Reapply "[wombat] migrate off VoltageController (CurtinFRC#70)" (Curt…

…inFRC#80)

This reverts commit d3c4c72.

src/main/include/RobotMap.h

@@ -65,43 +65,43 @@ struct RobotMap {
             // front left module
             frc::Translation2d(10.761_in, 9.455_in),
             wom::Gearbox{
-                new wom::VoltageController(driveMotors[0]),
+                driveMotors[0],
                 new wom::TalonFXEncoder(driveMotors[0], 0.0445_m, 6.75),
                 frc::DCMotor::Falcon500(1).WithReduction(6.75)},
-            wom::Gearbox{new wom::VoltageController(turnMotors[0]),
+            wom::Gearbox{turnMotors[0],
                          new wom::CanEncoder(19, 0.0445_m, 4096, 12.8),
                          frc::DCMotor::Falcon500(1).WithReduction(12.8)},
             &frontLeftCancoder, 4_in / 2},
         wom::SwerveModuleConfig{
             // front right module
             frc::Translation2d(10.761_in, -9.455_in),
             wom::Gearbox{
-                new wom::VoltageController(driveMotors[1]),
+                driveMotors[1],
                 new wom::TalonFXEncoder(driveMotors[1], 0.0445_m, 6.75),
                 frc::DCMotor::Falcon500(1).WithReduction(6.75)},
-            wom::Gearbox{new wom::VoltageController(turnMotors[1]),
+            wom::Gearbox{turnMotors[1],
                          new wom::CanEncoder(17, 0.0445_m, 4096, 12.8),
                          frc::DCMotor::Falcon500(1).WithReduction(12.8)},
             &frontRightCancoder, 4_in / 2},
         wom::SwerveModuleConfig{
             // back left module
             frc::Translation2d(-10.761_in, 9.455_in),
             wom::Gearbox{
-                new wom::VoltageController(driveMotors[2]),
+                driveMotors[2],
                 new wom::TalonFXEncoder(driveMotors[2], 0.0445_m, 6.75),
                 frc::DCMotor::Falcon500(1).WithReduction(6.75)},
-            wom::Gearbox{new wom::VoltageController(turnMotors[2]),
+            wom::Gearbox{turnMotors[2],
                          new wom::CanEncoder(16, 0.0445_m, 4096, 12.8),
                          frc::DCMotor::Falcon500(1).WithReduction(12.8)},
             &backRightCancoder, 4_in / 2},
         wom::SwerveModuleConfig{
             // back right module
             frc::Translation2d(-10.761_in, -9.455_in),
             wom::Gearbox{
-                new wom::VoltageController(driveMotors[3]),
+                driveMotors[3],
                 new wom::TalonFXEncoder(driveMotors[3], 0.0445_m, 6.75),
                 frc::DCMotor::Falcon500(1).WithReduction(6.75)},
-            wom::Gearbox{new wom::VoltageController(turnMotors[3]),
+            wom::Gearbox{turnMotors[3],
                          new wom::CanEncoder(18, 0.0445_m, 4096, 12.8),
                          frc::DCMotor::Falcon500(1).WithReduction(12.8)},
             &backLeftCancoder, 4_in / 2},

wombat/src/main/cpp/drivetrain/Drivetrain.cpp

@@ -38,12 +38,12 @@ void wom::drivetrain::Drivetrain::OnUpdate(second_t dt) {
     case DrivetrainState::kTank: {
       double rightSpeed = wom::utils::deadzone(_driver.GetRightY());
       double leftSpeed = wom::utils::deadzone(_driver.GetLeftY());
-      _config->left1.transmission->SetVoltage(leftSpeed * maxVolts);
-      _config->left2.transmission->SetVoltage(leftSpeed * maxVolts);
-      _config->left3.transmission->SetVoltage(leftSpeed * maxVolts);
-      _config->right1.transmission->SetVoltage(rightSpeed * maxVolts);
-      _config->right2.transmission->SetVoltage(rightSpeed * maxVolts);
-      _config->right3.transmission->SetVoltage(rightSpeed * maxVolts);
+      _config->left1.motorController->SetVoltage(leftSpeed * maxVolts);
+      _config->left2.motorController->SetVoltage(leftSpeed * maxVolts);
+      _config->left3.motorController->SetVoltage(leftSpeed * maxVolts);
+      _config->right1.motorController->SetVoltage(rightSpeed * maxVolts);
+      _config->right2.motorController->SetVoltage(rightSpeed * maxVolts);
+      _config->right3.motorController->SetVoltage(rightSpeed * maxVolts);
       break;
     }
     case DrivetrainState::kAuto:

wombat/src/main/cpp/drivetrain/SwerveDrive.cpp

@@ -81,8 +81,8 @@ void SwerveModule::OnUpdate(units::second_t dt) {
   // turnVoltage = units::math::min(units::math::max(turnVoltage, -7_V), 7_V);
   // std::cout << "turn-voltage-max: " << turnVoltageMax.value() << std::endl;
 
