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Remove most 2022 deprecations (#4205)

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Excludes "old" commands and SimDevice functions.
This commit is contained in:
Tyler Veness
2022-05-04 20:37:27 -07:00
committed by GitHub
parent ce1a7d698a
commit ee03a7ad3b
75 changed files with 165 additions and 1882 deletions
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27
wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h
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@@ -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

35
wpilibc/src/main/native/include/frc/drive/KilloughDrive.h
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@@ -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

35
wpilibc/src/main/native/include/frc/drive/MecanumDrive.h
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@@ -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

12
wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h
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@@ -7,7 +7,6 @@
#include <memory>
#include <string>
#include <wpi/deprecated.h>
#include <wpi/span.h>
#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.