remove some APIs from Encoder, MotorController (#19)

* delete some methods from EncoderReader

* remove less used ControlModes in MotorController

* remove EncoderReader.get()

* responding to PR comments

src/main/java/com/team766/hal/EncoderReader.java

@@ -2,66 +2,41 @@
 
 public interface EncoderReader extends ControlInputReader {
 
-	/**
-	 * Gets the current count. Returns the current count on the Encoder. This
-	 * method compensates for the decoding type.
-	 *
-	 * @return Current count from the Encoder adjusted for the 1x, 2x, or 4x
-	 *         scale factor.
-	 */
-	int get();
-
-	/**
-	 * Reset the Encoder distance to zero. Resets the current count to zero on the encoder.
-	 */
-	void reset();
-
-	/**
-	 * Determine if the encoder is stopped. Using the MaxPeriod value, a boolean is returned that is
-	 * true if the encoder is considered stopped and false if it is still moving. A stopped encoder
-	 * is one where the most recent pulse width exceeds the MaxPeriod.
-	 *
-	 * @return True if the encoder is considered stopped.
-	 */
-	boolean getStopped();
-
-	/**
-	 * The last direction the encoder value changed.
-	 *
-	 * @return The last direction the encoder value changed.
-	 */
-	boolean getDirection();
-
-	/**
-	 * Get the distance the robot has driven since the last reset.
-	 *
-	 * @return The distance driven since the last reset as scaled by the value from
-	 *         setDistancePerPulse().
-	 */
-	double getDistance();
-
-	/**
-	 * Get the current rate of the encoder. Units are distance per second as scaled by the value
-	 * from setDistancePerPulse().
-	 *
-	 * @return The current rate of the encoder.
-	 */
-	double getRate();
-
-	/**
-	 * Set the distance per pulse for this encoder. This sets the multiplier used to determine the
-	 * distance driven based on the count value from the encoder. Do not include the decoding type
-	 * in this scale. The library already compensates for the decoding type. Set this value based on
-	 * the encoder's rated Pulses per Revolution and factor in gearing reductions following the
-	 * encoder shaft. This distance can be in any units you like, linear or angular.
-	 *
-	 * @param distancePerPulse The scale factor that will be used to convert pulses to useful units.
-	 */
-	void setDistancePerPulse(double distancePerPulse);
-
-	// Implementation for ControlInputReader interface
-	@Override
-	default double getPosition() {
-		return getDistance();
-	}
+    /**
+     * Reset the Encoder distance to zero. Resets the current count to zero on the encoder.
+     */
+    void reset();
+
+    /**
+     * Get the distance the robot has driven since the last reset.
+     *
+     * @return The distance driven since the last reset as scaled by the value from
+     *         setDistancePerPulse().
+     */
+    double getDistance();
+
+    /**
+     * Get the current rate of the encoder. Units are distance per second as scaled by the value
+     * from setDistancePerPulse().
+     *
+     * @return The current rate of the encoder.
+     */
+    double getRate();
+
+    /**
+     * Set the distance per pulse for this encoder. This sets the multiplier used to determine the
+     * distance driven based on the count value from the encoder. Do not include the decoding type
+     * in this scale. The library already compensates for the decoding type. Set this value based on
+     * the encoder's rated Pulses per Revolution and factor in gearing reductions following the
+     * encoder shaft. This distance can be in any units you like, linear or angular.
+     *
+     * @param distancePerPulse The scale factor that will be used to convert pulses to useful units.
+     */
+    void setDistancePerPulse(double distancePerPulse);
+
+    // Implementation for ControlInputReader interface
+    @Override
+    default double getPosition() {
+        return getDistance();
+    }
 }