[hal,wpilib] Remove a ton of things related to the FPGA (#7846)

Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>

hal/src/main/java/org/wpilib/hardware/hal/AnalogInputJNI.java

@@ -55,77 +55,6 @@ public class AnalogInputJNI extends JNIWrapper {
    */
   public static native void setAnalogInputSimDevice(int handle, int device);
 
-  /**
-   * Sets the sample rate.
-   *
-   * <p>This is a global setting for the Athena and effects all channels.
-   *
-   * @param samplesPerSecond The number of samples per channel per second.
-   * @see "HAL_SetAnalogSampleRate"
-   */
-  public static native void setAnalogSampleRate(double samplesPerSecond);
-
-  /**
-   * Gets the current sample rate.
-   *
-   * <p>This assumes one entry in the scan list. This is a global setting for the Athena and effects
-   * all channels.
-   *
-   * @return Sample rate.
-   * @see "HAL_GetAnalogSampleRate"
-   */
-  public static native double getAnalogSampleRate();
-
-  /**
-   * Sets the number of averaging bits.
-   *
-   * <p>This sets the number of averaging bits. The actual number of averaged samples is 2**bits.
-   * Use averaging to improve the stability of your measurement at the expense of sampling rate. The
-   * averaging is done automatically in the FPGA.
-   *
-   * @param analogPortHandle Handle to the analog port to configure.
-   * @param bits Number of bits to average.
-   * @see "HAL_SetAnalogAverageBits"
-   */
-  public static native void setAnalogAverageBits(int analogPortHandle, int bits);
-
-  /**
-   * Gets the number of averaging bits.
-   *
-   * <p>This gets the number of averaging bits from the FPGA. The actual number of averaged samples
-   * is 2**bits. The averaging is done automatically in the FPGA.
-   *
-   * @param analogPortHandle Handle to the analog port to use.
-   * @return Bits to average.
-   * @see "HAL_GetAnalogAverageBits"
-   */
-  public static native int getAnalogAverageBits(int analogPortHandle);
-
-  /**
-   * Sets the number of oversample bits.
-   *
-   * <p>This sets the number of oversample bits. The actual number of oversampled values is 2**bits.
-   * Use oversampling to improve the resolution of your measurements at the expense of sampling
-   * rate. The oversampling is done automatically in the FPGA.
-   *
-   * @param analogPortHandle Handle to the analog port to use.
-   * @param bits Number of bits to oversample.
-   * @see "HAL_SetAnalogOversampleBits"
-   */
-  public static native void setAnalogOversampleBits(int analogPortHandle, int bits);
-
-  /**
-   * Gets the number of oversample bits.
-   *
-   * <p>This gets the number of oversample bits from the FPGA. The actual number of oversampled
-   * values is 2**bits. The oversampling is done automatically in the FPGA.
-   *
-   * @param analogPortHandle Handle to the analog port to use.
-   * @return Bits to oversample.
-   * @see "HAL_GetAnalogOversampleBits"
-   */
-  public static native int getAnalogOversampleBits(int analogPortHandle);
-
   /**
    * Gets a sample straight from the channel on this module.
    *
@@ -139,21 +68,6 @@ public class AnalogInputJNI extends JNIWrapper {
    */
   public static native short getAnalogValue(int analogPortHandle);
 
