  */
-class Encoder : public SensorBase, public CounterBase, public PIDSource {
+class Encoder : public ErrorBase,
+                public SendableBase,
+                public CounterBase,
+                public PIDSource {
  public:
   enum IndexingType {
     kResetWhileHigh,

wpilibc/src/main/native/include/GyroBase.h

@@ -7,8 +7,9 @@
 
 #pragma once
 
+#include "ErrorBase.h"
 #include "PIDSource.h"
-#include "SensorBase.h"
+#include "SmartDashboard/SendableBase.h"
 #include "interfaces/Gyro.h"
 
 namespace frc {
@@ -17,7 +18,10 @@ namespace frc {
  * GyroBase is the common base class for Gyro implementations such as
  * AnalogGyro.
  */
-class GyroBase : public Gyro, public SensorBase, public PIDSource {
+class GyroBase : public Gyro,
+                 public ErrorBase,
+                 public SendableBase,
+                 public PIDSource {
  public:
   // PIDSource interface
   double PIDGet() override;

wpilibc/src/main/native/include/InterruptableSensorBase.h

@@ -10,11 +10,12 @@
 #include <HAL/Interrupts.h>
 
 #include "AnalogTriggerType.h"
-#include "SensorBase.h"
+#include "ErrorBase.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
-class InterruptableSensorBase : public SensorBase {
+class InterruptableSensorBase : public ErrorBase, public SendableBase {
  public:
   enum WaitResult {
     kTimeout = 0x0,

wpilibc/src/main/native/include/LiveWindow/LiveWindow.h

@@ -49,11 +49,11 @@ class LiveWindow {
   void AddActuator(const wpi::Twine& subsystem, const wpi::Twine& name,
                    std::shared_ptr<Sendable> component);
 
-  WPI_DEPRECATED("use SensorBase::SetName() instead")
+  WPI_DEPRECATED("use SensorUtil::SetName() instead")
   void AddSensor(const wpi::Twine& type, int channel, Sendable* component);
-  WPI_DEPRECATED("use SensorBase::SetName() instead")
+  WPI_DEPRECATED("use SensorUtil::SetName() instead")
   void AddActuator(const wpi::Twine& type, int channel, Sendable* component);
-  WPI_DEPRECATED("use SensorBase::SetName() instead")
+  WPI_DEPRECATED("use SensorUtil::SetName() instead")
   void AddActuator(const wpi::Twine& type, int module, int channel,
                    Sendable* component);
 

wpilibc/src/main/native/include/PowerDistributionPanel.h

@@ -7,7 +7,8 @@
 
 #pragma once
 
-#include "SensorBase.h"
+#include "ErrorBase.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
@@ -15,7 +16,7 @@ namespace frc {
  * Class for getting voltage, current, temperature, power and energy from the
  * CAN PDP.
  */
-class PowerDistributionPanel : public SensorBase {
+class PowerDistributionPanel : public ErrorBase, public SendableBase {
  public:
   PowerDistributionPanel();
   explicit PowerDistributionPanel(int module);

wpilibc/src/main/native/include/SensorUtil.h

@@ -7,28 +7,14 @@
 
 #pragma once
 
-#include <memory>
-
-#include "Base.h"
-#include "ErrorBase.h"
-#include "SmartDashboard/Sendable.h"
-#include "SmartDashboard/SendableBase.h"
-
 namespace frc {
 
 /**
- * Base class for all sensors.
- *
  * Stores most recent status information as well as containing utility functions
  * for checking channels and error processing.
  */
-class SensorBase : public ErrorBase, public SendableBase {
+class SensorUtil final {
  public:
-  SensorBase() = default;
-
-  SensorBase(const SensorBase&) = delete;
-  SensorBase& operator=(const SensorBase&) = delete;
-
   static int GetDefaultSolenoidModule() { return 0; }
 
   static bool CheckSolenoidModule(int moduleNumber);
@@ -48,6 +34,9 @@ class SensorBase : public ErrorBase, public SendableBase {
   static const int kPwmChannels;
   static const int kRelayChannels;
   static const int kPDPChannels;
+
+ private:
+  SensorUtil() = default;
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/SmartDashboard/SmartDashboard.h

@@ -13,13 +13,14 @@
 
 #include <networktables/NetworkTableValue.h>
 
-#include "SensorBase.h"
+#include "ErrorBase.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
 class Sendable;
 
-class SmartDashboard : public SensorBase {
+class SmartDashboard : public ErrorBase, public SendableBase {
  public:
   static void init();
 

wpilibc/src/main/native/include/Ultrasonic.h

@@ -13,8 +13,9 @@
 #include <vector>
 
 #include "Counter.h"
+#include "ErrorBase.h"
 #include "PIDSource.h"
-#include "SensorBase.h"
+#include "SmartDashboard/SendableBase.h"
 
 namespace frc {
 
@@ -33,7 +34,7 @@ class DigitalOutput;
  * received. The time that the line is high determines the round trip distance
  * (time of flight).
  */
-class Ultrasonic : public SensorBase, public PIDSource {
+class Ultrasonic : public ErrorBase, public SendableBase, public PIDSource {
  public:
   enum DistanceUnit { kInches = 0, kMilliMeters = 1 };
 

wpilibc/src/main/native/include/WPILib.h

@@ -74,7 +74,7 @@
 #include "SD540.h"
 #include "SPI.h"
 #include "SampleRobot.h"
-#include "SensorBase.h"
+#include "SensorUtil.h"
 #include "SerialPort.h"
 #include "Servo.h"
 #include "SmartDashboard/SendableChooser.h"