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e7c9f27683
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.
104 lines
2.6 KiB
C++
104 lines
2.6 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <string>
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#include <wpi/deprecated.h>
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#include <wpi/sendable/Sendable.h>
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#include <wpi/sendable/SendableHelper.h>
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#include "frc/DigitalOutput.h"
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#include "frc/MotorSafety.h"
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#include "frc/PWM.h"
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#include "frc/motorcontrol/MotorController.h"
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namespace frc {
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WPI_IGNORE_DEPRECATED
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/**
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* Nidec Brushless Motor.
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*/
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class NidecBrushless : public MotorController,
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public MotorSafety,
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public wpi::Sendable,
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public wpi::SendableHelper<NidecBrushless> {
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public:
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/**
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* Constructor.
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*
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* @param pwmChannel The PWM channel that the Nidec Brushless controller is
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* attached to. 0-9 are on-board, 10-19 are on the MXP port.
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* @param dioChannel The DIO channel that the Nidec Brushless controller is
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* attached to. 0-9 are on-board, 10-25 are on the MXP port.
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*/
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NidecBrushless(int pwmChannel, int dioChannel);
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~NidecBrushless() override = default;
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NidecBrushless(NidecBrushless&&) = default;
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NidecBrushless& operator=(NidecBrushless&&) = default;
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// MotorController interface
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/**
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* Set the PWM value.
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*
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* The PWM value is set using a range of -1.0 to 1.0, appropriately scaling
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* the value for the FPGA.
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*
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* @param speed The speed value between -1.0 and 1.0 to set.
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*/
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void Set(double speed) override;
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/**
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* Get the recently set value of the PWM.
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*
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* @return The most recently set value for the PWM between -1.0 and 1.0.
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*/
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double Get() const override;
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void SetInverted(bool isInverted) override;
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bool GetInverted() const override;
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/**
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* Disable the motor. The Enable() function must be called to re-enable the
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* motor.
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*/
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void Disable() override;
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/**
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* Re-enable the motor after Disable() has been called. The Set() function
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* must be called to set a new motor speed.
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*/
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void Enable();
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// MotorSafety interface
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void StopMotor() override;
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std::string GetDescription() const override;
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/**
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* Gets the channel number associated with the object.
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*
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* @return The channel number.
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*/
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int GetChannel() const;
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// Sendable interface
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void InitSendable(wpi::SendableBuilder& builder) override;
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private:
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bool m_isInverted = false;
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bool m_disabled = false;
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DigitalOutput m_dio;
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PWM m_pwm;
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double m_speed = 0.0;
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};
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WPI_UNIGNORE_DEPRECATED
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} // namespace frc
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