-  /**
-   * Gets a sample from the output of the oversample and average engine for the channel.
-   *
-   * <p>The sample is 12-bit + the value configured in SetOversampleBits(). The value configured in
-   * SetAverageBits() will cause this value to be averaged 2**bits number of samples. This is not a
-   * sliding window. The sample will not change until 2**(OversampleBits + AverageBits) samples have
-   * been acquired from the module on this channel. Use GetAverageVoltage() to get the analog value
-   * in calibrated units.
-   *
-   * @param analogPortHandle Handle to the analog port to use.
-   * @return A sample from the oversample and average engine for the channel.
-   * @see "HAL_GetAnalogAverageValue"
-   */
-  public static native int getAnalogAverageValue(int analogPortHandle);
-
   /**
    * Converts a voltage to a raw value for a specified channel.
    *
@@ -181,8 +95,7 @@ public class AnalogInputJNI extends JNIWrapper {
   /**
    * Gets a scaled sample straight from the channel on this module.
    *
-   * <p>The value is scaled to units of Volts using the calibrated scaling data from GetLSBWeight()
+   * <p>The value is scaled to units of Volts.
-   * and GetOffset().
    *
    * @param analogPortHandle Handle to the analog port to use.
    * @return A scaled sample straight from the channel on this module.
@@ -190,45 +103,6 @@ public class AnalogInputJNI extends JNIWrapper {
    */
   public static native double getAnalogVoltage(int analogPortHandle);
 
-  /**
-   * Gets a scaled sample from the output of the oversample and average engine for the channel.
-   *
-   * <p>The value is scaled to units of Volts using the calibrated scaling data from GetLSBWeight()
-   * and GetOffset(). Using oversampling will cause this value to be higher resolution, but it will
-   * update more slowly. Using averaging will cause this value to be more stable, but it will update
-   * more slowly.
-   *
-   * @param analogPortHandle Handle to the analog port to use.
-   * @return A scaled sample from the output of the oversample and average engine for the channel.
-   * @see "HAL_GetAnalogAverageVoltage"
-   */
-  public static native double getAnalogAverageVoltage(int analogPortHandle);
-
-  /**
-   * Gets the factory scaling least significant bit weight constant. The least significant bit
-   * weight constant for the channel that was calibrated in manufacturing and stored in an eeprom in
-   * the module.
-   *
-   * <p>Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
-   *
-   * @param analogPortHandle Handle to the analog port to use.
-   * @return Least significant bit weight.
-   * @see "HAL_GetAnalogLSBWeight"
-   */
-  public static native int getAnalogLSBWeight(int analogPortHandle);
-
-  /**
-   * Gets the factory scaling offset constant. The offset constant for the channel that was
-   * calibrated in manufacturing and stored in an eeprom in the module.
-   *
-   * <p>Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
-   *
-   * @param analogPortHandle Handle to the analog port to use.
-   * @return Offset constant.
-   * @see "HAL_GetAnalogOffset"
-   */
-  public static native int getAnalogOffset(int analogPortHandle);
-
   /** Utility class. */
   private AnalogInputJNI() {}
 }

hal/src/main/java/org/wpilib/hardware/hal/ConstantsJNI.java

@@ -1,23 +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.
-
-package org.wpilib.hardware.hal;
-
-/**
- * Constants HAL JNI functions.
- *
- * @see "wpi/hal/Constants.h"
- */
-public class ConstantsJNI extends JNIWrapper {
-  /**
-   * Gets the number of FPGA system clock ticks per microsecond.
-   *
-   * @return the number of clock ticks per microsecond
-   * @see "HAL_GetSystemClockTicksPerMicrosecond"
-   */
-  public static native int getSystemClockTicksPerMicrosecond();
-
-  /** Utility class. */
-  private ConstantsJNI() {}
-}

hal/src/main/java/org/wpilib/hardware/hal/HALUtil.java

@@ -25,17 +25,11 @@ public final class HALUtil extends JNIWrapper {
   /** A parameter is out of range. */
   public static final int PARAMETER_OUT_OF_RANGE = -1028;
 
-  /** roboRIO 1.0. */
+  /** Systemcore runtime. */
-  public static final int RUNTIME_ROBORIO = 0;
+  public static final int RUNTIME_SYSTEMCORE = 0;
-
-  /** roboRIO 2.0. */
-  public static final int RUNTIME_ROBORIO_2 = 1;
 
   /** Simulation runtime. */
-  public static final int RUNTIME_SIMULATION = 2;
+  public static final int RUNTIME_SIMULATION = 1;
-
-  /** Systemcore. */
-  public static final int RUNTIME_SYSTEMCORE = 3;
 
