This repository contains various shims around CTRE's motor controllers that are designed to allow for as close to possible, drop in replacements within WPILib examples / documentation code. Where possible, these shims incorporate sane units.
For the 2022 C++ version, see the cpp branch. For the 2022 Java version, see the java branch. For the 2021 C++ version of the code, see the 2021 branch.