From ee03a7ad3bcc156d3b9c07c590e32bca5df83537 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Wed, 4 May 2022 20:37:27 -0700 Subject: [PATCH] Remove most 2022 deprecations (#4205) Excludes "old" commands and SimDevice functions. --- .../wpi/first/cameraserver/CameraServer.java | 18 --- .../native/cpp/cameraserver/CameraServer.cpp | 6 - .../include/cameraserver/CameraServer.h | 8 -- .../native/include/frc2/command/Command.h | 1 + .../frc/pidwrappers/PIDAnalogAccelerometer.h | 2 + .../include/frc/pidwrappers/PIDAnalogGyro.h | 2 + .../include/frc/pidwrappers/PIDAnalogInput.h | 2 + .../frc/pidwrappers/PIDAnalogPotentiometer.h | 2 + .../include/frc/pidwrappers/PIDEncoder.h | 2 + .../frc/pidwrappers/PIDMotorController.h | 1 + .../include/frc/pidwrappers/PIDUltrasonic.h | 2 + wpilibc/src/main/native/cpp/Compressor.cpp | 8 -- wpilibc/src/main/native/cpp/DriverStation.cpp | 18 --- .../main/native/cpp/IterativeRobotBase.cpp | 3 - wpilibc/src/main/native/cpp/Preferences.cpp | 30 ----- wpilibc/src/main/native/cpp/RobotState.cpp | 4 - wpilibc/src/main/native/cpp/SPI.cpp | 21 --- .../main/native/cpp/SpeedControllerGroup.cpp | 69 ---------- wpilibc/src/main/native/cpp/TimedRobot.cpp | 2 - wpilibc/src/main/native/cpp/Timer.cpp | 4 - .../native/cpp/drive/DifferentialDrive.cpp | 14 +- .../main/native/cpp/drive/KilloughDrive.cpp | 22 +--- .../main/native/cpp/drive/MecanumDrive.cpp | 18 +-- .../main/native/cpp/drive/RobotDriveBase.cpp | 5 - .../main/native/cpp/livewindow/LiveWindow.cpp | 6 - .../MotorController.cpp} | 4 +- wpilibc/src/main/native/cppcs/RobotBase.cpp | 8 -- .../src/main/native/include/frc/Compressor.h | 18 --- .../main/native/include/frc/DriverStation.h | 40 ------ wpilibc/src/main/native/include/frc/Encoder.h | 9 +- .../native/include/frc/IterativeRobotBase.h | 12 -- .../src/main/native/include/frc/Preferences.h | 78 ----------- .../src/main/native/include/frc/RobotBase.h | 21 --- .../src/main/native/include/frc/RobotState.h | 4 - wpilibc/src/main/native/include/frc/SPI.h | 59 --------- .../main/native/include/frc/SpeedController.h | 74 ----------- .../native/include/frc/SpeedControllerGroup.h | 55 -------- .../include/frc/SpeedControllerGroup.inc | 22 ---- .../src/main/native/include/frc/TimedRobot.h | 12 -- wpilibc/src/main/native/include/frc/Timer.h | 13 -- .../include/frc/drive/DifferentialDrive.h | 27 +--- .../native/include/frc/drive/KilloughDrive.h | 35 ++--- .../native/include/frc/drive/MecanumDrive.h | 35 ++--- .../native/include/frc/drive/RobotDriveBase.h | 12 -- .../include/frc/livewindow/LiveWindow.h | 13 -- .../frc/motorcontrol/MotorController.h | 76 ++++++++--- .../frc/smartdashboard/SendableChooser.h | 31 ----- .../edu/wpi/first/wpilibj/Compressor.java | 28 ---- .../edu/wpi/first/wpilibj/DriverStation.java | 49 ------- .../java/edu/wpi/first/wpilibj/Encoder.java | 3 + .../edu/wpi/first/wpilibj/Preferences.java | 89 ------------- .../java/edu/wpi/first/wpilibj/RobotBase.java | 24 ---- .../edu/wpi/first/wpilibj/RobotState.java | 5 - .../main/java/edu/wpi/first/wpilibj/SPI.java | 24 ---- .../edu/wpi/first/wpilibj/SerialPort.java | 42 ------ .../wpi/first/wpilibj/SpeedController.java | 65 --------- .../first/wpilibj/SpeedControllerGroup.java | 103 --------------- .../java/edu/wpi/first/wpilibj/Timer.java | 14 -- .../wpilibj/drive/DifferentialDrive.java | 9 +- .../first/wpilibj/drive/KilloughDrive.java | 17 ++- .../wpi/first/wpilibj/drive/MecanumDrive.java | 19 ++- .../first/wpilibj/drive/RobotDriveBase.java | 15 --- .../wpilibj/motorcontrol/MotorController.java | 11 +- .../simulation/DifferentialDrivetrainSim.java | 9 +- .../smartdashboard/SendableChooser.java | 24 ---- .../first/wpilibj/vision/VisionPipeline.java | 26 ---- .../first/wpilibj/vision/VisionRunner.java | 123 ------------------ .../first/wpilibj/vision/VisionThread.java | 44 ------- .../first/wpilibj/vision/package-info.java | 86 ------------ .../wpi/first/wpilibj/PreferencesTest.java | 57 ++++---- .../edu/wpi/first/wpilibj/test/TestBench.java | 15 --- .../java/edu/wpi/first/math/MatrixUtils.java | 80 ------------ .../cpp/controller/RamseteController.cpp | 4 - .../frc/controller/RamseteController.h | 12 -- .../include/wpi/sendable/SendableHelper.h | 122 ----------------- 75 files changed, 165 insertions(+), 1882 deletions(-) delete mode 100644 wpilibc/src/main/native/cpp/SpeedControllerGroup.cpp rename wpilibc/src/main/native/cpp/{SpeedController.cpp => motorcontrol/MotorController.cpp} (75%) delete mode 100644 wpilibc/src/main/native/include/frc/SpeedController.h delete mode 100644 wpilibc/src/main/native/include/frc/SpeedControllerGroup.h delete mode 100644 wpilibc/src/main/native/include/frc/SpeedControllerGroup.inc delete mode 100644 wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedController.java delete mode 100644 wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedControllerGroup.java delete mode 100644 wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionPipeline.java delete mode 100644 wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionRunner.java delete mode 100644 wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionThread.java delete mode 100644 wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/package-info.java delete mode 100644 wpimath/src/main/java/edu/wpi/first/math/MatrixUtils.java diff --git a/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java b/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java index 11de96957e..01a08d4c24 100644 --- a/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java +++ b/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java @@ -37,27 +37,9 @@ import java.util.concurrent.atomic.AtomicInteger; public final class CameraServer { public static final int kBasePort = 1181; - @Deprecated public static final int kSize640x480 = 0; - @Deprecated public static final int kSize320x240 = 1; - @Deprecated public static final int kSize160x120 = 2; - private static final String kPublishName = "/CameraPublisher"; private static CameraServer server; - /** - * Get the CameraServer instance. - * - * @return The CameraServer instance. - * @deprecated Use the static methods - */ - @Deprecated - public static synchronized CameraServer getInstance() { - if (server == null) { - server = new CameraServer(); - } - return server; - } - private static final AtomicInteger m_defaultUsbDevice = new AtomicInteger(); private static String m_primarySourceName; private static final Map m_sources = new HashMap<>(); diff --git a/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp b/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp index afeff62ead..fdc5e458d2 100644 --- a/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp +++ b/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp @@ -52,12 +52,6 @@ static Instance& GetInstance() { return instance; } -CameraServer* CameraServer::GetInstance() { - ::GetInstance(); - static CameraServer instance; - return &instance; -} - static std::string_view MakeSourceValue(CS_Source source, wpi::SmallVectorImpl& buf) { CS_Status status = 0; diff --git a/cameraserver/src/main/native/include/cameraserver/CameraServer.h b/cameraserver/src/main/native/include/cameraserver/CameraServer.h index 6d087e9e27..ed953346e4 100644 --- a/cameraserver/src/main/native/include/cameraserver/CameraServer.h +++ b/cameraserver/src/main/native/include/cameraserver/CameraServer.h @@ -9,7 +9,6 @@ #include #include -#include #include #include "cscore.h" @@ -29,13 +28,6 @@ class CameraServer { static constexpr int kSize320x240 = 1; static constexpr int kSize160x120 = 2; - /** - * Get the CameraServer instance. - * @deprecated Use the static methods - */ - WPI_DEPRECATED("Use static methods") - static CameraServer* GetInstance(); - /** * Start automatically capturing images to send to the dashboard. * diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/Command.h b/wpilibNewCommands/src/main/native/include/frc2/command/Command.h index 3954fc013c..fecff86d8c 100644 --- a/wpilibNewCommands/src/main/native/include/frc2/command/Command.h +++ b/wpilibNewCommands/src/main/native/include/frc2/command/Command.h @@ -12,6 +12,7 @@ #include #include #include +#include #include #include "frc2/command/Subsystem.h" diff --git a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogAccelerometer.h b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogAccelerometer.h index d7c0ce8926..f50dbb6499 100644 --- a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogAccelerometer.h +++ b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogAccelerometer.h @@ -4,6 +4,8 @@ #pragma once +#include + #include "frc/AnalogAccelerometer.h" #include "frc/PIDSource.h" diff --git a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogGyro.h b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogGyro.h index dc73f1e614..cfe38c58fb 100644 --- a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogGyro.h +++ b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogGyro.h @@ -4,6 +4,8 @@ #pragma once +#include + #include "frc/AnalogGyro.h" #include "frc/PIDSource.h" diff --git a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogInput.h b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogInput.h index ae34e1cdb3..8b71a98465 100644 --- a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogInput.h +++ b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogInput.h @@ -4,6 +4,8 @@ #pragma once +#include + #include "frc/AnalogInput.h" #include "frc/PIDSource.h" diff --git a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogPotentiometer.h b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogPotentiometer.h index cd77b9e348..110144e61b 100644 --- a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogPotentiometer.h +++ b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogPotentiometer.h @@ -4,6 +4,8 @@ #pragma once +#include + #include "frc/AnalogPotentiometer.h" #include "frc/PIDSource.h" diff --git a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDEncoder.h b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDEncoder.h index 4e6d5c3a2e..9866f81c01 100644 --- a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDEncoder.h +++ b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDEncoder.h @@ -4,6 +4,8 @@ #pragma once +#include + #include "frc/Encoder.h" #include "frc/PIDSource.h" diff --git a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDMotorController.h b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDMotorController.h index 547264b592..4e2e0e6185 100644 --- a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDMotorController.h +++ b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDMotorController.h @@ -4,6 +4,7 @@ #pragma once +#include #include #include diff --git a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDUltrasonic.h b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDUltrasonic.h index d3b9fc8689..0742f544d0 100644 --- a/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDUltrasonic.h +++ b/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDUltrasonic.h @@ -4,6 +4,8 @@ #pragma once +#include + #include "frc/PIDSource.h" #include "frc/Ultrasonic.h" diff --git a/wpilibc/src/main/native/cpp/Compressor.cpp b/wpilibc/src/main/native/cpp/Compressor.cpp index 24460863d3..2fa2cee1ad 100644 --- a/wpilibc/src/main/native/cpp/Compressor.cpp +++ b/wpilibc/src/main/native/cpp/Compressor.cpp @@ -34,14 +34,6 @@ Compressor::~Compressor() { } } -void Compressor::Start() { - EnableDigital(); -} - -void Compressor::Stop() { - Disable(); -} - bool Compressor::Enabled() const { return IsEnabled(); } diff --git a/wpilibc/src/main/native/cpp/DriverStation.cpp b/wpilibc/src/main/native/cpp/DriverStation.cpp index 876b985caf..55bfc510aa 100644 --- a/wpilibc/src/main/native/cpp/DriverStation.cpp +++ b/wpilibc/src/main/native/cpp/DriverStation.cpp @@ -233,12 +233,6 @@ Instance::~Instance() { } } -DriverStation& DriverStation::GetInstance() { - ::GetInstance(); - static DriverStation instance; - return instance; -} - bool DriverStation::GetStickButton(int stick, int button) { if (stick < 0 || stick >= kJoystickPorts) { FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick); @@ -504,20 +498,12 @@ bool DriverStation::IsAutonomousEnabled() { return controlWord.autonomous && controlWord.enabled; } -bool DriverStation::IsOperatorControl() { - return IsTeleop(); -} - bool DriverStation::IsTeleop() { HAL_ControlWord controlWord; HAL_GetControlWord(&controlWord); return !(controlWord.autonomous || controlWord.test); } -bool DriverStation::IsOperatorControlEnabled() { - return IsTeleopEnabled(); -} - bool DriverStation::IsTeleopEnabled() { HAL_ControlWord controlWord; HAL_GetControlWord(&controlWord); @@ -671,10 +657,6 @@ void DriverStation::InAutonomous(bool entering) { ::GetInstance().userInAutonomous = entering; } -void DriverStation::InOperatorControl(bool entering) { - InTeleop(entering); -} - void DriverStation::InTeleop(bool entering) { ::GetInstance().userInTeleop = entering; } diff --git a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp index 47eb29914d..9396f68c6d 100644 --- a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp +++ b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp @@ -16,9 +16,6 @@ using namespace frc; -IterativeRobotBase::IterativeRobotBase(double period) - : IterativeRobotBase(units::second_t(period)) {} - IterativeRobotBase::IterativeRobotBase(units::second_t period) : m_period(period), m_watchdog(period, [this] { PrintLoopOverrunMessage(); }) {} diff --git a/wpilibc/src/main/native/cpp/Preferences.cpp b/wpilibc/src/main/native/cpp/Preferences.cpp index 4663875e99..53bd5d68c6 100644 --- a/wpilibc/src/main/native/cpp/Preferences.cpp +++ b/wpilibc/src/main/native/cpp/Preferences.cpp @@ -38,12 +38,6 @@ void ResetPreferencesInstance() { } // namespace frc::impl #endif -Preferences* Preferences::GetInstance() { - ::GetInstance(); - static Preferences instance; - return &instance; -} - std::vector Preferences::GetKeys() { return ::GetInstance().table->GetKeys(); } @@ -80,10 +74,6 @@ void Preferences::SetString(std::string_view key, std::string_view value) { entry.SetPersistent(); } -void Preferences::PutString(std::string_view key, std::string_view value) { - SetString(key, value); -} - void Preferences::InitString(std::string_view key, std::string_view value) { auto entry = ::GetInstance().table->GetEntry(key); entry.SetDefaultString(value); @@ -96,10 +86,6 @@ void Preferences::SetInt(std::string_view key, int value) { entry.SetPersistent(); } -void Preferences::PutInt(std::string_view key, int value) { - SetInt(key, value); -} - void Preferences::InitInt(std::string_view key, int value) { auto entry = ::GetInstance().table->GetEntry(key); entry.SetDefaultDouble(value); @@ -112,10 +98,6 @@ void Preferences::SetDouble(std::string_view key, double value) { entry.SetPersistent(); } -void Preferences::PutDouble(std::string_view key, double value) { - SetDouble(key, value); -} - void Preferences::InitDouble(std::string_view key, double value) { auto entry = ::GetInstance().table->GetEntry(key); entry.SetDefaultDouble(value); @@ -128,10 +110,6 @@ void Preferences::SetFloat(std::string_view key, float value) { entry.SetPersistent(); } -void Preferences::PutFloat(std::string_view key, float value) { - SetFloat(key, value); -} - void Preferences::InitFloat(std::string_view key, float value) { auto entry = ::GetInstance().table->GetEntry(key); entry.SetDefaultDouble(value); @@ -144,10 +122,6 @@ void Preferences::SetBoolean(std::string_view key, bool value) { entry.SetPersistent(); } -void Preferences::PutBoolean(std::string_view key, bool value) { - SetBoolean(key, value); -} - void Preferences::InitBoolean(std::string_view key, bool value) { auto entry = ::GetInstance().table->GetEntry(key); entry.SetDefaultBoolean(value); @@ -160,10 +134,6 @@ void Preferences::SetLong(std::string_view key, int64_t value) { entry.SetPersistent(); } -void Preferences::PutLong(std::string_view key, int64_t value) { - SetLong(key, value); -} - void Preferences::InitLong(std::string_view key, int64_t value) { auto entry = ::GetInstance().table->GetEntry(key); entry.SetDefaultDouble(value); diff --git a/wpilibc/src/main/native/cpp/RobotState.cpp b/wpilibc/src/main/native/cpp/RobotState.cpp index 651a6445fe..ede314c394 100644 --- a/wpilibc/src/main/native/cpp/RobotState.cpp +++ b/wpilibc/src/main/native/cpp/RobotState.cpp @@ -20,10 +20,6 @@ bool RobotState::IsEStopped() { return DriverStation::IsEStopped(); } -bool RobotState::IsOperatorControl() { - return IsTeleop(); -} - bool RobotState::IsTeleop() { return DriverStation::IsTeleop(); } diff --git a/wpilibc/src/main/native/cpp/SPI.cpp b/wpilibc/src/main/native/cpp/SPI.cpp index bdcee45eae..3eb693f329 100644 --- a/wpilibc/src/main/native/cpp/SPI.cpp +++ b/wpilibc/src/main/native/cpp/SPI.cpp @@ -196,16 +196,6 @@ void SPI::SetSampleDataOnTrailingEdge() { HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh); } -void SPI::SetSampleDataOnFalling() { - m_sampleOnTrailing = true; - HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh); -} - -void SPI::SetSampleDataOnRising() { - m_sampleOnTrailing = false; - HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh); -} - void SPI::SetClockActiveLow() { m_clockIdleHigh = true; HAL_SetSPIOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh); @@ -278,10 +268,6 @@ void SPI::StartAutoRate(units::second_t period) { FRC_CheckErrorStatus(status, "Port {}", m_port); } -void SPI::StartAutoRate(double period) { - StartAutoRate(units::second_t(period)); -} - void SPI::StartAutoTrigger(DigitalSource& source, bool rising, bool falling) { int32_t status = 0; HAL_StartSPIAutoTrigger(m_port, source.GetPortHandleForRouting(), @@ -355,13 +341,6 @@ void SPI::InitAccumulator(units::second_t period, int cmd, int xferSize, m_accum->m_notifier.StartPeriodic(period * kAccumulateDepth / 2); } -void SPI::InitAccumulator(double period, int cmd, int xferSize, int validMask, - int validValue, int dataShift, int dataSize, - bool isSigned, bool bigEndian) { - InitAccumulator(units::second_t(period), cmd, xferSize, validMask, validValue, - dataShift, dataSize, isSigned, bigEndian); -} - void SPI::FreeAccumulator() { m_accum.reset(nullptr); FreeAuto(); diff --git a/wpilibc/src/main/native/cpp/SpeedControllerGroup.cpp b/wpilibc/src/main/native/cpp/SpeedControllerGroup.cpp deleted file mode 100644 index c3704dfa4e..0000000000 --- a/wpilibc/src/main/native/cpp/SpeedControllerGroup.cpp +++ /dev/null @@ -1,69 +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. - -#include "frc/SpeedControllerGroup.h" - -#include -#include - -using namespace frc; - -// Can't use a delegated constructor here because of an MSVC bug. -// https://developercommunity.visualstudio.com/content/problem/583/compiler-bug-with-delegating-a-constructor.html - -SpeedControllerGroup::SpeedControllerGroup( - std::vector>&& speedControllers) - : m_speedControllers(std::move(speedControllers)) { - Initialize(); -} - -void SpeedControllerGroup::Initialize() { - for (auto& speedController : m_speedControllers) { - wpi::SendableRegistry::AddChild(this, &speedController.get()); - } - static int instances = 0; - ++instances; - wpi::SendableRegistry::Add(this, "SpeedControllerGroup", instances); -} - -void SpeedControllerGroup::Set(double speed) { - for (auto speedController : m_speedControllers) { - speedController.get().Set(m_isInverted ? -speed : speed); - } -} - -double SpeedControllerGroup::Get() const { - if (!m_speedControllers.empty()) { - return m_speedControllers.front().get().Get() * (m_isInverted ? -1 : 1); - } - return 0.0; -} - -void SpeedControllerGroup::SetInverted(bool isInverted) { - m_isInverted = isInverted; -} - -bool SpeedControllerGroup::GetInverted() const { - return m_isInverted; -} - -void SpeedControllerGroup::Disable() { - for (auto speedController : m_speedControllers) { - speedController.get().Disable(); - } -} - -void SpeedControllerGroup::StopMotor() { - for (auto speedController : m_speedControllers) { - speedController.get().StopMotor(); - } -} - -void SpeedControllerGroup::InitSendable(wpi::SendableBuilder& builder) { - builder.SetSmartDashboardType("Speed Controller"); - builder.SetActuator(true); - builder.SetSafeState([=] { StopMotor(); }); - builder.AddDoubleProperty( - "Value", [=] { return Get(); }, [=](double value) { Set(value); }); -} diff --git a/wpilibc/src/main/native/cpp/TimedRobot.cpp b/wpilibc/src/main/native/cpp/TimedRobot.cpp index 93e66985ac..ac889ce55c 100644 --- a/wpilibc/src/main/native/cpp/TimedRobot.cpp +++ b/wpilibc/src/main/native/cpp/TimedRobot.cpp @@ -70,8 +70,6 @@ void TimedRobot::EndCompetition() { HAL_StopNotifier(m_notifier, &status); } -TimedRobot::TimedRobot(double period) : TimedRobot(units::second_t(period)) {} - TimedRobot::TimedRobot(units::second_t period) : IterativeRobotBase(period) { m_startTime = Timer::GetFPGATimestamp(); AddPeriodic([=] { LoopFunc(); }, period); diff --git a/wpilibc/src/main/native/cpp/Timer.cpp b/wpilibc/src/main/native/cpp/Timer.cpp index bbd2262f65..23cfbe2322 100644 --- a/wpilibc/src/main/native/cpp/Timer.cpp +++ b/wpilibc/src/main/native/cpp/Timer.cpp @@ -65,10 +65,6 @@ bool Timer::HasElapsed(units::second_t period) const { return Get() >= period; } -bool Timer::HasPeriodPassed(units::second_t period) { - return