   /**
    * Returns the roboRIO serial number.
@@ -72,9 +66,8 @@ public final class HALUtil extends JNIWrapper {
    * Returns the runtime type of the HAL.
    *
    * @return HAL Runtime Type
-   * @see RUNTIME_ROBORIO
+   * @see #RUNTIME_SYSTEMCORE
-   * @see RUNTIME_ROBORIO_2
+   * @see #RUNTIME_SIMULATION
-   * @see RUNTIME_SIMULATION
    * @see "HAL_GetRuntimeType"
    */
   public static native int getHALRuntimeType();

hal/src/main/java/org/wpilib/hardware/hal/PortsJNI.java

@@ -19,60 +19,12 @@ public class PortsJNI extends JNIWrapper {
   public static native int getNumCanBuses();
 
   /**
-   * Gets the number of analog inputs in the current system.
+   * Gets the number of SmartIo ports in the current system.
    *
-   * @return the number of analog inputs
+   * @return the number of SmartIo
-   * @see "HAL_GetNumAnalogInputs"
+   * @see "HAL_GetNumSmartIo"
    */
-  public static native int getNumAnalogInputs();
+  public static native int getNumSmartIo();
-
-  /**
-   * Gets the number of counters in the current system.
-   *
-   * @return the number of counters
-   * @see "HAL_GetNumCounters"
-   */
-  public static native int getNumCounters();
-
-  /**
-   * Gets the number of digital channels in the current system.
-   *
-   * @return the number of digital channels
-   * @see "HAL_GetNumDigitalChannels"
-   */
-  public static native int getNumDigitalChannels();
-
-  /**
-   * Gets the number of PWM channels in the current system.
-   *
-   * @return the number of PWM channels
-   * @see "HAL_GetNumPWMChannels"
-   */
-  public static native int getNumPWMChannels();
-
-  /**
-   * Gets the number of digital IO PWM outputs in the current system.
-   *
-   * @return the number of digital IO PWM outputs
-   * @see "HAL_GetNumDigitalPWMOutputs"
-   */
-  public static native int getNumDigitalPWMOutputs();
-
-  /**
-   * Gets the number of quadrature encoders in the current system.
-   *
-   * @return the number of quadrature encoders
-   * @see "HAL_GetNumEncoders"
-   */
-  public static native int getNumEncoders();
-
-  /**
-   * Gets the number of interrupts in the current system.
-   *
-   * @return the number of interrupts
-   * @see "HAL_GetNumInterrupts"
-   */
-  public static native int getNumInterrupts();
 
   /**
    * Gets the number of PCM modules in the current system.

hal/src/main/java/org/wpilib/hardware/hal/simulation/AnalogInDataJNI.java

@@ -17,24 +17,6 @@ public class AnalogInDataJNI extends JNIWrapper {
 
   public static native void setInitialized(int index, boolean initialized);
 
-  public static native int registerAverageBitsCallback(
-      int index, NotifyCallback callback, boolean initialNotify);
-
-  public static native void cancelAverageBitsCallback(int index, int uid);
-
-  public static native int getAverageBits(int index);
-
-  public static native void setAverageBits(int index, int averageBits);
-
-  public static native int registerOversampleBitsCallback(
-      int index, NotifyCallback callback, boolean initialNotify);
-
-  public static native void cancelOversampleBitsCallback(int index, int uid);
-
-  public static native int getOversampleBits(int index);
-
-  public static native void setOversampleBits(int index, int oversampleBits);
-
   public static native int registerVoltageCallback(
       int index, NotifyCallback callback, boolean initialNotify);
 

hal/src/main/native/cpp/jni/AnalogInputJNI.cpp

@@ -86,95 +86,6 @@ Java_org_wpilib_hardware_hal_AnalogInputJNI_setAnalogInputSimDevice
                               (HAL_SimDeviceHandle)device);
 }
 
