✨PROS4: Base Class for Motors

[noam987]

Summary:

Reworks the inheritance between motors and motor groups by adding a new BaseMotor virtual class.

Motivation:

#525

References (optional):

Closes #525
Closes #507 by deciding that this should NOT be intended behavior
Closes #490 as it doesn't make sense in the current architecture. Motor groups are vectors of ports, not of motor objects. We have added indexable methods for all non-movement methods to target any one specific motor in a motor group.

Test Plan:

• It compiles
• Make a motor and motor group and test out some methods

[Richard-Stump]

This looks good to me so far. Just a couple things that I noticed, but I couldn't find any functions that were missing nor any spots in the C-API where the port's sign wasn't checked.

[djava]

I think I prefer the name AbstractMotor to BaseMotor, feels less likely to be confusing. I could see people think its like for their robot base (occasionally used synonym for chassis/drivetrain). other opinions?

[Richard-Stump]

This was tested and confirmed to work on real hardware. Indexed setters/getters were tested, vectorized setters/getters were tested, and polymorphism was tested.

Next we need to decide whether to make the methods in Motor and MotorGroup virtual or not.

• Argument for making them virtual: Leaves flexibility for future use either by us or users.
• Argument against making them virtual: We want to encourage users to build wrappers that use our classes, not create subclasses that extend them.

[djava]

We want to encourage users to build wrappers that use our classes, not create subclasses that extend them.

Why? I don't think it should really matter to us how users choose to build functionality on top of PROS.

As far as I'm concerned, the argument is really if you're okay with incurring the runtime cost of virtual dispatch on all motor function calls to allow for the possibility of people extending the motor class. Personally, I probably wouldn't take that cost, considering that extending AbstractMotor is already an option? Not totally sure though.