AdvanceIfElapsed(period); -} - bool Timer::AdvanceIfElapsed(units::second_t period) { if (Get() >= period) { // Advance the start time by the period. diff --git a/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp b/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp index eed9495dc3..7d9c53c61e 100644 --- a/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp +++ b/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp @@ -12,20 +12,12 @@ #include #include "frc/MathUtil.h" -#include "frc/SpeedController.h" +#include "frc/motorcontrol/MotorController.h" using namespace frc; -#if defined(_MSC_VER) -#pragma warning(disable : 4996) // was declared deprecated -#elif defined(__clang__) -#pragma clang diagnostic ignored "-Wdeprecated-declarations" -#elif defined(__GNUC__) -#pragma GCC diagnostic ignored "-Wdeprecated-declarations" -#endif - -DifferentialDrive::DifferentialDrive(SpeedController& leftMotor, - SpeedController& rightMotor) +DifferentialDrive::DifferentialDrive(MotorController& leftMotor, + MotorController& rightMotor) : m_leftMotor(&leftMotor), m_rightMotor(&rightMotor) { wpi::SendableRegistry::AddChild(this, m_leftMotor); wpi::SendableRegistry::AddChild(this, m_rightMotor); diff --git a/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp b/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp index 268ae64871..3131ce8822 100644 --- a/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp +++ b/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp @@ -13,27 +13,19 @@ #include #include "frc/MathUtil.h" -#include "frc/SpeedController.h" +#include "frc/motorcontrol/MotorController.h" using namespace frc; -#if defined(_MSC_VER) -#pragma warning(disable : 4996) // was declared deprecated -#elif defined(__clang__) -#pragma clang diagnostic ignored "-Wdeprecated-declarations" -#elif defined(__GNUC__) -#pragma GCC diagnostic ignored "-Wdeprecated-declarations" -#endif - -KilloughDrive::KilloughDrive(SpeedController& leftMotor, - SpeedController& rightMotor, - SpeedController& backMotor) +KilloughDrive::KilloughDrive(MotorController& leftMotor, + MotorController& rightMotor, + MotorController& backMotor) : KilloughDrive(leftMotor, rightMotor, backMotor, kDefaultLeftMotorAngle, kDefaultRightMotorAngle, kDefaultBackMotorAngle) {} -KilloughDrive::KilloughDrive(SpeedController& leftMotor, - SpeedController& rightMotor, - SpeedController& backMotor, double leftMotorAngle, +KilloughDrive::KilloughDrive(MotorController& leftMotor, + MotorController& rightMotor, + MotorController& backMotor, double leftMotorAngle, double rightMotorAngle, double backMotorAngle) : m_leftMotor(&leftMotor), m_rightMotor(&rightMotor), diff --git a/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp b/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp index 70e90d4b5b..b5c4a88842 100644 --- a/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp +++ b/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp @@ -13,23 +13,15 @@ #include #include "frc/MathUtil.h" -#include "frc/SpeedController.h" #include "frc/drive/Vector2d.h" +#include "frc/motorcontrol/MotorController.h" using namespace frc; -#if defined(_MSC_VER) -#pragma warning(disable : 4996) // was declared deprecated -#elif defined(__clang__) -#pragma clang diagnostic ignored "-Wdeprecated-declarations" -#elif defined(__GNUC__) -#pragma GCC diagnostic ignored "-Wdeprecated-declarations" -#endif - -MecanumDrive::MecanumDrive(SpeedController& frontLeftMotor, - SpeedController& rearLeftMotor, - SpeedController& frontRightMotor, - SpeedController& rearRightMotor) +MecanumDrive::MecanumDrive(MotorController& frontLeftMotor, + MotorController& rearLeftMotor, + MotorController& frontRightMotor, + MotorController& rearRightMotor) : m_frontLeftMotor(&frontLeftMotor), m_rearLeftMotor(&rearLeftMotor), m_frontRightMotor(&frontRightMotor), diff --git a/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp b/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp index 97ea0ee55f..a320f4ad87 100644 --- a/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp +++ b/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp @@ -10,7 +10,6 @@ #include -#include "frc/MathUtil.h" #include "frc/motorcontrol/MotorController.h" using namespace frc; @@ -31,10 +30,6 @@ void RobotDriveBase::FeedWatchdog() { Feed(); } -double RobotDriveBase::ApplyDeadband(double value, double deadband) { - return frc::ApplyDeadband(value, deadband); -} - void RobotDriveBase::Desaturate(wpi::span wheelSpeeds) { double maxMagnitude = std::abs(wheelSpeeds[0]); for (size_t i = 1; i < wheelSpeeds.size(); i++) { diff --git a/wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp b/wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp index ac1c8ad4f5..b5dd351e6e 100644 --- a/wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp +++ b/wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp @@ -75,12 +75,6 @@ std::shared_ptr Instance::GetOrAdd(wpi::Sendable* sendable) { return data; } -LiveWindow* LiveWindow::GetInstance() { - ::GetInstance(); - static LiveWindow instance; - return &instance; -} - void LiveWindow::SetEnabledCallback(std::function func) { ::GetInstance().enabled = func; } diff --git a/wpilibc/src/main/native/cpp/SpeedController.cpp b/wpilibc/src/main/native/cpp/motorcontrol/MotorController.cpp similarity index 75% rename from wpilibc/src/main/native/cpp/SpeedController.cpp rename to wpilibc/src/main/native/cpp/motorcontrol/MotorController.cpp index e0b0cb2f71..a4a00a1ca7 100644 --- a/wpilibc/src/main/native/cpp/SpeedController.cpp +++ b/wpilibc/src/main/native/cpp/motorcontrol/MotorController.cpp @@ -2,12 +2,12 @@ // 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. -#include "frc/SpeedController.h" +#include "frc/motorcontrol/MotorController.h" #include using namespace frc; -void SpeedController::SetVoltage(units::volt_t output) { +void MotorController::SetVoltage(units::volt_t output) { Set(output / units::volt_t(RobotController::GetInputVoltage())); } diff --git a/wpilibc/src/main/native/cppcs/RobotBase.cpp b/wpilibc/src/main/native/cppcs/RobotBase.cpp index 3433a0240c..68a85b7ca3 100644 --- a/wpilibc/src/main/native/cppcs/RobotBase.cpp +++ b/wpilibc/src/main/native/cppcs/RobotBase.cpp @@ -192,18 +192,10 @@ bool RobotBase::IsAutonomousEnabled() const { return DriverStation::IsAutonomousEnabled(); } -bool RobotBase::IsOperatorControl() const { - return DriverStation::IsTeleop(); -} - bool RobotBase::IsTeleop() const { return DriverStation::IsTeleop(); } -bool RobotBase::IsOperatorControlEnabled() const { - return DriverStation::IsTeleopEnabled(); -} - bool RobotBase::IsTeleopEnabled() const { return DriverStation::IsTeleopEnabled(); } diff --git a/wpilibc/src/main/native/include/frc/Compressor.h b/wpilibc/src/main/native/include/frc/Compressor.h index a686b1c797..5e7b680204 100644 --- a/wpilibc/src/main/native/include/frc/Compressor.h +++ b/wpilibc/src/main/native/include/frc/Compressor.h @@ -58,24 +58,6 @@ class Compressor : public wpi::Sendable, Compressor(Compressor&&) = default; Compressor& operator=(Compressor&&) = default; - /** - * Starts closed-loop control. Note that closed loop control is enabled by - * default. - * - * @deprecated Use EnableDigital() instead. - */ - WPI_DEPRECATED("Use EnableDigital() instead") - void Start(); - - /** - * Stops closed-loop control. Note that closed loop control is enabled by - * default. - * - * @deprecated Use Disable() instead. - */ - WPI_DEPRECATED("Use Disable() instead") - void Stop(); - /** * Check if compressor output is active. * To (re)enable the compressor use EnableDigital() or EnableAnalog(...). diff --git a/wpilibc/src/main/native/include/frc/DriverStation.h b/wpilibc/src/main/native/include/frc/DriverStation.h index 8a3149b96c..4d54579132 100644 --- a/wpilibc/src/main/native/include/frc/DriverStation.h +++ b/wpilibc/src/main/native/include/frc/DriverStation.h @@ -7,7 +7,6 @@ #include #include -#include namespace wpi::log { class DataLog; @@ -24,15 +23,6 @@ class DriverStation final { enum Alliance { kRed, kBlue, kInvalid }; enum MatchType { kNone, kPractice, kQualification, kElimination }; - /** - * Return a reference to the singleton DriverStation. - * - * @return Reference to the DS instance - * @deprecated Use the static methods - */ - WPI_DEPRECATED("Use static methods") - static DriverStation& GetInstance(); - static constexpr int kJoystickPorts = 6; /** @@ -196,15 +186,6 @@ class DriverStation final { */ static bool IsAutonomousEnabled(); - /** - * Check if the DS is commanding teleop mode. - * - * @return True if the robot is being commanded to be in teleop mode - * @deprecated Use IsTeleop() instead. - */ - WPI_DEPRECATED("Use IsTeleop() instead") - static bool IsOperatorControl(); - /** * Check if the DS is commanding teleop mode. * @@ -212,16 +193,6 @@ class DriverStation final { */ static bool IsTeleop(); - /** - * Check if the DS is commanding teleop mode and if it has enabled the robot. - * - * @return True if the robot is being commanded to be in teleop mode and - * enabled. - * @deprecated Use IsTeleopEnabled() instead. - */ - WPI_DEPRECATED("Use IsTeleopEnabled() instead") - static bool IsOperatorControlEnabled(); - /** * Check if the DS is commanding teleop mode and if it has enabled the robot. * @@ -395,17 +366,6 @@ class DriverStation final { */ static void InAutonomous(bool entering); - /** - * Only to be used to tell the Driver Station what code you claim to be - * executing for diagnostic purposes only. - * - * @param entering If true, starting teleop code; if false, leaving teleop - * code. - * @deprecated Use InTeleop() instead. - */ - WPI_DEPRECATED("Use InTeleop() instead") - static void InOperatorControl(bool entering); - /** * Only to be used to tell the Driver Station what code you claim to be * executing for diagnostic purposes only. diff --git a/wpilibc/src/main/native/include/frc/Encoder.h b/wpilibc/src/main/native/include/frc/Encoder.h index f6753c2eac..deb36c0446 100644 --- a/wpilibc/src/main/native/include/frc/Encoder.h +++ b/wpilibc/src/main/native/include/frc/Encoder.h @@ -166,7 +166,9 @@ class Encoder : public CounterBase, * scaled using the value from SetDistancePerPulse(). * * @return Period in seconds of the most recent pulse. + * @deprecated Use getRate() in favor of this method. */ + WPI_DEPRECATED("Use GetRate() in favor of this method") units::second_t GetPeriod() const override; /** @@ -177,13 +179,12 @@ class Encoder : public CounterBase, * to determine if the wheels or other shaft has stopped rotating. * This method compensates for the decoding type. * - * @deprecated Use SetMinRate() in favor of this method. This takes unscaled - * periods and SetMinRate() scales using value from - * SetDistancePerPulse(). - * * @param maxPeriod The maximum time between rising and falling edges before * the FPGA will report the device stopped. This is expressed * in seconds. + * @deprecated Use SetMinRate() in favor of this method. This takes unscaled + * periods and SetMinRate() scales using value from + * SetDistancePerPulse(). */ WPI_DEPRECATED( "Use SetMinRate() in favor of this method. This takes unscaled periods " diff --git a/wpilibc/src/main/native/include/frc/IterativeRobotBase.h b/wpilibc/src/main/native/include/frc/IterativeRobotBase.h index c4253efdc3..669f0cd8e4 100644 --- a/wpilibc/src/main/native/include/frc/IterativeRobotBase.h +++ b/wpilibc/src/main/native/include/frc/IterativeRobotBase.h @@ -5,7 +5,6 @@ #pragma once #include -#include #include "frc/RobotBase.h" #include "frc/Watchdog.h" @@ -207,17 +206,6 @@ class IterativeRobotBase : public RobotBase { */ units::second_t GetPeriod() const; - /** - * Constructor for IterativeRobotBase. - * - * @param period Period in seconds. - * - * @deprecated Use IterativeRobotBase(units::second_t period) with unit-safety - * instead - */ - WPI_DEPRECATED("Use constructor with unit-safety instead.") - explicit IterativeRobotBase(double period); - /** * Constructor for IterativeRobotBase. * diff --git a/wpilibc/src/main/native/include/frc/Preferences.h b/wpilibc/src/main/native/include/frc/Preferences.h index b939d9eeda..0094ad0e01 100644 --- a/wpilibc/src/main/native/include/frc/Preferences.h +++ b/wpilibc/src/main/native/include/frc/Preferences.h @@ -10,8 +10,6 @@ #include #include -#include - namespace frc { /** @@ -30,15 +28,6 @@ namespace frc { */ class Preferences { public: - /** - * Get the one and only {@link Preferences} object. - * - * @return pointer to the {@link Preferences} - * @deprecated Use the static methods - */ - WPI_DEPRECATED("Use static methods") - static Preferences* GetInstance(); - /** * Returns a vector of all the keys. * @@ -119,18 +108,6 @@ class Preferences { */ static void SetString(std::string_view key, std::string_view value); - /** - * Puts the given string into the preferences table. - * - * The value may not have quotation marks, nor may the key have any whitespace - * nor an equals sign. - * - * @param key the key - * @param value the value - */ - WPI_DEPRECATED("Use SetString instead.") - static void PutString(std::string_view key, std::string_view value); - /** * Puts the given string into the preferences table if it doesn't * already exist. @@ -147,17 +124,6 @@ class Preferences { */ static void SetInt(std::string_view key, int value); - /** - * Puts the given int into the preferences table. - * - * The key may not have any whitespace nor an equals sign. - * - * @param key the key - * @param value the value - */ - WPI_DEPRECATED("Use SetInt instead.") - static void PutInt(std::string_view key, int value); - /** * Puts the given int into the preferences table if it doesn't * already exist. @@ -174,17 +140,6 @@ class Preferences { */ static void SetDouble(std::string_view key, double value); - /** - * Puts the given double into the preferences table. - * - * The key may not have any whitespace nor an equals sign. - * - * @param key the key - * @param value the value - */ - WPI_DEPRECATED("Use SetDouble instead.") - static void PutDouble(std::string_view key, double value); - /** * Puts the given double into the preferences table if it doesn't * already exist. @@ -201,17 +156,6 @@ class Preferences { */ static void SetFloat(std::string_view key, float value); - /** - * Puts the given float into the preferences table. - * - * The key may not have any whitespace nor an equals sign. - * - * @param key the key - * @param value the value - */ - WPI_DEPRECATED("Use SetFloat instead.") - static void PutFloat(std::string_view key, float value); - /** * Puts the given float into the preferences table if it doesn't * already exist. @@ -228,17 +172,6 @@ class Preferences { */ static void SetBoolean(std::string_view key, bool value); - /** - * Puts the given boolean into the preferences table. - * - * The key may not have any whitespace nor an equals sign. - * - * @param key the key - * @param value the value - */ - WPI_DEPRECATED("Use SetBoolean instead.") - static void PutBoolean(std::string_view key, bool value); - /** * Puts the given boolean into the preferences table if it doesn't * already exist. @@ -255,17 +188,6 @@ class Preferences { */ static void SetLong(std::string_view key, int64_t value); - /** - * Puts the given long (int64_t) into the preferences table. - * - * The key may not have any whitespace nor an equals sign. - * - * @param key the key - * @param value the value - */ - WPI_DEPRECATED("Use SetLong instead.") - static void PutLong(std::string_view key, int64_t value); - /** * Puts the given long into the preferences table if it doesn't * already exist. diff --git a/wpilibc/src/main/native/include/frc/RobotBase.h b/wpilibc/src/main/native/include/frc/RobotBase.h index 70c6093cf7..3379d1f098 100644 --- a/wpilibc/src/main/native/include/frc/RobotBase.h +++ b/wpilibc/src/main/native/include/frc/RobotBase.h @@ -11,7 +11,6 @@ #include #include #include -#include #include #include "frc/Errors.h" @@ -151,16 +150,6 @@ class RobotBase { */ bool IsAutonomousEnabled() const; - /** - * Determine if the robot is currently in Operator Control mode. - * - * @return True if the robot is currently operating in Tele-Op mode as - * determined by the field controls. - * @deprecated Use IsTeleop() instead. - */ - WPI_DEPRECATED("Use IsTeleop() instead") - bool IsOperatorControl() const; - /** * Determine if the robot is currently in Operator Control mode. * @@ -169,16 +158,6 @@ class RobotBase { */ bool IsTeleop() const; - /** - * Determine if the robot is current in Operator Control mode and enabled. - * - * @return True if the robot is currently operating in Tele-Op mode while - * enabled as determined by the field-controls. - * @deprecated Use IsTeleopEnabled() instead. - */ - WPI_DEPRECATED("Use IsTeleopEnabled() instead") - bool IsOperatorControlEnabled() const; - /** * Determine if the robot is current in Operator Control mode and enabled. * diff --git a/wpilibc/src/main/native/include/frc/RobotState.h b/wpilibc/src/main/native/include/frc/RobotState.h index cb97b133b1..0489b9bb74 100644 --- a/wpilibc/src/main/native/include/frc/RobotState.h +++ b/wpilibc/src/main/native/include/frc/RobotState.h @@ -4,8 +4,6 @@ #pragma once -#include - namespace frc { class RobotState { @@ -15,8 +13,6 @@ class RobotState { static bool IsDisabled(); static bool IsEnabled(); static bool IsEStopped(); - WPI_DEPRECATED("Use IsTeleop() instead") - static bool IsOperatorControl(); static bool IsTeleop(); static bool IsAutonomous(); static bool IsTest(); diff --git a/wpilibc/src/main/native/include/frc/SPI.h b/wpilibc/src/main/native/include/frc/SPI.h index 4f12cbe9f3..fb0e6f50d0 100644 --- a/wpilibc/src/main/native/include/frc/SPI.h +++ b/wpilibc/src/main/native/include/frc/SPI.h @@ -10,7 +10,6 @@ #include #include -#include #include namespace frc { @@ -76,26 +75,6 @@ class SPI { */ void SetSampleDataOnTrailingEdge(); - /** - * Configure that the data is stable on the falling edge and the data - * changes on the rising edge. - * - * @deprecated Use SetSampleDataOnTrailingEdge() instead. - * - */ - WPI_DEPRECATED("Use SetSampleDataOnTrailingEdge instead.") - void SetSampleDataOnFalling(); - - /** - * Configure that the data is stable on the rising edge and the data - * changes on the falling edge. - * - * @deprecated Use SetSampleDataOnLeadingEdge() instead. - * - */ - WPI_DEPRECATED("Use SetSampleDataOnLeadingEdge instead") - void SetSampleDataOnRising(); - /** * Configure the clock output line to be active low. * This is sometimes called clock polarity high or clock idle high. @@ -189,19 +168,6 @@ class SPI { */ void StartAutoRate(units::second_t period); - /** - * Start running the automatic SPI transfer engine at a periodic rate. - * - * InitAuto() and SetAutoTransmitData() must be called before calling this - * function. - * - * @deprecated use unit-safe StartAutoRate(units::second_t period) instead. - * - * @param period period between transfers, in seconds (us resolution) - */ - WPI_DEPRECATED("Use StartAutoRate with unit-safety instead") - void StartAutoRate(double period); - /** * Start running the automatic SPI transfer engine when a trigger occurs. * @@ -286,31 +252,6 @@ class SPI { int validMask, int validValue, int dataShift, int dataSize, bool isSigned, bool bigEndian); - /** - * Initialize the accumulator. - * - * @deprecated Use unit-safe version instead. - * InitAccumulator(units::second_t period, int cmd, int xferSize, int validMask, int validValue, int dataShift, int dataSize, bool isSigned, bool bigEndian) - * - * @param period Time between reads - * @param cmd SPI command to send to request data - * @param xferSize SPI transfer size, in bytes - * @param validMask Mask to apply to received data for validity checking - * @param validValue After valid_mask is applied, required matching value for - * validity checking - * @param dataShift Bit shift to apply to received data to get actual data - * value - * @param dataSize Size (in bits) of data field - * @param isSigned Is data field signed? - * @param bigEndian Is device big endian? - */ - WPI_DEPRECATED("Use InitAccumulator with unit-safety instead") - void InitAccumulator(double period, int cmd, int xferSize, int validMask, - int validValue, int dataShift, int dataSize, - bool isSigned, bool bigEndian); - /** * Frees the accumulator. */ diff --git a/wpilibc/src/main/native/include/frc/SpeedController.h b/wpilibc/src/main/native/include/frc/SpeedController.h deleted file mode 100644 index 8473015fea..0000000000 --- a/wpilibc/src/main/native/include/frc/SpeedController.h +++ /dev/null @@ -1,74 +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. - -#pragma once - -#include -#include - -namespace frc { - -/** - * Interface for speed controlling devices. - * - * @deprecated Use MotorController. - */ -class WPI_DEPRECATED("use MotorController") SpeedController { - public: - virtual ~SpeedController() = default; - - /** - * Common interface for setting the speed of a speed controller. - * - * @param speed The speed to set. Value should be between -1.0 and 1.0. - */ - virtual void Set(double speed) = 0; - - /** - * Sets the voltage output of the SpeedController. Compensates for - * the current bus voltage to ensure that the desired voltage is output even - * if the battery voltage is below 12V - highly useful when the voltage - * outputs are "meaningful" (e.g. they come from a feedforward calculation). - * - *