-/*
- * Class:     org_wpilib_hardware_hal_AnalogInputJNI
- * Method:    setAnalogSampleRate
- * Signature: (D)V
- */
-JNIEXPORT void JNICALL
-Java_org_wpilib_hardware_hal_AnalogInputJNI_setAnalogSampleRate
-  (JNIEnv* env, jclass, jdouble value)
-{
-  int32_t status = 0;
-  HAL_SetAnalogSampleRate(value, &status);
-  CheckStatus(env, status);
-}
-
-/*
- * Class:     org_wpilib_hardware_hal_AnalogInputJNI
- * Method:    getAnalogSampleRate
- * Signature: ()D
- */
-JNIEXPORT jdouble JNICALL
-Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogSampleRate
-  (JNIEnv* env, jclass)
-{
-  int32_t status = 0;
-  double returnValue = HAL_GetAnalogSampleRate(&status);
-  CheckStatus(env, status);
-  return returnValue;
-}
-
-/*
- * Class:     org_wpilib_hardware_hal_AnalogInputJNI
- * Method:    setAnalogAverageBits
- * Signature: (II)V
- */
-JNIEXPORT void JNICALL
-Java_org_wpilib_hardware_hal_AnalogInputJNI_setAnalogAverageBits
-  (JNIEnv* env, jclass, jint id, jint value)
-{
-  int32_t status = 0;
-  HAL_SetAnalogAverageBits((HAL_AnalogInputHandle)id, value, &status);
-  CheckStatus(env, status);
-}
-
-/*
- * Class:     org_wpilib_hardware_hal_AnalogInputJNI
- * Method:    getAnalogAverageBits
- * Signature: (I)I
- */
-JNIEXPORT jint JNICALL
-Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogAverageBits
-  (JNIEnv* env, jclass, jint id)
-{
-  int32_t status = 0;
-  jint returnValue =
-      HAL_GetAnalogAverageBits((HAL_AnalogInputHandle)id, &status);
-  CheckStatus(env, status);
-  return returnValue;
-}
-
-/*
- * Class:     org_wpilib_hardware_hal_AnalogInputJNI
- * Method:    setAnalogOversampleBits
- * Signature: (II)V
- */
-JNIEXPORT void JNICALL
-Java_org_wpilib_hardware_hal_AnalogInputJNI_setAnalogOversampleBits
-  (JNIEnv* env, jclass, jint id, jint value)
-{
-  int32_t status = 0;
-  HAL_SetAnalogOversampleBits((HAL_AnalogInputHandle)id, value, &status);
-  CheckStatus(env, status);
-}
-
-/*
- * Class:     org_wpilib_hardware_hal_AnalogInputJNI
- * Method:    getAnalogOversampleBits
- * Signature: (I)I
- */
-JNIEXPORT jint JNICALL
-Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogOversampleBits
-  (JNIEnv* env, jclass, jint id)
-{
-  int32_t status = 0;
-  jint returnValue =
-      HAL_GetAnalogOversampleBits((HAL_AnalogInputHandle)id, &status);
-  CheckStatus(env, status);
-  return returnValue;
-}
-
 /*
  * Class:     org_wpilib_hardware_hal_AnalogInputJNI
  * Method:    getAnalogValue
@@ -190,22 +101,6 @@ Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogValue
   return returnValue;
 }
 
-/*
- * Class:     org_wpilib_hardware_hal_AnalogInputJNI
- * Method:    getAnalogAverageValue
- * Signature: (I)I
- */
-JNIEXPORT jint JNICALL
-Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogAverageValue
-  (JNIEnv* env, jclass, jint id)
-{
-  int32_t status = 0;
-  jint returnValue =
-      HAL_GetAnalogAverageValue((HAL_AnalogInputHandle)id, &status);
-  CheckStatus(env, status);
-  return returnValue;
-}
-
 /*
  * Class:     org_wpilib_hardware_hal_AnalogInputJNI
  * Method:    getAnalogVoltsToValue
@@ -254,52 +149,4 @@ Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogVoltage
   return returnValue;
 }
 