-  _config.driveMotor.transmission->SetVoltage(driveVoltage);
-  _config.turnMotor.transmission->SetVoltage(turnVoltage);
+  _config.driveMotor.motorController->SetVoltage(driveVoltage);
+  _config.turnMotor.motorController->SetVoltage(turnVoltage);
 
   _table->GetEntry("speed").SetDouble(GetSpeed().value());
   _table->GetEntry("angle").SetDouble(

wombat/src/main/cpp/subsystems/Arm.cpp

@@ -88,8 +88,8 @@ void wom::subsystems::Arm::OnUpdate(units::second_t dt) {
 
   // std::cout << "voltage: " << voltage.value() << std::endl;
 
-  _config.leftGearbox.transmission->SetVoltage(voltage);
-  _config.rightGearbox.transmission->SetVoltage(voltage);
+  _config.leftGearbox.motorController->SetVoltage(voltage);
+  _config.rightGearbox.motorController->SetVoltage(voltage);
 
   // creates network table instances for the angle and config of the arm
   _table->GetEntry("angle").SetDouble(angle.convert<units::degree>().value());

wombat/src/main/cpp/subsystems/Elevator.cpp

@@ -87,8 +87,8 @@ void wom::subsystems::Elevator::OnUpdate(units::second_t dt) {
 
   // Set voltage to motors...
   voltage *= speedLimit;
-  _config.leftGearbox.transmission->SetVoltage(voltage);
-  _config.rightGearbox.transmission->SetVoltage(voltage);
+  _config.leftGearbox.motorController->SetVoltage(voltage);
+  _config.rightGearbox.motorController->SetVoltage(voltage);
 }
 
 void wom::subsystems::Elevator::SetManual(units::volt_t voltage) {

wombat/src/main/cpp/subsystems/Shooter.cpp

@@ -39,7 +39,7 @@ void wom::subsystems::Shooter::OnUpdate(units::second_t dt) {
   voltage =
       1_V * std::min(voltage.value(), max_voltage_for_current_limit.value());
 
-  _params.gearbox.transmission->SetVoltage(voltage);
+  _params.gearbox.motorController->SetVoltage(voltage);
 
   _table->GetEntry("output_volts").SetDouble(voltage.value());
   _table->GetEntry("speed_rpm").SetDouble(currentSpeed.value());

wombat/src/main/cpp/utils/Util.cpp

@@ -6,6 +6,8 @@
 
 #include <frc/RobotController.h>
 
+#include "units/voltage.h"
+
 units::second_t wom::utils::now() {
   uint64_t now = frc::RobotController::GetFPGATime();
   return static_cast<double>(now) / 1000000 * 1_s;
@@ -44,6 +46,10 @@ units::volt_t wom::utils::LimitVoltage(units::volt_t voltage) {
   return voltage;
 }
 
+units::volt_t wom::utils::GetVoltage(frc::MotorController* controller) {
+  return controller->Get() * frc::RobotController::GetBatteryVoltage();
+}
+
 void wom::utils::WriteTrajectory(std::shared_ptr<nt::NetworkTable> table,
                                  frc::Trajectory trajectory) {
   table->GetEntry("length").SetDouble(trajectory.TotalTime().value());

wombat/src/main/include/Wombat.h

@@ -18,7 +18,6 @@
 #include "utils/PID.h"
 #include "utils/RobotStartup.h"
 #include "utils/Util.h"
-#include "utils/VoltageController.h"
 
 namespace wom {
 using namespace wom;

wombat/src/main/include/utils/Gearbox.h

@@ -4,9 +4,9 @@
 
 #pragma once
 
+#include <frc/motorcontrol/MotorController.h>
 #include <frc/system/plant/DCMotor.h>
 
-#include "VoltageController.h"
 #include "utils/Encoder.h"
 
 namespace wom {
@@ -19,19 +19,19 @@ namespace utils {
  */
 struct Gearbox {
   /**
-   * The VoltageController (Motor Controller). May not be null.
+   * The MotorController. May not be null.
    */
-  VoltageController* transmission;
+  frc::MotorController* motorController;
 
   /**
    * The Encoder. May be null, depending on the consumer of this structure.
    */
   Encoder* encoder = nullptr;
 
   /**
-   * The motor being used. By default, this is a dual CIM.
+   * The motor being used. By default, this is a single Neo.
    */
-  frc::DCMotor motor = frc::DCMotor::CIM(2);
+  frc::DCMotor motor = frc::DCMotor::NEO(1);
 };
 }  // namespace utils
 }  // namespace wom

wombat/src/main/include/utils/Util.h

@@ -4,7 +4,6 @@
 
 #pragma once
 
-#include <frc/RobotController.h>
 #include <frc/geometry/Pose3d.h>
 #include <frc/motorcontrol/MotorController.h>
 #include <frc/trajectory/Trajectory.h>
@@ -106,5 +105,6 @@ double deadzone(double val, double deadzone = 0.05);
 double spow2(double val);
 
 units::volt_t LimitVoltage(units::volt_t voltage);
+units::volt_t GetVoltage(frc::MotorController* controller);
 }  // namespace utils
 }  // namespace wom