NOTE: This function *must* be called regularly in order for voltage - * compensation to work properly - unlike the ordinary set function, it is not - * "set it and forget it." - * - * @param output The voltage to output. - */ - virtual void SetVoltage(units::volt_t output); - - /** - * Common interface for getting the current set speed of a speed controller. - * - * @return The current set speed. Value is between -1.0 and 1.0. - */ - virtual double Get() const = 0; - - /** - * Common interface for inverting direction of a speed controller. - * - * @param isInverted The state of inversion, true is inverted. - */ - virtual void SetInverted(bool isInverted) = 0; - - /** - * Common interface for returning the inversion state of a speed controller. - * - * @return isInverted The state of inversion, true is inverted. - */ - virtual bool GetInverted() const = 0; - - /** - * Common interface for disabling a motor. - */ - virtual void Disable() = 0; - - /** - * Common interface to stop the motor until Set is called again. - */ - virtual void StopMotor() = 0; -}; - -} // namespace frc diff --git a/wpilibc/src/main/native/include/frc/SpeedControllerGroup.h b/wpilibc/src/main/native/include/frc/SpeedControllerGroup.h deleted file mode 100644 index 5a097b50ff..0000000000 --- a/wpilibc/src/main/native/include/frc/SpeedControllerGroup.h +++ /dev/null @@ -1,55 +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. - -#pragma once - -#include -#include - -#include -#include -#include - -#include "frc/motorcontrol/MotorController.h" - -namespace frc { - -/** - * Allows multiple SpeedController objects to be linked together. - * - * @deprecated Use MotorControllerGroup. - */ -class WPI_DEPRECATED("use MotorControllerGroup") SpeedControllerGroup - : public wpi::Sendable, - public MotorController, - public wpi::SendableHelper { - public: - template - explicit SpeedControllerGroup(SpeedController& speedController, - SpeedControllers&... speedControllers); - explicit SpeedControllerGroup( - std::vector>&& speedControllers); - - SpeedControllerGroup(SpeedControllerGroup&&) = default; - SpeedControllerGroup& operator=(SpeedControllerGroup&&) = default; - - void Set(double speed) override; - double Get() const override; - void SetInverted(bool isInverted) override; - bool GetInverted() const override; - void Disable() override; - void StopMotor() override; - - void InitSendable(wpi::SendableBuilder& builder) override; - - private: - bool m_isInverted = false; - std::vector> m_speedControllers; - - void Initialize(); -}; - -} // namespace frc - -#include "frc/SpeedControllerGroup.inc" diff --git a/wpilibc/src/main/native/include/frc/SpeedControllerGroup.inc b/wpilibc/src/main/native/include/frc/SpeedControllerGroup.inc deleted file mode 100644 index d5f17b41e6..0000000000 --- a/wpilibc/src/main/native/include/frc/SpeedControllerGroup.inc +++ /dev/null @@ -1,22 +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. - -#pragma once - -#include -#include - -#include "frc/SpeedControllerGroup.h" - -namespace frc { - -template -SpeedControllerGroup::SpeedControllerGroup( - SpeedController& speedController, SpeedControllers&... speedControllers) - : m_speedControllers(std::vector>{ - speedController, speedControllers...}) { - Initialize(); -} - -} // namespace frc diff --git a/wpilibc/src/main/native/include/frc/TimedRobot.h b/wpilibc/src/main/native/include/frc/TimedRobot.h index cc64c03d57..f32e7483cf 100644 --- a/wpilibc/src/main/native/include/frc/TimedRobot.h +++ b/wpilibc/src/main/native/include/frc/TimedRobot.h @@ -11,7 +11,6 @@ #include #include #include -#include #include #include "frc/IterativeRobotBase.h" @@ -42,17 +41,6 @@ class TimedRobot : public IterativeRobotBase { */ void EndCompetition() override; - /** - * Constructor for TimedRobot. - * - * @deprecated use unit safe constructor instead. - * TimedRobot(units::second_t period = kDefaultPeriod) - * - * @param period Period in seconds. - */ - WPI_DEPRECATED("Use constructor with unit-safety instead.") - explicit TimedRobot(double period); - /** * Constructor for TimedRobot. * diff --git a/wpilibc/src/main/native/include/frc/Timer.h b/wpilibc/src/main/native/include/frc/Timer.h index 0aed658447..14674ee740 100644 --- a/wpilibc/src/main/native/include/frc/Timer.h +++ b/wpilibc/src/main/native/include/frc/Timer.h @@ -5,7 +5,6 @@ #pragma once #include -#include namespace frc { @@ -94,18 +93,6 @@ class Timer { */ bool HasElapsed(units::second_t period) const; - /** - * Check if the period specified has passed and if it has, advance the start - * time by that period. This is useful to decide if it's time to do periodic - * work without drifting later by the time it took to get around to checking. - * - * @param period The period to check for. - * @return True if the period has passed. - * @deprecated Use AdvanceIfElapsed() instead. - */ - WPI_DEPRECATED("Use AdvanceIfElapsed() instead.") - bool HasPeriodPassed(units::second_t period); - /** * Check if the period specified has passed and if it has, advance the start * time by that period. This is useful to decide if it's time to do periodic diff --git a/wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h b/wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h index 0b793a7542..6ce60b66cd 100644 --- a/wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h +++ b/wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h @@ -13,18 +13,7 @@ namespace frc { -#if defined(_MSC_VER) -#pragma warning(push) -#pragma warning(disable : 4996) // was declared deprecated -#elif defined(__clang__) -#pragma clang diagnostic push -#pragma clang diagnostic ignored "-Wdeprecated-declarations" -#elif defined(__GNUC__) -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wdeprecated-declarations" -#endif - -class SpeedController; +class MotorController; /** * A class for driving differential drive/skid-steer drive platforms such as @@ -120,7 +109,7 @@ class DifferentialDrive : public RobotDriveBase, * To pass multiple motors per side, use a MotorControllerGroup. If a motor * needs to be inverted, do so before passing it in. */ - DifferentialDrive(SpeedController& leftMotor, SpeedController& rightMotor); + DifferentialDrive(MotorController& leftMotor, MotorController& rightMotor); ~DifferentialDrive() override = default; @@ -223,16 +212,8 @@ class DifferentialDrive : public RobotDriveBase, void InitSendable(wpi::SendableBuilder& builder) override; private: - SpeedController* m_leftMotor; - SpeedController* m_rightMotor; + MotorController* m_leftMotor; + MotorController* m_rightMotor; }; -#if defined(_MSC_VER) -#pragma warning(pop) -#elif defined(__clang__) -#pragma clang diagnostic pop -#elif defined(__GNUC__) -#pragma GCC diagnostic pop -#endif - } // namespace frc diff --git a/wpilibc/src/main/native/include/frc/drive/KilloughDrive.h b/wpilibc/src/main/native/include/frc/drive/KilloughDrive.h index c09f218574..df39aac51e 100644 --- a/wpilibc/src/main/native/include/frc/drive/KilloughDrive.h +++ b/wpilibc/src/main/native/include/frc/drive/KilloughDrive.h @@ -15,18 +15,7 @@ namespace frc { -#if defined(_MSC_VER) -#pragma warning(push) -#pragma warning(disable : 4996) // was declared deprecated -#elif defined(__clang__) -#pragma clang diagnostic push -#pragma clang diagnostic ignored "-Wdeprecated-declarations" -#elif defined(__GNUC__) -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wdeprecated-declarations" -#endif - -class SpeedController; +class MotorController; /** * A class for driving Killough drive platforms. @@ -88,8 +77,8 @@ class KilloughDrive : public RobotDriveBase, * @param rightMotor The motor on the right corner. * @param backMotor The motor on the back corner. */ - KilloughDrive(SpeedController& leftMotor, SpeedController& rightMotor, - SpeedController& backMotor); + KilloughDrive(MotorController& leftMotor, MotorController& rightMotor, + MotorController& backMotor); /** * Construct a Killough drive with the given motors. @@ -106,8 +95,8 @@ class KilloughDrive : public RobotDriveBase, * @param backMotorAngle The angle of the back wheel's forward direction of * travel. */ - KilloughDrive(SpeedController& leftMotor, SpeedController& rightMotor, - SpeedController& backMotor, double leftMotorAngle, + KilloughDrive(MotorController& leftMotor, MotorController& rightMotor, + MotorController& backMotor, double leftMotorAngle, double rightMotorAngle, double backMotorAngle); ~KilloughDrive() override = default; @@ -173,9 +162,9 @@ class KilloughDrive : public RobotDriveBase, void InitSendable(wpi::SendableBuilder& builder) override; private: - SpeedController* m_leftMotor; - SpeedController* m_rightMotor; - SpeedController* m_backMotor; + MotorController* m_leftMotor; + MotorController* m_rightMotor; + MotorController* m_backMotor; Vector2d m_leftVec; Vector2d m_rightVec; @@ -184,12 +173,4 @@ class KilloughDrive : public RobotDriveBase, bool reported = false; }; -#if defined(_MSC_VER) -#pragma warning(pop) -#elif defined(__clang__) -#pragma clang diagnostic pop -#elif defined(__GNUC__) -#pragma GCC diagnostic pop -#endif - } // namespace frc diff --git a/wpilibc/src/main/native/include/frc/drive/MecanumDrive.h b/wpilibc/src/main/native/include/frc/drive/MecanumDrive.h index 7e447ef298..282453cef1 100644 --- a/wpilibc/src/main/native/include/frc/drive/MecanumDrive.h +++ b/wpilibc/src/main/native/include/frc/drive/MecanumDrive.h @@ -14,18 +14,7 @@ namespace frc { -#if defined(_MSC_VER) -#pragma warning(push) -#pragma warning(disable : 4996) // was declared deprecated -#elif defined(__clang__) -#pragma clang diagnostic push -#pragma clang diagnostic ignored "-Wdeprecated-declarations" -#elif defined(__GNUC__) -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wdeprecated-declarations" -#endif - -class SpeedController; +class MotorController; /** * A class for driving Mecanum drive platforms. @@ -81,9 +70,9 @@ class MecanumDrive : public RobotDriveBase, * * If a motor needs to be inverted, do so before passing it in. */ - MecanumDrive(SpeedController& frontLeftMotor, SpeedController& rearLeftMotor, - SpeedController& frontRightMotor, - SpeedController& rearRightMotor); + MecanumDrive(MotorController& frontLeftMotor, MotorController& rearLeftMotor, + MotorController& frontRightMotor, + MotorController& rearRightMotor); ~MecanumDrive() override = default; @@ -148,20 +137,12 @@ class MecanumDrive : public RobotDriveBase, void InitSendable(wpi::SendableBuilder& builder) override; private: - SpeedController* m_frontLeftMotor; - SpeedController* m_rearLeftMotor; - SpeedController* m_frontRightMotor; - SpeedController* m_rearRightMotor; + MotorController* m_frontLeftMotor; + MotorController* m_rearLeftMotor; + MotorController* m_frontRightMotor; + MotorController* m_rearRightMotor; bool reported = false; }; -#if defined(_MSC_VER) -#pragma warning(pop) -#elif defined(__clang__) -#pragma clang diagnostic pop -#elif defined(__GNUC__) -#pragma GCC diagnostic pop -#endif - } // namespace frc diff --git a/wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h b/wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h index 662bdaebcf..8f213cf200 100644 --- a/wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h +++ b/wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h @@ -7,7 +7,6 @@ #include #include -#include #include #include "frc/MotorSafety.h" @@ -72,17 +71,6 @@ class RobotDriveBase : public MotorSafety { std::string GetDescription() const override = 0; protected: - /** - * Returns 0.0 if the given value is within the specified range around zero. - * The remaining range between the deadband and 1.0 is scaled from 0.0 to 1.0. - * - * @param value value to clip - * @param deadband range around zero - * @deprecated Use ApplyDeadband() in frc/MathUtil.h. - */ - WPI_DEPRECATED("Use ApplyDeadband() in frc/MathUtil.h") - static double ApplyDeadband(double value, double deadband); - /** * Renormalize all wheel speeds if the magnitude of any wheel is greater than * 1.0. diff --git a/wpilibc/src/main/native/include/frc/livewindow/LiveWindow.h b/wpilibc/src/main/native/include/frc/livewindow/LiveWindow.h index 29e4f47cdb..b623466e8e 100644 --- a/wpilibc/src/main/native/include/frc/livewindow/LiveWindow.h +++ b/wpilibc/src/main/native/include/frc/livewindow/LiveWindow.h @@ -6,8 +6,6 @@ #include -#include - namespace wpi { class Sendable; } // namespace wpi @@ -20,17 +18,6 @@ namespace frc { */ class LiveWindow final { public: - /** - * Get an instance of the LiveWindow main class. - * - * This is a singleton to guarantee that there is only a single instance - * regardless of how many times GetInstance is called. - * @deprecated Use the static methods unless guaranteeing LiveWindow is - * instantiated - */ - WPI_DEPRECATED("Use static methods") - static LiveWindow* GetInstance(); - /** * Set function to be called when LiveWindow is enabled. * diff --git a/wpilibc/src/main/native/include/frc/motorcontrol/MotorController.h b/wpilibc/src/main/native/include/frc/motorcontrol/MotorController.h index 8ed19bcba5..ee1bac6ce0 100644 --- a/wpilibc/src/main/native/include/frc/motorcontrol/MotorController.h +++ b/wpilibc/src/main/native/include/frc/motorcontrol/MotorController.h @@ -6,32 +6,66 @@ #include -#include "frc/SpeedController.h" - namespace frc { -#if defined(_MSC_VER) -#pragma warning(push) -#pragma warning(disable : 4996) // was declared deprecated -#elif defined(__clang__) -#pragma clang diagnostic push -#pragma clang diagnostic ignored "-Wdeprecated-declarations" -#elif defined(__GNUC__) -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wdeprecated-declarations" -#endif - /** * Interface for motor controlling devices. */ -class MotorController : public SpeedController {}; +class MotorController { + public: + virtual ~MotorController() = default; -#if defined(_MSC_VER) -#pragma warning(pop) -#elif defined(__clang__) -#pragma clang diagnostic pop -#elif defined(__GNUC__) -#pragma GCC diagnostic pop -#endif + /** + * Common interface for setting the speed of a motor controller. + * + * @param speed The speed to set. Value should be between -1.0 and 1.0. + */ + virtual void Set(double speed) = 0; + + /** + * Sets the voltage output of the SpeedController. Compensates for + * the current bus voltage to ensure that the desired voltage is output even + * if the battery voltage is below 12V - highly useful when the voltage + * outputs are "meaningful" (e.g. they come from a feedforward calculation). + * + *