-/*
- * Class:     org_wpilib_hardware_hal_AnalogInputJNI
- * Method:    getAnalogAverageVoltage
- * Signature: (I)D
- */
-JNIEXPORT jdouble JNICALL
-Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogAverageVoltage
-  (JNIEnv* env, jclass, jint id)
-{
-  int32_t status = 0;
-  jdouble returnValue =
-      HAL_GetAnalogAverageVoltage((HAL_AnalogInputHandle)id, &status);
-  CheckStatus(env, status);
-  return returnValue;
-}
-
-/*
- * Class:     org_wpilib_hardware_hal_AnalogInputJNI
- * Method:    getAnalogLSBWeight
- * Signature: (I)I
- */
-JNIEXPORT jint JNICALL
-Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogLSBWeight
-  (JNIEnv* env, jclass, jint id)
-{
-  int32_t status = 0;
-
-  jint returnValue = HAL_GetAnalogLSBWeight((HAL_AnalogInputHandle)id, &status);
-  CheckStatus(env, status);
-  return returnValue;
-}
-
-/*
- * Class:     org_wpilib_hardware_hal_AnalogInputJNI
- * Method:    getAnalogOffset
- * Signature: (I)I
- */
-JNIEXPORT jint JNICALL
-Java_org_wpilib_hardware_hal_AnalogInputJNI_getAnalogOffset
-  (JNIEnv* env, jclass, jint id)
-{
-  int32_t status = 0;
-
-  jint returnValue = HAL_GetAnalogOffset((HAL_AnalogInputHandle)id, &status);
-  CheckStatus(env, status);
-  return returnValue;
-}
-
 }  // extern "C"

hal/src/main/native/cpp/jni/ConstantsJNI.cpp

@@ -1,28 +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.
-
-#include <jni.h>
-
-#include <cassert>
-
-#include "HALUtil.hpp"
-#include "org_wpilib_hardware_hal_ConstantsJNI.h"
-#include "wpi/hal/Constants.h"
-
-using namespace wpi::hal;
-
-extern "C" {
-/*
- * Class:     org_wpilib_hardware_hal_ConstantsJNI
- * Method:    getSystemClockTicksPerMicrosecond
- * Signature: ()I
- */
-JNIEXPORT jint JNICALL
-Java_org_wpilib_hardware_hal_ConstantsJNI_getSystemClockTicksPerMicrosecond
-  (JNIEnv* env, jclass)
-{
-  jint value = HAL_GetSystemClockTicksPerMicrosecond();
-  return value;
-}
-}  // extern "C"

hal/src/main/native/cpp/jni/HALUtil.cpp

@@ -24,10 +24,6 @@
 
 using namespace wpi::util::java;
 
-static_assert(org_wpilib_hardware_hal_HALUtil_RUNTIME_ROBORIO ==
-              HAL_RUNTIME_ROBORIO);
-static_assert(org_wpilib_hardware_hal_HALUtil_RUNTIME_ROBORIO_2 ==
-              HAL_RUNTIME_ROBORIO_2);
 static_assert(org_wpilib_hardware_hal_HALUtil_RUNTIME_SIMULATION ==
               HAL_RUNTIME_SIMULATION);
 static_assert(org_wpilib_hardware_hal_HALUtil_RUNTIME_SYSTEMCORE ==

