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.
Java was missing the motor safety thread entirely
C++ accidentally used a manual reset event, causing the motor safety thread to spin.
C++ PWMMotorController would not feed the watch kitty.
Both languages would call feed() from the StopMotor call, causing some ping ponging.
For PWM motor controllers, this is going to be the fastest way to stop the motor,
as disabling the PWM output will have a small delay due to the motor controller
needing to detect the missing signal.
Note Set(0) is not a safe approach for CAN motor controllers, which may have closed
loop operation, non-% output set() calls, etc.
* Use explicit this capture required by C++20
* Use C++20 span
* Replace wpi::numbers with std::numbers
* Fix C++20 clang-tidy warning false positive in fmt
* Remove ciso646 include since C++20 removed that header
* Fix global-buffer-overflow asan warnings in ntcore tests
* Add DIOSetProxy constructor to HAL
* Upgrade MSVC compiler to 2022
* Bump native-utils to 2023.2.7 (changes to std=c++20)
Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
This causes setVoltage to be called on the lower level motor contollers,
which is benefical in cases when they are smart motor controllers.
Previously, the default implementation (using the bus voltage and
calling set()) was used in this case.
This does slightly pessimize the case when the lower level motor
controllers use the default setVoltage implementation, but given the
prevalence of smart motor controllers, this seems like an overall win.
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.
A lot of these are breaking changes. frc::Timer was replaced with the
contents of frc2::Timer. The others were in-place argument changes or
removing deprecated non-unit overloads.
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.