NOTE: This function *must* be called regularly in order for voltage + * compensation to work properly - unlike the ordinary set function, it is not + * "set it and forget it." + * + * @param output The voltage to output. + */ + virtual void SetVoltage(units::volt_t output); + + /** + * Common interface for getting the current set speed of a motor controller. + * + * @return The current set speed. Value is between -1.0 and 1.0. + */ + virtual double Get() const = 0; + + /** + * Common interface for inverting direction of a motor controller. + * + * @param isInverted The state of inversion, true is inverted. + */ + virtual void SetInverted(bool isInverted) = 0; + + /** + * Common interface for returning the inversion state of a motor controller. + * + * @return isInverted The state of inversion, true is inverted. + */ + virtual bool GetInverted() const = 0; + + /** + * Common interface for disabling a motor. + */ + virtual void Disable() = 0; + + /** + * Common interface to stop the motor until Set is called again. + */ + virtual void StopMotor() = 0; +}; } // namespace frc diff --git a/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h b/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h index b693762a72..7fe0b59844 100644 --- a/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h +++ b/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h @@ -8,7 +8,6 @@ #include #include -#include #include "frc/smartdashboard/SendableChooserBase.h" @@ -68,36 +67,6 @@ class SendableChooser : public SendableChooserBase { */ void SetDefaultOption(std::string_view name, T object); - /** - * Adds the given object to the list of options. - * - * On the SmartDashboard on the desktop, the object will appear as the given - * name. - * - * @deprecated use AddOption(std::string_view name, T object) instead. - * - * @param name the name of the option - * @param object the option - */ - WPI_DEPRECATED("use AddOption() instead") - void AddObject(std::string_view name, T object) { AddOption(name, object); } - - /** - * Add the given object to the list of options and marks it as the default. - * - * Functionally, this is very close to AddOption() except that it will use - * this as the default option if none other is explicitly selected. - * - * @deprecated use SetDefaultOption(std::string_view name, T object) instead. - * - * @param name the name of the option - * @param object the option - */ - WPI_DEPRECATED("use SetDefaultOption() instead") - void AddDefault(std::string_view name, T object) { - SetDefaultOption(name, object); - } - /** * Returns a copy of the selected option (a raw pointer U* if T = * std::unique_ptr or a std::weak_ptr if T = std::shared_ptr). diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java index 374e0fea0e..953727ca77 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java @@ -62,34 +62,6 @@ public class Compressor implements Sendable, AutoCloseable { m_module = null; } - /** - * Start the compressor running in closed loop control mode. - * - *