hal/src/main/native/cpp/jni/PortsJNI.cpp

@@ -28,92 +28,14 @@ Java_org_wpilib_hardware_hal_PortsJNI_getNumCanBuses
 
 /*
  * Class:     org_wpilib_hardware_hal_PortsJNI
- * Method:    getNumAnalogInputs
+ * Method:    getNumSmartIo
  * Signature: ()I
  */
 JNIEXPORT jint JNICALL
-Java_org_wpilib_hardware_hal_PortsJNI_getNumAnalogInputs
+Java_org_wpilib_hardware_hal_PortsJNI_getNumSmartIo
   (JNIEnv* env, jclass)
 {
-  jint value = HAL_GetNumAnalogInputs();
+  jint value = HAL_GetNumSmartIo();
-  return value;
-}
-
-/*
- * Class:     org_wpilib_hardware_hal_PortsJNI
- * Method:    getNumCounters
- * Signature: ()I
- */
-JNIEXPORT jint JNICALL
-Java_org_wpilib_hardware_hal_PortsJNI_getNumCounters
-  (JNIEnv* env, jclass)
-{
-  jint value = HAL_GetNumCounters();
-  return value;
-}
-
-/*
- * Class:     org_wpilib_hardware_hal_PortsJNI
- * Method:    getNumDigitalChannels
- * Signature: ()I
- */
-JNIEXPORT jint JNICALL
-Java_org_wpilib_hardware_hal_PortsJNI_getNumDigitalChannels
-  (JNIEnv* env, jclass)
-{
-  jint value = HAL_GetNumDigitalChannels();
-  return value;
-}
-
-/*
- * Class:     org_wpilib_hardware_hal_PortsJNI
- * Method:    getNumPWMChannels
- * Signature: ()I
- */
-JNIEXPORT jint JNICALL
-Java_org_wpilib_hardware_hal_PortsJNI_getNumPWMChannels
-  (JNIEnv* env, jclass)
-{
-  jint value = HAL_GetNumPWMChannels();
-  return value;
-}
-
-/*
- * Class:     org_wpilib_hardware_hal_PortsJNI
- * Method:    getNumDigitalPWMOutputs
- * Signature: ()I
- */
-JNIEXPORT jint JNICALL
-Java_org_wpilib_hardware_hal_PortsJNI_getNumDigitalPWMOutputs
-  (JNIEnv* env, jclass)
-{
-  jint value = HAL_GetNumDigitalPWMOutputs();
-  return value;
-}
-
-/*
- * Class:     org_wpilib_hardware_hal_PortsJNI
- * Method:    getNumEncoders
- * Signature: ()I
- */
-JNIEXPORT jint JNICALL
-Java_org_wpilib_hardware_hal_PortsJNI_getNumEncoders
-  (JNIEnv* env, jclass)
-{
-  jint value = HAL_GetNumEncoders();
-  return value;
-}
-
-/*
- * Class:     org_wpilib_hardware_hal_PortsJNI
- * Method:    getNumInterrupts
- * Signature: ()I
- */
-JNIEXPORT jint JNICALL
-Java_org_wpilib_hardware_hal_PortsJNI_getNumInterrupts
-  (JNIEnv* env, jclass)
-{
-  jint value = HAL_GetNumInterrupts();
   return value;
 }
 

hal/src/main/native/cpp/jni/simulation/AnalogInDataJNI.cpp

@@ -62,106 +62,6 @@ Java_org_wpilib_hardware_hal_simulation_AnalogInDataJNI_setInitialized
   HALSIM_SetAnalogInInitialized(index, value);
 }
 
