Merge branch 'main' into 2022

wpilibc/src/main/native/include/frc/AnalogEncoder.h

@@ -23,6 +23,13 @@ class AnalogInput;
  */
 class AnalogEncoder : public Sendable, public SendableHelper<AnalogEncoder> {
  public:
+  /**
+   * Construct a new AnalogEncoder attached to a specific AnalogIn channel.
+   *
+   * @param channel the analog input channel to attach to
+   */
+  explicit AnalogEncoder(int channel);
+
   /**
    * Construct a new AnalogEncoder attached to a specific AnalogInput.
    *

wpilibc/src/main/native/include/frc/controller/HolonomicDriveController.h

@@ -105,5 +105,7 @@ class HolonomicDriveController {
   frc2::PIDController m_xController;
   frc2::PIDController m_yController;
   ProfiledPIDController<units::radian> m_thetaController;
+
+  bool m_firstRun = true;
 };
 }  // namespace frc

wpilibc/src/main/native/include/frc/romi/RomiGyro.h

@@ -1,105 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <hal/SimDevice.h>
-
-#include "frc/interfaces/Gyro.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableHelper.h"
-
-namespace frc {
-
-/**
- * Use a rate gyro to return the robots heading relative to a starting position.
- *
- * This class is for the Romi onboard gyro, and will only work in
- * simulation/Romi mode. Only one instance of a RomiGyro is supported.
- */
-class RomiGyro : public Gyro, public Sendable, public SendableHelper<RomiGyro> {
- public:
-  RomiGyro();
-
-  /**
-   * Return the actual angle in degrees that the robot is currently facing.
-   *
-   * The angle is based on integration of the returned rate form the gyro.
-   * The angle is continuous, that is, it will continue from 360->361 degrees.
-   * This allows algorithms that wouldn't want to see a discontinuity in the
-   * gyro output as it sweeps from 360 to 0 on the second time around.
-   *
-   * @return the current heading of the robot in degrees.
-   */
-  double GetAngle() const override;
-
-  /**
-   * Return the rate of rotation of the gyro
-   *
-   * The rate is based on the most recent reading of the gyro.
-   *
-   * @return the current rate in degrees per second
-   */
-  double GetRate() const override;
-
-  /**
-   * Initialize the gyro.
-   *
-   * NOTE: This function is a no-op. The Romi gyro should be calibrated via
-   * the web UI.
-   */
-  void Calibrate() final {}
-
-  /**
-   * Gets the rate of turn in degrees-per-second around the X-axis
-   */
-  double GetRateX() const;
-
-  /**
-   * Gets the rate of turn in degrees-per-second around the Y-axis
-   */
-  double GetRateY() const;
-
-  /**
-   * Gets the rate of turn in degrees-per-second around the Z-axis
-   */
-  double GetRateZ() const;
-
-  /**
-   * Gets the currently reported angle around the X-axis
-   */
-  double GetAngleX() const;
-
-  /**
-   * Gets the currently reported angle around the X-axis
-   */
-  double GetAngleY() const;
-
-  /**
-   * Gets the currently reported angle around the X-axis
-   */
-  double GetAngleZ() const;
-
-  /**
-   * Resets the gyro
-   */
-  void Reset() override;
-
-  void InitSendable(SendableBuilder& builder) override;
-
- private:
-  hal::SimDevice m_simDevice;
-  hal::SimDouble m_simRateX;
-  hal::SimDouble m_simRateY;
-  hal::SimDouble m_simRateZ;
-  hal::SimDouble m_simAngleX;
-  hal::SimDouble m_simAngleY;
-  hal::SimDouble m_simAngleZ;
-
-  double m_angleXOffset = 0;
-  double m_angleYOffset = 0;
-  double m_angleZOffset = 0;
-};
-
-}  // namespace frc

wpilibc/src/main/native/include/frc/simulation/FlywheelSim.h

@@ -18,7 +18,7 @@ namespace frc::sim {
 class FlywheelSim : public LinearSystemSim<1, 1, 1> {
  public:
   /**
-   * Creates a simulated flywhel mechanism.
+   * Creates a simulated flywheel mechanism.
    *
    * @param plant              The linear system representing the flywheel.
    * @param gearbox            The type of and number of motors in the flywheel
@@ -32,7 +32,7 @@ class FlywheelSim : public LinearSystemSim<1, 1, 1> {
               const std::array<double, 1>& measurementStdDevs = {0.0});
 
   /**
-   * Creates a simulated flywhel mechanism.
+   * Creates a simulated flywheel mechanism.
    *
    * @param gearbox            The type of and number of motors in the flywheel
    *                           gearbox.

wpilibc/src/main/native/include/frc/smartdashboard/FieldObject2d.h

@@ -21,6 +21,7 @@
 namespace frc {
 
 class Field2d;
+class Trajectory;
 
 /**
  * Game field object on a Field2d.
@@ -76,6 +77,13 @@ class FieldObject2d {
    */
   void SetPoses(std::initializer_list<Pose2d> poses);
 
+  /**
+   * Sets poses from a trajectory.
+   *
+   * @param trajectory The trajectory from which poses should be added.
+   */
+  void SetTrajectory(const Trajectory& trajectory);
+
   /**
    * Get multiple poses.
    *