Use the method in cases where you would like to manually stop and start the compressor for - * applications such as conserving battery or making sure that the compressor motor doesn't start - * during critical operations. - * - * @deprecated Use enableDigital() instead. - */ - @Deprecated(since = "2022", forRemoval = true) - public void start() { - enableDigital(); - } - - /** - * Stop the compressor from running in closed loop control mode. - * - *

Use the method in cases where you would like to manually stop and start the compressor for - * applications such as conserving battery or making sure that the compressor motor doesn't start - * during critical operations. - * - * @deprecated Use disable() instead. - */ - @Deprecated(since = "2022", forRemoval = true) - public void stop() { - disable(); - } - /** * Get the status of the compressor. To (re)enable the compressor use enableDigital() or * enableAnalog(...). diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java index 5971a0fffd..14b7350935 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java @@ -398,8 +398,6 @@ public final class DriverStation { final JoystickLogSender[] m_joysticks; } - private static DriverStation instance = new DriverStation(); - // Joystick User Data private static HALJoystickAxes[] m_joystickAxes = new HALJoystickAxes[kJoystickPorts]; private static HALJoystickPOVs[] m_joystickPOVs = new HALJoystickPOVs[kJoystickPorts]; @@ -448,17 +446,6 @@ public final class DriverStation { private static final ControlWord m_controlWordCache; private static long m_lastControlWordUpdate; - /** - * Gets an instance of the DriverStation. - * - * @return The DriverStation. - * @deprecated Use the static methods - */ - @Deprecated - public static DriverStation getInstance() { - return DriverStation.instance; - } - /** * DriverStation constructor. * @@ -985,18 +972,6 @@ public final class DriverStation { } } - /** - * Gets a value indicating whether the Driver Station requires the robot to be running in - * operator-controlled mode. - * - * @return True if operator-controlled mode should be enabled, false otherwise. - * @deprecated Use isTeleop() instead. - */ - @Deprecated(since = "2022", forRemoval = true) - public static boolean isOperatorControl() { - return isTeleop(); - } - /** * Gets a value indicating whether the Driver Station requires the robot to be running in * operator-controlled mode. @@ -1007,18 +982,6 @@ public final class DriverStation { return !(isAutonomous() || isTest()); } - /** - * Gets a value indicating whether the Driver Station requires the robot to be running in - * operator-controller mode and enabled. - * - * @return True if operator-controlled mode should be set and the robot should be enabled. - * @deprecated Use isTeleopEnabled() instead. - */ - @Deprecated(since = "2022", forRemoval = true) - public static boolean isOperatorControlEnabled() { - return isTeleopEnabled(); - } - /** * Gets a value indicating whether the Driver Station requires the robot to be running in * operator-controller mode and enabled. @@ -1334,18 +1297,6 @@ public final class DriverStation { m_userInAutonomous = entering; } - /** - * Only to be used to tell the Driver Station what code you claim to be executing for diagnostic - * purposes only. - * - * @param entering If true, starting teleop code; if false, leaving teleop code - * @deprecated Use {@link #inTeleop(boolean)} instead. - */ - @Deprecated(since = "2022", forRemoval = true) - public static void inOperatorControl(boolean entering) { - m_userInTeleop = entering; - } - /** * Only to be used to tell the Driver Station what code you claim to be executing for diagnostic * purposes only. diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java index 200d713065..01965b4787 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java @@ -370,8 +370,11 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable { * * @param maxPeriod The maximum time between rising and falling edges before the FPGA will report * the device stopped. This is expressed in seconds. + * @deprecated Use setMinRate() in favor of this method. This takes unscaled periods and + * setMinRate() scales using value from setDistancePerPulse(). */ @Override + @Deprecated public void setMaxPeriod(double maxPeriod) { EncoderJNI.setEncoderMaxPeriod(m_encoder, maxPeriod); } diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java index cf7b9ec1da..cd4675c479 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java @@ -30,25 +30,9 @@ import java.util.Collection; public final class Preferences { /** The Preferences table name. */ private static final String TABLE_NAME = "Preferences"; - /** The singleton instance. */ - private static Preferences instance; /** The network table. */ private static final NetworkTable m_table; - /** - * Returns the preferences instance. - * - * @return the preferences instance - * @deprecated Use the static methods - */ - @Deprecated - public static synchronized Preferences getInstance() { - if (instance == null) { - instance = new Preferences(); - } - return instance; - } - /** Creates a preference class. */ private Preferences() {} @@ -87,19 +71,6 @@ public final class Preferences { entry.setPersistent(); } - /** - * Puts the given string into the preferences table. - * - * @param key the key - * @param value the value - * @throws NullPointerException if value is null - * @deprecated Use {@link #setString(String, String)} - */ - @Deprecated - public static void putString(String key, String value) { - setString(key, value); - } - /** * Puts the given string into the preferences table if it doesn't already exist. * @@ -124,18 +95,6 @@ public final class Preferences { entry.setPersistent(); } - /** - * Puts the given int into the preferences table. - * - * @param key the key - * @param value the value - * @deprecated Use {@link #setInt(String, int)} - */ - @Deprecated - public static void putInt(String key, int value) { - setInt(key, value); - } - /** * Puts the given int into the preferences table if it doesn't already exist. * @@ -160,18 +119,6 @@ public final class Preferences { entry.setPersistent(); } - /** - * Puts the given double into the preferences table. - * - * @param key the key - * @param value the value - * @deprecated Use {@link #setDouble(String, double)} - */ - @Deprecated - public static void putDouble(String key, double value) { - setDouble(key, value); - } - /** * Puts the given double into the preferences table if it doesn't already exist. * @@ -196,18 +143,6 @@ public final class Preferences { entry.setPersistent(); } - /** - * Puts the given float into the preferences table. - * - * @param key the key - * @param value the value - * @deprecated Use {@link #setFloat(String, float)} - */ - @Deprecated - public static void putFloat(String key, float value) { - setFloat(key, value); - } - /** * Puts the given float into the preferences table if it doesn't already exist. * @@ -232,18 +167,6 @@ public final class Preferences { entry.setPersistent(); } - /** - * Puts the given boolean into the preferences table. - * - * @param key the key - * @param value the value - * @deprecated Use {@link #setBoolean(String, boolean)} - */ - @Deprecated - public static void putBoolean(String key, boolean value) { - setBoolean(key, value); - } - /** * Puts the given boolean into the preferences table if it doesn't already exist. * @@ -268,18 +191,6 @@ public final class Preferences { entry.setPersistent(); } - /** - * Puts the given long into the preferences table. - * - * @param key the key - * @param value the value - * @deprecated Use {@link #setLong(String, long)} - */ - @Deprecated - public static void putLong(String key, long value) { - setLong(key, value); - } - /** * Puts the given long into the preferences table if it doesn't already exist. * diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java index 5480f9b11f..53b58a1547 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java @@ -234,18 +234,6 @@ public abstract class RobotBase implements AutoCloseable { return DriverStation.isTest(); } - /** - * Determine if the robot is currently in Operator Control mode as determined by the field - * controls. - * - * @return True if the robot is currently operating in Tele-Op mode. - * @deprecated Use isTeleop() instead. - */ - @Deprecated(since = "2022", forRemoval = true) - public boolean isOperatorControl() { - return DriverStation.isTeleop(); - } - /** * Determine if the robot is currently in Operator Control mode as determined by the field * controls. @@ -256,18 +244,6 @@ public abstract class RobotBase implements AutoCloseable { return DriverStation.isTeleop(); } - /** - * Determine if the robot is current in Operator Control mode and enabled as determined by the - * field controls. - * - * @return True if the robot is currently operating in Tele-Op mode while enabled. - * @deprecated Use isTeleopEnabled() instead. - */ - @Deprecated(since = "2022", forRemoval = true) - public boolean isOperatorControlEnabled() { - return DriverStation.isTeleopEnabled(); - } - /** * Determine if the robot is current in Operator Control mode and enabled as determined by the * field controls. diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java index 462051a444..8020a75ce8 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java @@ -18,11 +18,6 @@ public final class RobotState { return DriverStation.isEStopped(); } - @Deprecated - public static boolean isOperatorControl() { - return isTeleop(); - } - public static boolean isTeleop() { return DriverStation.isTeleop(); } diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java index 2243140451..2f073d20ae 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java @@ -123,30 +123,6 @@ public class SPI implements AutoCloseable { SPIJNI.spiSetOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh); } - /** - * Configure that the data is stable on the falling edge and the data changes on the rising edge. - * Note this gets reversed is setClockActiveLow is set. - * - * @deprecated use {@link #setSampleDataOnTrailingEdge()} in most cases. - */ - @Deprecated - public final void setSampleDataOnFalling() { - m_sampleOnTrailing = 1; - SPIJNI.spiSetOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh); - } - - /** - * Configure that the data is stable on the rising edge and the data changes on the falling edge. - * Note this gets reversed is setClockActiveLow is set. - * - * @deprecated use {@link #setSampleDataOnLeadingEdge()} in most cases. - */ - @Deprecated - public final void setSampleDataOnRising() { - m_sampleOnTrailing = 0; - SPIJNI.spiSetOpts(m_port, m_msbFirst, m_sampleOnTrailing, m_clockIdleHigh); - } - /** Configure the chip select line to be active high. */ public final void setChipSelectActiveHigh() { SPIJNI.spiSetChipSelectActiveHigh(m_port); diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java index 331bbf1841..d89727b75f 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java @@ -81,48 +81,6 @@ public class SerialPort implements AutoCloseable { } } - /** - * Create an instance of a Serial Port class. - * - *