-/*
- * Class:     org_wpilib_hardware_hal_simulation_AnalogInDataJNI
- * Method:    registerAverageBitsCallback
- * Signature: (ILjava/lang/Object;Z)I
- */
-JNIEXPORT jint JNICALL
-Java_org_wpilib_hardware_hal_simulation_AnalogInDataJNI_registerAverageBitsCallback
-  (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
-{
-  return sim::AllocateCallback(env, index, callback, initialNotify,
-                               &HALSIM_RegisterAnalogInAverageBitsCallback);
-}
-
-/*
- * Class:     org_wpilib_hardware_hal_simulation_AnalogInDataJNI
- * Method:    cancelAverageBitsCallback
- * Signature: (II)V
- */
-JNIEXPORT void JNICALL
-Java_org_wpilib_hardware_hal_simulation_AnalogInDataJNI_cancelAverageBitsCallback
-  (JNIEnv* env, jclass, jint index, jint handle)
-{
-  return sim::FreeCallback(env, handle, index,
-                           &HALSIM_CancelAnalogInAverageBitsCallback);
-}
-
-/*
- * Class:     org_wpilib_hardware_hal_simulation_AnalogInDataJNI
- * Method:    getAverageBits
- * Signature: (I)I
- */
-JNIEXPORT jint JNICALL
-Java_org_wpilib_hardware_hal_simulation_AnalogInDataJNI_getAverageBits
-  (JNIEnv*, jclass, jint index)
-{
-  return HALSIM_GetAnalogInAverageBits(index);
-}
-
-/*
- * Class:     org_wpilib_hardware_hal_simulation_AnalogInDataJNI
- * Method:    setAverageBits
- * Signature: (II)V
- */
-JNIEXPORT void JNICALL
-Java_org_wpilib_hardware_hal_simulation_AnalogInDataJNI_setAverageBits
-  (JNIEnv*, jclass, jint index, jint value)
-{
-  HALSIM_SetAnalogInAverageBits(index, value);
-}
-
-/*
- * Class:     org_wpilib_hardware_hal_simulation_AnalogInDataJNI
- * Method:    registerOversampleBitsCallback
- * Signature: (ILjava/lang/Object;Z)I
- */
-JNIEXPORT jint JNICALL
-Java_org_wpilib_hardware_hal_simulation_AnalogInDataJNI_registerOversampleBitsCallback
-  (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
-{
-  return sim::AllocateCallback(env, index, callback, initialNotify,
-                               &HALSIM_RegisterAnalogInOversampleBitsCallback);
-}
-
-/*
- * Class:     org_wpilib_hardware_hal_simulation_AnalogInDataJNI
- * Method:    cancelOversampleBitsCallback
- * Signature: (II)V
- */
-JNIEXPORT void JNICALL
-Java_org_wpilib_hardware_hal_simulation_AnalogInDataJNI_cancelOversampleBitsCallback
-  (JNIEnv* env, jclass, jint index, jint handle)
-{
-  return sim::FreeCallback(env, handle, index,
-                           &HALSIM_CancelAnalogInOversampleBitsCallback);
-}
-
-/*
- * Class:     org_wpilib_hardware_hal_simulation_AnalogInDataJNI
- * Method:    getOversampleBits
- * Signature: (I)I
- */
-JNIEXPORT jint JNICALL
-Java_org_wpilib_hardware_hal_simulation_AnalogInDataJNI_getOversampleBits
-  (JNIEnv*, jclass, jint index)
-{
-  return HALSIM_GetAnalogInOversampleBits(index);
-}
-
-/*
- * Class:     org_wpilib_hardware_hal_simulation_AnalogInDataJNI
- * Method:    setOversampleBits
- * Signature: (II)V
- */
-JNIEXPORT void JNICALL
-Java_org_wpilib_hardware_hal_simulation_AnalogInDataJNI_setOversampleBits
-  (JNIEnv*, jclass, jint index, jint value)
-{
-  HALSIM_SetAnalogInOversampleBits(index, value);
-}
-
 /*
  * Class:     org_wpilib_hardware_hal_simulation_AnalogInDataJNI
  * Method:    registerVoltageCallback

hal/src/main/native/include/wpi/hal/AnalogInput.h

@@ -64,83 +64,6 @@ HAL_Bool HAL_CheckAnalogInputChannel(int32_t channel);
 void HAL_SetAnalogInputSimDevice(HAL_AnalogInputHandle handle,
                                  HAL_SimDeviceHandle device);
 
