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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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28
wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java
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@@ -62,34 +62,6 @@ public class Compressor implements Sendable, AutoCloseable {
m_module = null;
}
/**
* Start the compressor running in closed loop control mode.
*
* <p>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.
*
* <p>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(...).

49
wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
View File

@@ -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.

3
wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java
View File

@@ -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);
}

89
wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java
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@@ -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.
*

24
wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
View File

@@ -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.

5
wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java
View File

@@ -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();
}

24
wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java
View File

@@ -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);

42
wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java
View File

@@ -81,48 +81,6 @@ public class SerialPort implements AutoCloseable {
}
}
/**
* Create an instance of a Serial Port class.
*
* <p>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.
*

65
wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedController.java
View File

@@ -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).
*
* <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 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();
}

103
wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedControllerGroup.java
View File

@@ -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);
}
}

14
wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java
View File

@@ -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

9
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
View File

@@ -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;
* <p>{@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");

17
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java
View File

@@ -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;
* <p>{@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) {

19
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
View File

@@ -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;
* <p>{@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");

15
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java
View File

@@ -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.
*

11
wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.java
View File

@@ -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();
}

9
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
View File

@@ -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;

24
wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java
View File

@@ -69,18 +69,6 @@ public class SendableChooser<V> 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<V> 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}.

26
wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionPipeline.java
View File

@@ -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);
}

123
wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionRunner.java
View File

@@ -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 <a href="package-summary.html">vision</a>
* @deprecated Replaced with edu.wpi.first.vision.VisionRunner
*/
@Deprecated
public class VisionRunner<P extends VisionPipeline> {
private final CvSink m_cvSink = new CvSink("VisionRunner CvSink");
private final P m_pipeline;
private final Mat m_image = new Mat();
private final Listener<? super P> m_listener;
private volatile boolean m_enabled = true;
/**
* Listener interface for a callback that should run after a pipeline has processed its input.
*
* @param <P> the type of the pipeline this listener is for
*/
@FunctionalInterface
public interface Listener<P extends VisionPipeline> {
/**
* 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 <i>synchronized</i> 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<? super P> 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.
*
* <p>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.
*
* <p><strong>Do not call this method directly from the main thread.</strong>
*
* @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;
}
}

44
wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionThread.java
View File

@@ -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 <i>daemon</i> 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 <P> the type of the pipeline
*/
public <P extends VisionPipeline> VisionThread(
VideoSource videoSource, P pipeline, VisionRunner.Listener<? super P> listener) {
this(new VisionRunner<>(videoSource, pipeline, listener));
}
}

86
wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/package-info.java
View File

@@ -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.
*
* <p>An example use case for grabbing a yellow tote from 2015 in autonomous: <br>
*
* <pre><code>
* public class Robot extends IterativeRobot
* implements VisionRunner.Listener&lt;MyFindTotePipeline&gt; {
*
* // 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;
* }
* }
*
* }
* </code></pre>
*/
@java.lang.Deprecated
package edu.wpi.first.wpilibj.vision;