Prefer to use the constructor that doesn't take a port name, but in some cases the automatic - * detection might not work correctly. - * - * @param baudRate The baud rate to configure the serial port. - * @param port The Serial port to use - * @param portName The direct portName to use - * @param dataBits The number of data bits per transfer. Valid values are between 5 and 8 bits. - * @param parity Select the type of parity checking to use. - * @param stopBits The number of stop bits to use as defined by the enum StopBits. - * @deprecated Will be removed for 2019 - */ - @Deprecated - public SerialPort( - final int baudRate, - String portName, - Port port, - final int dataBits, - Parity parity, - StopBits stopBits) { - m_portHandle = SerialPortJNI.serialInitializePortDirect((byte) port.value, portName); - SerialPortJNI.serialSetBaudRate(m_portHandle, baudRate); - SerialPortJNI.serialSetDataBits(m_portHandle, (byte) dataBits); - SerialPortJNI.serialSetParity(m_portHandle, (byte) parity.value); - SerialPortJNI.serialSetStopBits(m_portHandle, (byte) stopBits.value); - - // Set the default read buffer size to 1 to return bytes immediately - setReadBufferSize(1); - - // Set the default timeout to 5 seconds. - setTimeout(5.0); - - // Don't wait until the buffer is full to transmit. - setWriteBufferMode(WriteBufferMode.kFlushOnAccess); - - disableTermination(); - - HAL.report(tResourceType.kResourceType_SerialPort, port.value + 1); - } - /** * Create an instance of a Serial Port class. * diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedController.java deleted file mode 100644 index 490455c791..0000000000 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedController.java +++ /dev/null @@ -1,65 +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; - -/** - * Interface for motor controlling devices. - * - * @deprecated Use {@link edu.wpi.first.wpilibj.motorcontrol.MotorController}. - */ -@Deprecated(since = "2022", forRemoval = true) -public interface SpeedController { - /** - * Common interface for setting the speed of a motor controller. - * - * @param speed The speed to set. Value should be between -1.0 and 1.0. - */ - void set(double speed); - - /** - * Sets the voltage output of the MotorController. Compensates for the current bus voltage to - * ensure that the desired voltage is output even if the battery voltage is below 12V - highly - * useful when the voltage outputs are "meaningful" (e.g. they come from a feedforward - * calculation). - * - *

NOTE: This function *must* be called regularly in order for voltage compensation to work - * properly - unlike the ordinary set function, it is not "set it and forget it." - * - * @param outputVolts The voltage to output. - */ - default void setVoltage(double outputVolts) { - set(outputVolts / RobotController.getBatteryVoltage()); - } - - /** - * Common interface for getting the current set speed of a motor controller. - * - * @return The current set speed. Value is between -1.0 and 1.0. - */ - double get(); - - /** - * Common interface for inverting direction of a motor controller. - * - * @param isInverted The state of inversion true is inverted. - */ - void setInverted(boolean isInverted); - - /** - * Common interface for returning if a motor controller is in the inverted state or not. - * - * @return isInverted The state of the inversion true is inverted. - */ - boolean getInverted(); - - /** Disable the motor controller. */ - void disable(); - - /** - * Stops motor movement. Motor can be moved again by calling set without having to re-enable the - * motor. - */ - void stopMotor(); -} diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedControllerGroup.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedControllerGroup.java deleted file mode 100644 index d2217b77b5..0000000000 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedControllerGroup.java +++ /dev/null @@ -1,103 +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; - -import edu.wpi.first.util.sendable.Sendable; -import edu.wpi.first.util.sendable.SendableBuilder; -import edu.wpi.first.util.sendable.SendableRegistry; -import edu.wpi.first.wpilibj.motorcontrol.MotorController; -import java.util.Arrays; - -/** - * Allows multiple {@link SpeedController} objects to be linked together. - * - * @deprecated Use {@link edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup}. - */ -@Deprecated(since = "2022", forRemoval = true) -@SuppressWarnings("removal") -public class SpeedControllerGroup implements MotorController, Sendable, AutoCloseable { - private boolean m_isInverted; - private final SpeedController[] m_speedControllers; - private static int instances; - - /** - * Create a new SpeedControllerGroup with the provided SpeedControllers. - * - * @param speedController The first SpeedController to add. - * @param speedControllers The SpeedControllers to add - */ - public SpeedControllerGroup( - SpeedController speedController, SpeedController... speedControllers) { - m_speedControllers = new SpeedController[speedControllers.length + 1]; - m_speedControllers[0] = speedController; - System.arraycopy(speedControllers, 0, m_speedControllers, 1, speedControllers.length); - init(); - } - - public SpeedControllerGroup(SpeedController[] speedControllers) { - m_speedControllers = Arrays.copyOf(speedControllers, speedControllers.length); - init(); - } - - private void init() { - for (SpeedController controller : m_speedControllers) { - SendableRegistry.addChild(this, controller); - } - instances++; - SendableRegistry.addLW(this, "MotorControllerGroup", instances); - } - - @Override - public void close() { - SendableRegistry.remove(this); - } - - @Override - public void set(double speed) { - for (SpeedController speedController : m_speedControllers) { - speedController.set(m_isInverted ? -speed : speed); - } - } - - @Override - public double get() { - if (m_speedControllers.length > 0) { - return m_speedControllers[0].get() * (m_isInverted ? -1 : 1); - } - return 0.0; - } - - @Override - public void setInverted(boolean isInverted) { - m_isInverted = isInverted; - } - - @Override - public boolean getInverted() { - return m_isInverted; - } - - @Override - public void disable() { - for (SpeedController speedController : m_speedControllers) { - speedController.disable(); - } - } - - @Override - public void stopMotor() { - for (SpeedController speedController : m_speedControllers) { - speedController.stopMotor(); - } - } - - @Override - public void initSendable(SendableBuilder builder) { - builder.setSmartDashboardType("Motor Controller"); - builder.setActuator(true); - builder.setSafeState(this::stopMotor); - builder.addDoubleProperty("Value", this::get, this::set); - } -} diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java index 939e255c3b..4173479860 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java @@ -121,20 +121,6 @@ public class Timer { return get() >= seconds; } - /** - * Check if the period specified has passed and if it has, advance the start time by that period. - * This is useful to decide if it's time to do periodic work without drifting later by the time it - * took to get around to checking. - * - * @param period The period to check for (in seconds). - * @return Whether the period has passed. - * @deprecated Use advanceIfElapsed() instead. - */ - @Deprecated(since = "2022", forRemoval = true) - public boolean hasPeriodPassed(double period) { - return advanceIfElapsed(period); - } - /** * Check if the period specified has passed and if it has, advance the start time by that period. * This is useful to decide if it's time to do periodic work without drifting later by the time it diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java index b6f38ffa4a..c41e44245a 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java @@ -13,7 +13,7 @@ import edu.wpi.first.math.MathUtil; import edu.wpi.first.util.sendable.Sendable; import edu.wpi.first.util.sendable.SendableBuilder; import edu.wpi.first.util.sendable.SendableRegistry; -import edu.wpi.first.wpilibj.SpeedController; +import edu.wpi.first.wpilibj.motorcontrol.MotorController; /** * A class for driving differential drive/skid-steer drive platforms such as the Kit of Parts drive @@ -87,12 +87,11 @@ import edu.wpi.first.wpilibj.SpeedController; *

{@link edu.wpi.first.wpilibj.MotorSafety} is enabled by default. The tankDrive, arcadeDrive, * or curvatureDrive methods should be called periodically to avoid Motor Safety timeouts. */ -@SuppressWarnings("removal") public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoCloseable { private static int instances; - private final SpeedController m_leftMotor; - private final SpeedController m_rightMotor; + private final MotorController m_leftMotor; + private final MotorController m_rightMotor; private boolean m_reported; @@ -131,7 +130,7 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC * @param leftMotor Left motor. * @param rightMotor Right motor. */ - public DifferentialDrive(SpeedController leftMotor, SpeedController rightMotor) { + public DifferentialDrive(MotorController leftMotor, MotorController rightMotor) { requireNonNull(leftMotor, "Left motor cannot be null"); requireNonNull(rightMotor, "Right motor cannot be null"); diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java index 6eb934ddef..827e12b4e7 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java @@ -13,7 +13,7 @@ import edu.wpi.first.math.MathUtil; import edu.wpi.first.util.sendable.Sendable; import edu.wpi.first.util.sendable.SendableBuilder; import edu.wpi.first.util.sendable.SendableRegistry; -import edu.wpi.first.wpilibj.SpeedController; +import edu.wpi.first.wpilibj.motorcontrol.MotorController; /** * A class for driving Killough drive platforms. @@ -43,7 +43,6 @@ import edu.wpi.first.wpilibj.SpeedController; *

{@link edu.wpi.first.wpilibj.MotorSafety} is enabled by default. The driveCartesian or * drivePolar methods should be called periodically to avoid Motor Safety timeouts. */ -@SuppressWarnings("removal") public class KilloughDrive extends RobotDriveBase implements Sendable, AutoCloseable { public static final double kDefaultLeftMotorAngle = 60.0; public static final double kDefaultRightMotorAngle = 120.0; @@ -51,9 +50,9 @@ public class KilloughDrive extends RobotDriveBase implements Sendable, AutoClose private static int instances; - private SpeedController m_leftMotor; - private SpeedController m_rightMotor; - private SpeedController m_backMotor; + private MotorController m_leftMotor; + private MotorController m_rightMotor; + private MotorController m_backMotor; private Vector2d m_leftVec; private Vector2d m_rightVec; @@ -102,7 +101,7 @@ public class KilloughDrive extends RobotDriveBase implements Sendable, AutoClose * @param backMotor The motor on the back corner. */ public KilloughDrive( - SpeedController leftMotor, SpeedController rightMotor, SpeedController backMotor) { + MotorController leftMotor, MotorController rightMotor, MotorController backMotor) { this( leftMotor, rightMotor, @@ -125,9 +124,9 @@ public class KilloughDrive extends RobotDriveBase implements Sendable, AutoClose * @param backMotorAngle The angle of the back wheel's forward direction of travel. */ public KilloughDrive( - SpeedController leftMotor, - SpeedController rightMotor, - SpeedController backMotor, + MotorController leftMotor, + MotorController rightMotor, + MotorController backMotor, double leftMotorAngle, double rightMotorAngle, double backMotorAngle) { diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java index af93f3997a..b1f57743c0 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java @@ -13,7 +13,7 @@ import edu.wpi.first.math.MathUtil; import edu.wpi.first.util.sendable.Sendable; import edu.wpi.first.util.sendable.SendableBuilder; import edu.wpi.first.util.sendable.SendableRegistry; -import edu.wpi.first.wpilibj.SpeedController; +import edu.wpi.first.wpilibj.motorcontrol.MotorController; /** * A class for driving Mecanum drive platforms. @@ -50,14 +50,13 @@ import edu.wpi.first.wpilibj.SpeedController; *

