Remove most 2022 deprecations (#4205)

Excludes "old" commands and SimDevice functions.

wpilibc/src/main/native/include/frc/motorcontrol/MotorController.h

@@ -6,32 +6,66 @@
 
 #include <units/voltage.h>
 
-#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).
+   *
+   * <p>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