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This commit is contained in:
PJ Reiniger
2025-11-07 20:01:58 -05:00
committed by Peter Johnson
parent ae6bdc9d25
commit 2109161534
749 changed files with 5504 additions and 3936 deletions
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3
wpilibc/src/main/native/cpp/opmode/IterativeRobotBase.cpp
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@@ -193,7 +193,8 @@ void IterativeRobotBase::LoopFunc() {
}
void IterativeRobotBase::PrintLoopOverrunMessage() {
WPILIB_ReportError(err::Error, "Loop time of {:.6f}s overrun", m_period.value());
WPILIB_ReportError(err::Error, "Loop time of {:.6f}s overrun",
m_period.value());
}
void IterativeRobotBase::PrintWatchdogEpochs() {

9
wpilibc/src/main/native/cpp/opmode/TimedRobot.cpp
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@@ -75,7 +75,8 @@ void TimedRobot::EndCompetition() {
HAL_StopNotifier(m_notifier, &status);
}
TimedRobot::TimedRobot(wpi::units::second_t period) : IterativeRobotBase(period) {
TimedRobot::TimedRobot(wpi::units::second_t period)
: IterativeRobotBase(period) {
m_startTime = std::chrono::microseconds{RobotController::GetFPGATime()};
AddPeriodic([=, this] { LoopFunc(); }, period);
@@ -87,7 +88,8 @@ TimedRobot::TimedRobot(wpi::units::second_t period) : IterativeRobotBase(period)
HAL_ReportUsage("Framework", "TimedRobot");
}
TimedRobot::TimedRobot(wpi::units::hertz_t frequency) : TimedRobot{1 / frequency} {}
TimedRobot::TimedRobot(wpi::units::hertz_t frequency)
: TimedRobot{1 / frequency} {}
TimedRobot::~TimedRobot() {
if (m_notifier != HAL_kInvalidHandle) {
@@ -102,7 +104,8 @@ uint64_t TimedRobot::GetLoopStartTime() {
}
void TimedRobot::AddPeriodic(std::function<void()> callback,
wpi::units::second_t period, wpi::units::second_t offset) {
wpi::units::second_t period,
wpi::units::second_t offset) {
m_callbacks.emplace(
callback, m_startTime,
std::chrono::microseconds{static_cast<int64_t>(period.value() * 1e6)},

6
wpilibc/src/main/native/cpp/opmode/TimesliceRobot.cpp
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@@ -17,9 +17,9 @@ void TimesliceRobot::Schedule(std::function<void()> func,
wpi::units::second_t allocation) {
if (m_nextOffset + allocation > m_controllerPeriod) {
throw WPILIB_MakeError(err::Error,
"Function scheduled at offset {} with allocation {} "
"exceeded controller period of {}\n",
m_nextOffset, allocation, m_controllerPeriod);
"Function scheduled at offset {} with allocation {} "
"exceeded controller period of {}\n",
m_nextOffset, allocation, m_controllerPeriod);
}
AddPeriodic(func, m_controllerPeriod, m_nextOffset);