{@link edu.wpi.first.wpilibj.MotorSafety} is enabled by default. The driveCartesian or * drivePolar methods should be called periodically to avoid Motor Safety timeouts. */ -@SuppressWarnings("removal") public class MecanumDrive extends RobotDriveBase implements Sendable, AutoCloseable { private static int instances; - private final SpeedController m_frontLeftMotor; - private final SpeedController m_rearLeftMotor; - private final SpeedController m_frontRightMotor; - private final SpeedController m_rearRightMotor; + private final MotorController m_frontLeftMotor; + private final MotorController m_rearLeftMotor; + private final MotorController m_frontRightMotor; + private final MotorController m_rearRightMotor; private boolean m_reported; @@ -103,10 +102,10 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea * @param rearRightMotor The motor on the rear-right corner. */ public MecanumDrive( - SpeedController frontLeftMotor, - SpeedController rearLeftMotor, - SpeedController frontRightMotor, - SpeedController rearRightMotor) { + MotorController frontLeftMotor, + MotorController rearLeftMotor, + MotorController frontRightMotor, + MotorController rearRightMotor) { requireNonNull(frontLeftMotor, "Front-left motor cannot be null"); requireNonNull(rearLeftMotor, "Rear-left motor cannot be null"); requireNonNull(frontRightMotor, "Front-right motor cannot be null"); diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java index 82673ff055..c4e931d2f8 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java @@ -4,7 +4,6 @@ package edu.wpi.first.wpilibj.drive; -import edu.wpi.first.math.MathUtil; import edu.wpi.first.wpilibj.MotorSafety; /** @@ -81,20 +80,6 @@ public abstract class RobotDriveBase extends MotorSafety { @Override public abstract String getDescription(); - /** - * Returns 0.0 if the given value is within the specified range around zero. The remaining range - * between the deadband and 1.0 is scaled from 0.0 to 1.0. - * - * @param value value to clip - * @param deadband range around zero - * @return The value after the deadband is applied. - * @deprecated Use MathUtil.applyDeadband(double,double). - */ - @Deprecated(since = "2021", forRemoval = true) - protected static double applyDeadband(double value, double deadband) { - return MathUtil.applyDeadband(value, deadband); - } - /** * Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0. * diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.java index ac82afa7e8..4cd50da11d 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.java @@ -5,17 +5,14 @@ package edu.wpi.first.wpilibj.motorcontrol; import edu.wpi.first.wpilibj.RobotController; -import edu.wpi.first.wpilibj.SpeedController; /** Interface for motor controlling devices. */ -@SuppressWarnings("removal") -public interface MotorController extends SpeedController { +public interface MotorController { /** * Common interface for setting the speed of a motor controller. * * @param speed The speed to set. Value should be between -1.0 and 1.0. */ - @Override void set(double speed); /** @@ -29,7 +26,6 @@ public interface MotorController extends SpeedController { * * @param outputVolts The voltage to output. */ - @Override default void setVoltage(double outputVolts) { set(outputVolts / RobotController.getBatteryVoltage()); } @@ -39,7 +35,6 @@ public interface MotorController extends SpeedController { * * @return The current set speed. Value is between -1.0 and 1.0. */ - @Override double get(); /** @@ -47,7 +42,6 @@ public interface MotorController extends SpeedController { * * @param isInverted The state of inversion true is inverted. */ - @Override void setInverted(boolean isInverted); /** @@ -55,17 +49,14 @@ public interface MotorController extends SpeedController { * * @return isInverted The state of the inversion true is inverted. */ - @Override boolean getInverted(); /** Disable the motor controller. */ - @Override void disable(); /** * Stops motor movement. Motor can be moved again by calling set without having to re-enable the * motor. */ - @Override void stopMotor(); } diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java index 43242d1bba..1be4872b0c 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java @@ -426,14 +426,7 @@ public class DifferentialDrivetrainSim { public enum KitbotWheelSize { kSixInch(Units.inchesToMeters(6)), kEightInch(Units.inchesToMeters(8)), - kTenInch(Units.inchesToMeters(10)), - - @Deprecated - SixInch(Units.inchesToMeters(6)), - @Deprecated - EightInch(Units.inchesToMeters(8)), - @Deprecated - TenInch(Units.inchesToMeters(10)); + kTenInch(Units.inchesToMeters(10)); @SuppressWarnings("MemberName") public final double value; diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java index cece5a9e44..b18708e530 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java @@ -69,18 +69,6 @@ public class SendableChooser implements NTSendable, AutoCloseable { m_map.put(name, object); } - /** - * Adds the given object to the list of options. - * - * @param name the name of the option - * @param object the option - * @deprecated Use {@link #addOption(String, Object)} instead. - */ - @Deprecated - public void addObject(String name, V object) { - addOption(name, object); - } - /** * Adds the given object to the list of options and marks it as the default. Functionally, this is * very close to {@link #addOption(String, Object)} except that it will use this as the default @@ -96,18 +84,6 @@ public class SendableChooser implements NTSendable, AutoCloseable { addOption(name, object); } - /** - * Adds the given object to the list of options and marks it as the default. - * - * @param name the name of the option - * @param object the option - * @deprecated Use {@link #setDefaultOption(String, Object)} instead. - */ - @Deprecated - public void addDefault(String name, V object) { - setDefaultOption(name, object); - } - /** * Returns the selected option. If there is none selected, it will return the default. If there is * none selected and no default, then it will return {@code null}. diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionPipeline.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionPipeline.java deleted file mode 100644 index d888d3be27..0000000000 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionPipeline.java +++ /dev/null @@ -1,26 +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.vision; - -import org.opencv.core.Mat; - -/** - * A vision pipeline is responsible for running a group of OpenCV algorithms to extract data from an - * image. - * - * @see VisionRunner - * @see VisionThread - * @deprecated Replaced with edu.wpi.first.vision.VisionPipeline - */ -@Deprecated -public interface VisionPipeline { - /** - * Processes the image input and sets the result objects. Implementations should make these - * objects accessible. - * - * @param image The image to process. - */ - void process(Mat image); -} diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionRunner.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionRunner.java deleted file mode 100644 index a1002f5349..0000000000 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionRunner.java +++ /dev/null @@ -1,123 +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.vision; - -import edu.wpi.first.cameraserver.CameraServerSharedStore; -import edu.wpi.first.cscore.CvSink; -import edu.wpi.first.cscore.VideoSource; -import org.opencv.core.Mat; - -/** - * A vision runner is a convenient wrapper object to make it easy to run vision pipelines from robot - * code. The easiest way to use this is to run it in a {@link VisionThread} and use the listener to - * take snapshots of the pipeline's outputs. - * - * @see VisionPipeline - * @see VisionThread - * @see vision - * @deprecated Replaced with edu.wpi.first.vision.VisionRunner - */ -@Deprecated -public class VisionRunner

{ - private final CvSink m_cvSink = new CvSink("VisionRunner CvSink"); - private final P m_pipeline; - private final Mat m_image = new Mat(); - private final Listener m_listener; - private volatile boolean m_enabled = true; - - /** - * Listener interface for a callback that should run after a pipeline has processed its input. - * - * @param

the type of the pipeline this listener is for - */ - @FunctionalInterface - public interface Listener

{ - /** - * Called when the pipeline has run. This shouldn't take much time to run because it will delay - * later calls to the pipeline's {@link VisionPipeline#process process} method. Copying the - * outputs and code that uses the copies should be synchronized on the same mutex to - * prevent multiple threads from reading and writing to the same memory at the same time. - * - * @param pipeline the vision pipeline that ran - */ - void copyPipelineOutputs(P pipeline); - } - - /** - * Creates a new vision runner. It will take images from the {@code videoSource}, send them to the - * {@code pipeline}, and call the {@code listener} when the pipeline has finished to alert user - * code when it is safe to access the pipeline's outputs. - * - * @param videoSource the video source to use to supply images for the pipeline - * @param pipeline the vision pipeline to run - * @param listener a function to call after the pipeline has finished running - */ - public VisionRunner(VideoSource videoSource, P pipeline, Listener listener) { - this.m_pipeline = pipeline; - this.m_listener = listener; - m_cvSink.setSource(videoSource); - } - - /** - * Runs the pipeline one time, giving it the next image from the video source specified in the - * constructor. This will block until the source either has an image or throws an error. If the - * source successfully supplied a frame, the pipeline's image input will be set, the pipeline will - * run, and the listener specified in the constructor will be called to notify it that the - * pipeline ran. - * - *

This method is exposed to allow teams to add additional functionality or have their own ways - * to run the pipeline. Most teams, however, should just use {@link #runForever} in its own thread - * using a {@link VisionThread}. - */ - public void runOnce() { - Long id = CameraServerSharedStore.getCameraServerShared().getRobotMainThreadId(); - - if (id != null && Thread.currentThread().getId() == id) { - throw new IllegalStateException( - "VisionRunner.runOnce() cannot be called from the main robot thread"); - } - runOnceInternal(); - } - - private void runOnceInternal() { - long frameTime = m_cvSink.grabFrame(m_image); - if (frameTime == 0) { - // There was an error, report it - String error = m_cvSink.getError(); - CameraServerSharedStore.getCameraServerShared().reportDriverStationError(error); - } else { - // No errors, process the image - m_pipeline.process(m_image); - m_listener.copyPipelineOutputs(m_pipeline); - } - } - - /** - * A convenience method that calls {@link #runOnce()} in an infinite loop. This must be run in a - * dedicated thread, and cannot be used in the main robot thread because it will freeze the robot - * program. - * - *

Do not call this method directly from the main thread. - * - * @throws IllegalStateException if this is called from the main robot thread - * @see VisionThread - */ - public void runForever() { - Long id = CameraServerSharedStore.getCameraServerShared().getRobotMainThreadId(); - - if (id != null && Thread.currentThread().getId() == id) { - throw new IllegalStateException( - "VisionRunner.runForever() cannot be called from the main robot thread"); - } - while (m_enabled && !Thread.interrupted()) { - runOnceInternal(); - } - } - - /** Stop a RunForever() loop. */ - public void stop() { - m_enabled = false; - } -} diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionThread.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionThread.java deleted file mode 100644 index 5f23fe180f..0000000000 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionThread.java +++ /dev/null @@ -1,44 +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.vision; - -import edu.wpi.first.cscore.VideoSource; - -/** - * A vision thread is a special thread that runs a vision pipeline. It is a daemon thread; it - * does not prevent the program from exiting when all other non-daemon threads have finished - * running. - * - * @see VisionPipeline - * @see VisionRunner - * @see Thread#setDaemon(boolean) - * @deprecated Replaced with edu.wpi.first.vision.VisionThread - */ -@Deprecated -public class VisionThread extends Thread { - /** - * Creates a vision thread that continuously runs a {@link VisionPipeline}. - * - * @param visionRunner the runner for a vision pipeline - */ - public VisionThread(VisionRunner visionRunner) { - super(visionRunner::runForever, "WPILib Vision Thread"); - setDaemon(true); - } - - /** - * Creates a new vision thread that continuously runs the given vision pipeline. This is - * equivalent to {@code new VisionThread(new VisionRunner<>(videoSource, pipeline, listener))}. - * - * @param videoSource the source for images the pipeline should process - * @param pipeline the pipeline to run - * @param listener the listener to copy outputs from the pipeline after it runs - * @param

the type of the pipeline - */ - public

VisionThread( - VideoSource videoSource, P pipeline, VisionRunner.Listener listener) { - this(new VisionRunner<>(videoSource, pipeline, listener)); - } -} diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/package-info.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/package-info.java deleted file mode 100644 index b52f4edad5..0000000000 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/package-info.java +++ /dev/null @@ -1,86 +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. - -/** - * Classes in the {@code edu.wpi.first.wpilibj.vision} package are designed to simplify using OpenCV - * vision processing code from a robot program. - * - *

