This does not deprecate any current functionality, but prepares the way for future deprecation.
The drive classes now accept void(double) functions, which makes them more flexible.
The C++ API ended up a bit more verbose, but the Java API is really concise with method references, which is >80% of our userbase. For example:
`DifferentialDrive drive = new DifferentialDrive(m_leftMotor::set, m_rightMotor::set);`
Lambdas can be passed to interoperate with vendor motor controller APIs that don't have e.g., set(double), so CTRE doesn't have to maintain their WPI_ classes anymore.
MotorControllerGroup was replaced with PWMMotorController.addFollower() for PWM motor controllers. Users of CAN motor controllers should use their vendor's follower functionality.
All trigonometric functions and vector classes assume North-West-Up axes
convention, so using North-East-Down convention with them is really
error-prone. We've broken something every time we touched the drive
classes.
We originally used North-East-Down to match the joystick convention, but
the volume of long-lived bugs has made this not worth it in retrospect.
The rest of WPILib also uses North-West-Up, so this makes things
consistent.
KilloughDrive was removed since no one uses it.
The non-NT portion has been moved to wpiutil.
The NT portion has been moved to ntcore (as NTSendable).
SendableBuilder similarly split and moved.
SendableRegistry moved to wpiutil.
In C++, SendableHelper also moved to wpiutil.
This enables use of Sendable from wpimath and also enables
moving several classes from wpilib to wpimath.
Also deprecate SpeedController in favor of motorcontrol.MotorController and
SpeedControllerGroup in favor of motorcontrol.MotorControllerGroup.
The MotorController interface is derived from the SpeedController interface
so that code such as SpeedController x = new VictorSP(1) continues to
compile (just with a warning).
SpeedControllerGroup and MotorControllerGroup are independent classes;
both implement the MotorController interface.
These were incorrect and exhibited as warnings on more recent versions of
clang (notably on Mac).
- Use pointers instead of references internally in GenericHID and *Drive
- Leave PIDBase, PIDController, and Resource non-moveable
- Remove the atomic from m_disabled in NidecBrushless
- Make Timer and Trigger copyable as well as moveable
- Implement custom move constructor/assignment for SendableChooserBase
Also comment out some unused variables that caused clang warnings.
This removes the name and subsystem from individual objects, and instead
puts this data into a new singleton class, SendableRegistry. Much of
LiveWindow has been refactored into SendableRegistry.
In C++, a new CRTP helper class, SendableHelper, has been added to provide
move and destruction functionality.
Shims for GetName, SetName, GetSubsystem, and SetSubsystem have been added
to Command and Subsystem (both old and new), and also to SendableHelper to
prevent code breakage.
This deprecates SendableBase in preparation for future removal.
The old headers were moved into folders because doing so avoids polluting
the system include directories.
Folder names were also normalized to lowercase.
