[wombat] move motorvoltagecontroller into voltage controller. (#39)

Resolves #36
CurtinFRC · Dec 31, 2023 · d773686 · d773686
1 parent 74baf54
commit d773686
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Showing 2 changed files with 27 additions and 40 deletions.
diff --git a/wombat/src/main/cpp/utils/VoltageController.cpp b/wombat/src/main/cpp/utils/VoltageController.cpp
@@ -10,24 +10,25 @@ units::volt_t VoltageController::GetEstimatedRealVoltage() const {
   return units::math::min(units::math::max(-vb, GetVoltage()), vb);
 }
 
-MotorVoltageController::MotorVoltageController(frc::MotorController *MotorController) : _MotorController(MotorController) {}
+VoltageController::VoltageController(frc::MotorController *MotorController) : _MotorController(MotorController)
+{}
 
-void MotorVoltageController::SetVoltage(units::volt_t voltage) {
+void VoltageController::SetVoltage(units::volt_t voltage) {
   _MotorController->Set(voltage / GetBusVoltage());
 }
 
-units::volt_t MotorVoltageController::GetVoltage() const {
+units::volt_t VoltageController::GetVoltage() const {
   return _MotorController->Get() * GetBusVoltage();
 }
 
-units::volt_t MotorVoltageController::GetBusVoltage() const {
+units::volt_t VoltageController::GetBusVoltage() const {
   return frc::RobotController::GetInputVoltage() * 1_V;
 }
 
-void MotorVoltageController::SetInverted(bool invert) {
+void VoltageController::SetInverted(bool invert) {
   _MotorController->SetInverted(invert);
 }
 
-bool MotorVoltageController::GetInverted() const {
+bool VoltageController::GetInverted() const {
   return frc::RobotController::GetInputVoltage();
 }
diff --git a/wombat/src/main/include/utils/VoltageController.h b/wombat/src/main/include/utils/VoltageController.h
@@ -13,60 +13,46 @@ namespace wom {
    */
   class VoltageController {
    public:
+    VoltageController(frc::MotorController *MotorController);
     /**
      * Set the voltage of the output.
      */
-    virtual void SetVoltage(units::volt_t voltage) = 0;
+    void SetVoltage(units::volt_t voltage);
     /**
      * Get the voltage of the output.
      */
-    virtual units::volt_t GetVoltage() const = 0;
+    units::volt_t GetVoltage() const;
 
     /**
      * Set the output as inverted.
      */
-    virtual void SetInverted(bool invert) = 0;
+    void SetInverted(bool invert);
     /**
      * Get whether the output is inverted
      */
-    virtual bool GetInverted() const = 0;
+    bool GetInverted() const;
 
     /**
-     * Get the estimated real voltage of the output, based on the controller voltage. 
+     * Get the estimated real voltage of the output, based on the controller voltage.
      */
     units::volt_t GetEstimatedRealVoltage() const;
-  };
-
-  /**
-   * The MotorVoltageController is an adapter for an frc::MotorController to
-   * a VoltageController.
-   */
-  class MotorVoltageController : public VoltageController {
-   public:
-    MotorVoltageController(frc::MotorController *MotorController);
-
-    void SetVoltage(units::volt_t voltage) override;
-    units::volt_t GetVoltage() const override;
-
-    void SetInverted(bool invert) override;
-    bool GetInverted() const override;
 
     units::volt_t GetBusVoltage() const;
 
-    /**
-     * Create a MotorVoltageController with a given frc::MotorController
-     * subclass. Please note that this creates an unsafe pointer (will never dealloc)
-     */
-    template<typename T, typename ...Args>
-    static MotorVoltageController Of(Args& ...args) {
-      T *t = new T(args...);  // Be warned, does not deallocate!
-      return MotorVoltageController{t};
-    }
-
-    template<typename ...Args>
-    static MotorVoltageController Group(Args& ...args) {
-      return Of<frc::MotorControllerGroup>(args...);
-    }
+  /**
+  * Create a MotorVoltageController with a given frc::MotorController
+  * subclass. Please note that this creates an unsafe pointer (will never dealloc)
+  */
+  template<typename T, typename ...Args>
+  static VoltageController Of(Args& ...args) {
+    T *t = new T(args...);  // Be warned, does not deallocate!
+    return VoltageController{t};
+  }
+
+  template<typename ...Args>
+  static VoltageController Group(Args& ...args) {
+   return Of<frc::MotorControllerGroup>(args...);
+  }
 
    private:
     frc::MotorController *_MotorController;