An example use case for grabbing a yellow tote from 2015 in autonomous:
- * - * 


- * public class Robot extends IterativeRobot
- *     implements VisionRunner.Listener<MyFindTotePipeline> {
- *
- *      // A USB camera connected to the roboRIO.
- *      private {@link edu.wpi.first.cscore.VideoSource VideoSource} usbCamera;
- *
- *      // A vision pipeline. This could be handwritten or generated by GRIP.
- *      // This has to implement {@link edu.wpi.first.wpilibj.vision.VisionPipeline}.
- *      // For this example, assume that it's perfect and will always see the tote.
- *      private MyFindTotePipeline findTotePipeline;
- *      private {@link edu.wpi.first.wpilibj.vision.VisionThread} findToteThread;
- *
- *      // The object to synchronize on to make sure the vision thread doesn't
- *      // write to variables the main thread is using.
- *      private final Object visionLock = new Object();
- *
- *      // The pipeline outputs we want
- *      private boolean pipelineRan = false; // lets us know when the pipeline has actually run
- *      private double angleToTote = 0;
- *      private double distanceToTote = 0;
- *
- *     {@literal @}Override
- *      public void {@link edu.wpi.first.wpilibj.vision.VisionRunner.Listener#copyPipelineOutputs
- *          copyPipelineOutputs(MyFindTotePipeline pipeline)} {
- *          synchronized (visionLock) {
- *              // Take a snapshot of the pipeline's output because
- *              // it may have changed the next time this method is called!
- *              this.pipelineRan = true;
- *              this.angleToTote = pipeline.getAngleToTote();
- *              this.distanceToTote = pipeline.getDistanceToTote();
- *          }
- *      }
- *
- *     {@literal @}Override
- *      public void robotInit() {
- *          usbCamera = CameraServer.startAutomaticCapture(0);
- *          findTotePipeline = new MyFindTotePipeline();
- *          findToteThread = new VisionThread(usbCamera, findTotePipeline, this);
- *      }
- *
- *     {@literal @}Override
- *      public void autonomousInit() {
- *          findToteThread.start();
- *      }
- *
- *     {@literal @}Override
- *      public void autonomousPeriodic() {
- *          double angle;
- *          double distance;
- *          synchronized (visionLock) {
- *              if (!pipelineRan) {
- *                  // Wait until the pipeline has run
- *                  return;
- *              }
- *              // Copy the outputs to make sure they're all from the same run
- *              angle = this.angleToTote;
- *              distance = this.distanceToTote;
- *          }
- *          if (!aimedAtTote()) {
- *              turnToAngle(angle);
- *          } else if (!droveToTote()) {
- *              driveDistance(distance);
- *          } else if (!grabbedTote()) {
- *              grabTote();
- *          } else {
- *              // Tote was grabbed and we're done!
- *              return;
- *          }
- *      }
- *
- * }
- *
- */ -@java.lang.Deprecated -package edu.wpi.first.wpilibj.vision; diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/PreferencesTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/PreferencesTest.java index 2603d5b382..70025d2df0 100644 --- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/PreferencesTest.java +++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/PreferencesTest.java @@ -30,7 +30,6 @@ import org.junit.jupiter.params.ParameterizedTest; import org.junit.jupiter.params.provider.MethodSource; class PreferencesTest { - private final Preferences m_prefs = Preferences.getInstance(); private final NetworkTable m_table = NetworkTableInstance.getDefault().getTable("Preferences"); private static final String kFilename = "networktables.ini"; @@ -66,7 +65,7 @@ class PreferencesTest { @Test void removeAllTest() { - m_prefs.removeAll(); + Preferences.removeAll(); Set keys = m_table.getKeys(); keys.remove(".type"); @@ -79,37 +78,37 @@ class PreferencesTest { @ParameterizedTest @MethodSource("defaultKeyProvider") void defaultKeysTest(String key) { - assertTrue(m_prefs.containsKey(key)); + assertTrue(Preferences.containsKey(key)); } @ParameterizedTest @MethodSource("defaultKeyProvider") void defaultKeysAllTest(String key) { - assertTrue(m_prefs.getKeys().contains(key)); + assertTrue(Preferences.getKeys().contains(key)); } @Test void defaultValueTest() { assertAll( - () -> assertEquals(172L, m_prefs.getLong("checkedValueLong", 0)), - () -> assertEquals(0.2, m_prefs.getDouble("checkedValueDouble", 0), 1e-6), - () -> assertEquals("Hello. How are you?", m_prefs.getString("checkedValueString", "")), - () -> assertEquals(2, m_prefs.getInt("checkedValueInt", 0)), - () -> assertEquals(3.4, m_prefs.getFloat("checkedValueFloat", 0), 1e-6), - () -> assertFalse(m_prefs.getBoolean("checkedValueBoolean", true))); + () -> assertEquals(172L, Preferences.getLong("checkedValueLong", 0)), + () -> assertEquals(0.2, Preferences.getDouble("checkedValueDouble", 0), 1e-6), + () -> assertEquals("Hello. How are you?", Preferences.getString("checkedValueString", "")), + () -> assertEquals(2, Preferences.getInt("checkedValueInt", 0)), + () -> assertEquals(3.4, Preferences.getFloat("checkedValueFloat", 0), 1e-6), + () -> assertFalse(Preferences.getBoolean("checkedValueBoolean", true))); } @Test void backupTest() { - m_prefs.removeAll(); + Preferences.removeAll(); assertAll( - () -> assertEquals(0, m_prefs.getLong("checkedValueLong", 0)), - () -> assertEquals(0, m_prefs.getDouble("checkedValueDouble", 0), 1e-6), - () -> assertEquals("", m_prefs.getString("checkedValueString", "")), - () -> assertEquals(0, m_prefs.getInt("checkedValueInt", 0)), - () -> assertEquals(0, m_prefs.getFloat("checkedValueFloat", 0), 1e-6), - () -> assertTrue(m_prefs.getBoolean("checkedValueBoolean", true))); + () -> assertEquals(0, Preferences.getLong("checkedValueLong", 0)), + () -> assertEquals(0, Preferences.getDouble("checkedValueDouble", 0), 1e-6), + () -> assertEquals("", Preferences.getString("checkedValueString", "")), + () -> assertEquals(0, Preferences.getInt("checkedValueInt", 0)), + () -> assertEquals(0, Preferences.getFloat("checkedValueFloat", 0), 1e-6), + () -> assertTrue(Preferences.getBoolean("checkedValueBoolean", true))); } @Nested @@ -119,10 +118,10 @@ class PreferencesTest { final String key = "test"; final int value = 123; - m_prefs.putInt(key, value); + Preferences.setInt(key, value); assertAll( - () -> assertEquals(value, m_prefs.getInt(key, -1)), + () -> assertEquals(value, Preferences.getInt(key, -1)), () -> assertEquals(value, m_table.getEntry(key).getNumber(-1).intValue())); } @@ -131,10 +130,10 @@ class PreferencesTest { final String key = "test"; final long value = 190L; - m_prefs.putLong(key, value); + Preferences.setLong(key, value); assertAll( - () -> assertEquals(value, m_prefs.getLong(key, -1)), + () -> assertEquals(value, Preferences.getLong(key, -1)), () -> assertEquals(value, m_table.getEntry(key).getNumber(-1).longValue())); } @@ -143,10 +142,10 @@ class PreferencesTest { final String key = "test"; final float value = 9.42f; - m_prefs.putFloat(key, value); + Preferences.setFloat(key, value); assertAll( - () -> assertEquals(value, m_prefs.getFloat(key, -1), 1e-6), + () -> assertEquals(value, Preferences.getFloat(key, -1), 1e-6), () -> assertEquals(value, m_table.getEntry(key).getNumber(-1).floatValue(), 1e-6)); } @@ -155,10 +154,10 @@ class PreferencesTest { final String key = "test"; final double value = 6.28; - m_prefs.putDouble(key, value); + Preferences.setDouble(key, value); assertAll( - () -> assertEquals(value, m_prefs.getDouble(key, -1), 1e-6), + () -> assertEquals(value, Preferences.getDouble(key, -1), 1e-6), () -> assertEquals(value, m_table.getEntry(key).getNumber(-1).doubleValue(), 1e-6)); } @@ -167,10 +166,10 @@ class PreferencesTest { final String key = "test"; final String value = "value"; - m_prefs.putString(key, value); + Preferences.setString(key, value); assertAll( - () -> assertEquals(value, m_prefs.getString(key, "")), + () -> assertEquals(value, Preferences.getString(key, "")), () -> assertEquals(value, m_table.getEntry(key).getString(""))); } @@ -179,10 +178,10 @@ class PreferencesTest { final String key = "test"; final boolean value = true; - m_prefs.putBoolean(key, value); + Preferences.setBoolean(key, value); assertAll( - () -> assertEquals(value, m_prefs.getBoolean(key, false)), + () -> assertEquals(value, Preferences.getBoolean(key, false)), () -> assertEquals(value, m_table.getEntry(key).getBoolean(false))); } } diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java index 8e63dc90c8..6948097214 100644 --- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java +++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java @@ -310,21 +310,6 @@ public final class TestBench { return encoderPortPairs; } - /** - * Gets the singleton of the TestBench. If the TestBench is not already allocated in constructs an - * new instance of it. Otherwise it returns the existing instance. - * - * @return The Singleton instance of the TestBench - * @deprecated Use the static methods instead - */ - @Deprecated - public static TestBench getInstance() { - if (instance == null) { - instance = new TestBench(); - } - return instance; - } - /** * Provides access to the output stream for the test system. This should be used instead of * System.out This is gives us a way to implement changes to where the output text of this test diff --git a/wpimath/src/main/java/edu/wpi/first/math/MatrixUtils.java b/wpimath/src/main/java/edu/wpi/first/math/MatrixUtils.java deleted file mode 100644 index 7600e31573..0000000000 --- a/wpimath/src/main/java/edu/wpi/first/math/MatrixUtils.java +++ /dev/null @@ -1,80 +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.math; - -import edu.wpi.first.math.numbers.N1; -import java.util.Objects; -import org.ejml.simple.SimpleMatrix; - -@Deprecated -public final class MatrixUtils { - private MatrixUtils() { - throw new AssertionError("utility class"); - } - - /** - * Creates a new matrix of zeros. - * - * @param rows The number of rows in the matrix. - * @param cols The number of columns in the matrix. - * @param The number of rows in the matrix as a generic. - * @param The number of columns in the matrix as a generic. - * @return An RxC matrix filled with zeros. - */ - @SuppressWarnings("LineLength") - public static Matrix zeros(Nat rows, Nat cols) { - return new Matrix<>( - new SimpleMatrix( - Objects.requireNonNull(rows).getNum(), Objects.requireNonNull(cols).getNum())); - } - - /** - * Creates a new vector of zeros. - * - * @param nums The size of the desired vector. - * @param The size of the desired vector as a generic. - * @return A vector of size N filled with zeros. - */ - public static Matrix zeros(Nat nums) { - return new Matrix<>(new SimpleMatrix(Objects.requireNonNull(nums).getNum(), 1)); - } - - /** - * Creates the identity matrix of the given dimension. - * - * @param dim The dimension of the desired matrix. - * @param The dimension of the desired matrix as a generic. - * @return The DxD identity matrix. - */ - public static Matrix eye(Nat dim) { - return new Matrix<>(SimpleMatrix.identity(Objects.requireNonNull(dim).getNum())); - } - - /** - * Entrypoint to the MatBuilder class for creation of custom matrices with the given dimensions - * and contents. - * - * @param rows The number of rows of the desired matrix. - * @param cols The number of columns of the desired matrix. - * @param The number of rows of the desired matrix as a generic. - * @param The number of columns of the desired matrix as a generic. - * @return A builder to construct the matrix. - */ - public static MatBuilder mat(Nat rows, Nat cols) { - return new MatBuilder<>(rows, cols); - } - - /** - * Entrypoint to the VecBuilder class for creation of custom vectors with the given size and - * contents. - * - * @param dim The dimension of the vector. - * @param The dimension of the vector as a generic. - * @return A builder to construct the vector. - */ - public static VecBuilder vec(Nat dim) { - return new VecBuilder<>(dim); - } -} diff --git a/wpimath/src/main/native/cpp/controller/RamseteController.cpp b/wpimath/src/main/native/cpp/controller/RamseteController.cpp index 0fea864a71..337739d538 100644 --- a/wpimath/src/main/native/cpp/controller/RamseteController.cpp +++ b/wpimath/src/main/native/cpp/controller/RamseteController.cpp @@ -24,10 +24,6 @@ static decltype(1 / 1_rad) Sinc(units::radian_t x) { } } -RamseteController::RamseteController(double b, double zeta) - : RamseteController(units::unit_t{b}, - units::unit_t{zeta}) {} - RamseteController::RamseteController(units::unit_t b, units::unit_t zeta) : m_b{b}, m_zeta{zeta} {} diff --git a/wpimath/src/main/native/include/frc/controller/RamseteController.h b/wpimath/src/main/native/include/frc/controller/RamseteController.h index bb23f46f9b..d0311019c3 100644 --- a/wpimath/src/main/native/include/frc/controller/RamseteController.h +++ b/wpimath/src/main/native/include/frc/controller/RamseteController.h @@ -5,7 +5,6 @@ #pragma once #include -#include #include "frc/geometry/Pose2d.h" #include "frc/kinematics/ChassisSpeeds.h" @@ -50,17 +49,6 @@ class WPILIB_DLLEXPORT RamseteController { units::inverse>>; using zeta_unit = units::inverse; - /** - * Construct a Ramsete unicycle controller. - * - * @param b Tuning parameter (b > 0 rad²/m²) for which larger values make - * convergence more aggressive like a proportional term. - * @param zeta Tuning parameter (0 rad⁻¹ < zeta < 1 rad⁻¹) for which larger - * values provide more damping in response. - */ - WPI_DEPRECATED("Use unit-safe constructor instead") - RamseteController(double b, double zeta); - /** * Construct a Ramsete unicycle controller. * diff --git a/wpiutil/src/main/native/include/wpi/sendable/SendableHelper.h b/wpiutil/src/main/native/include/wpi/sendable/SendableHelper.h index 5b6bbe3dad..f8dd70388e 100644 --- a/wpiutil/src/main/native/include/wpi/sendable/SendableHelper.h +++ b/wpiutil/src/main/native/include/wpi/sendable/SendableHelper.h @@ -4,11 +4,6 @@ #pragma once -#include -#include -#include - -#include "wpi/deprecated.h" #include "wpi/sendable/SendableRegistry.h" namespace wpi { @@ -48,123 +43,6 @@ class SendableHelper { return *this; } - /** - * Gets the name of this Sendable object. - * - * @deprecated use SendableRegistry::GetName() - * - * @return Name - */ - WPI_DEPRECATED("use SendableRegistry::GetName()") - std::string GetName() const { - return SendableRegistry::GetName(static_cast(this)); - } - - /** - * Sets the name of this Sendable object. - * - * @deprecated use SendableRegistry::SetName() - * - * @param name name - */ - WPI_DEPRECATED("use SendableRegistry::SetName()") - void SetName(std::string_view name) { - SendableRegistry::SetName(static_cast(this), name); - } - - /** - * Sets both the subsystem name and device name of this Sendable object. - * - * @deprecated use SendableRegistry::SetName() - * - * @param subsystem subsystem name - * @param name device name - */ - WPI_DEPRECATED("use SendableRegistry::SetName()") - void SetName(std::string_view subsystem, std::string_view name) { - SendableRegistry::SetName(static_cast(this), subsystem, name); - } - - /** - * Gets the subsystem name of this Sendable object. - * - * @deprecated use SendableRegistry::GetSubsystem(). - * - * @return Subsystem name - */ - WPI_DEPRECATED("use SendableRegistry::GetSubsystem()") - std::string GetSubsystem() const { - return SendableRegistry::GetSubsystem(static_cast(this)); - } - - /** - * Sets the subsystem name of this Sendable object. - * - * @deprecated use SendableRegistry::SetSubsystem() - * - * @param subsystem subsystem name - */ - WPI_DEPRECATED("use SendableRegistry::SetSubsystem()") - void SetSubsystem(std::string_view subsystem) { - SendableRegistry::SetSubsystem(static_cast(this), subsystem); - } - - protected: - /** - * Add a child component. - * - * @deprecated use SendableRegistry::AddChild() - * - * @param child child component - */ - WPI_DEPRECATED("use SendableRegistry::AddChild()") - void AddChild(std::shared_ptr child) { - SendableRegistry::AddChild(static_cast(this), child.get()); - } - - /** - * Add a child component. - * - * @deprecated use SendableRegistry::AddChild() - * - * @param child child component - */ - WPI_DEPRECATED("use SendableRegistry::AddChild()") - void AddChild(void* child) { - SendableRegistry::AddChild(static_cast(this), child); - } - - /** - * Sets the name of the sensor with a channel number. - * - * @deprecated use SendableRegistry::SetName() - * - * @param moduleType A string that defines the module name in the label for - * the value - * @param channel The channel number the device is plugged into - */ - WPI_DEPRECATED("use SendableRegistry::SetName()") - void SetName(std::string_view moduleType, int channel) { - SendableRegistry::SetName(static_cast(this), moduleType, channel); - } - - /** - * Sets the name of the sensor with a module and channel number. - * - * @deprecated use SendableRegistry::SetName() - * - * @param moduleType A string that defines the module name in the label for - * the value - * @param moduleNumber The number of the particular module type - * @param channel The channel number the device is plugged into (usually - * PWM) - */ - WPI_DEPRECATED("use SendableRegistry::SetName()") - void SetName(std::string_view moduleType, int moduleNumber, int channel) { - SendableRegistry::SetName(static_cast(this), moduleType, - moduleNumber, channel); - } - protected: SendableHelper() = default;