-/**
- * Sets the sample rate.
- *
- * This is a global setting for the Athena and effects all channels.
- *
- * @param[in] samplesPerSecond The number of samples per channel per second.
- * @param[out] status          the error code, or 0 for success
- */
-void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status);
-
-/**
- * Gets the current sample rate.
- *
- * This assumes one entry in the scan list.
- * This is a global setting for the Athena and effects all channels.
- *
- * @param[out] status the error code, or 0 for success
- * @return Sample rate.
- */
-double HAL_GetAnalogSampleRate(int32_t* status);
-
-/**
- * Sets the number of averaging bits.
- *
- * This sets the number of averaging bits. The actual number of averaged samples
- * is 2**bits. Use averaging to improve the stability of your measurement at the
- * expense of sampling rate. The averaging is done automatically in the FPGA.
- *
- * @param[in] analogPortHandle Handle to the analog port to configure.
- * @param[in] bits Number of bits to average.
- * @param[out] status the error code, or 0 for success
- */
-void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
-                              int32_t bits, int32_t* status);
-
-/**
- * Gets the number of averaging bits.
- *
- * This gets the number of averaging bits from the FPGA. The actual number of
- * averaged samples is 2**bits. The averaging is done automatically in the FPGA.
- *
- * @param[in] analogPortHandle Handle to the analog port to use.
- * @param[out] status the error code, or 0 for success
- * @return Bits to average.
- */
-int32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
-                                 int32_t* status);
-
-/**
- * Sets the number of oversample bits.
- *
- * This sets the number of oversample bits. The actual number of oversampled
- * values is 2**bits. Use oversampling to improve the resolution of your
- * measurements at the expense of sampling rate. The oversampling is done
- * automatically in the FPGA.
- *
- * @param[in] analogPortHandle Handle to the analog port to use.
- * @param[in] bits Number of bits to oversample.
- * @param[out] status the error code, or 0 for success
- */
-void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
-                                 int32_t bits, int32_t* status);
-
-/**
- * Gets the number of oversample bits.
- *
- * This gets the number of oversample bits from the FPGA. The actual number of
- * oversampled values is 2**bits. The oversampling is done automatically in the
- * FPGA.
- *
- * @param[in] analogPortHandle Handle to the analog port to use.
- * @param[out] status          the error code, or 0 for success
- * @return Bits to oversample.
- */
-int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
-                                    int32_t* status);
-
 /**
  * Gets a sample straight from the channel on this module.
  *
@@ -155,24 +78,6 @@ int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
 int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle,
                            int32_t* status);
 
-/**
- * Gets a sample from the output of the oversample and average engine for the
- * channel.
- *
- * The sample is 12-bit + the value configured in SetOversampleBits().
- * The value configured in SetAverageBits() will cause this value to be averaged
- * 2**bits number of samples. This is not a sliding window.  The sample will not
- * change until 2**(OversampleBits + AverageBits) samples have been acquired
- * from the module on this channel. Use GetAverageVoltage() to get the analog
- * value in calibrated units.
- *
- * @param[in] analogPortHandle Handle to the analog port to use.
- * @param[out] status the error code, or 0 for success
- * @return A sample from the oversample and average engine for the channel.
- */
-int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analogPortHandle,
-                                  int32_t* status);
-
 /**
  * Converts a voltage to a raw value for a specified channel.
  *
@@ -192,8 +97,7 @@ int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analogPortHandle,
 /**
  * Gets a scaled sample straight from the channel on this module.
  *
- * The value is scaled to units of Volts using the calibrated scaling data from
+ * The value is scaled to units of Volts.
- * GetLSBWeight() and GetOffset().
  *
  * @param[in] analogPortHandle Handle to the analog port to use.
  * @param[out] status the error code, or 0 for success
@@ -202,51 +106,6 @@ int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analogPortHandle,
 double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle,
                             int32_t* status);
 
-/**
- * Gets a scaled sample from the output of the oversample and average engine for
- * the channel.
- *
- * The value is scaled to units of Volts using the calibrated scaling data from
- * GetLSBWeight() and GetOffset(). Using oversampling will cause this value to
- * be higher resolution, but it will update more slowly. Using averaging will
- * cause this value to be more stable, but it will update more slowly.
- *
- * @param[in] analogPortHandle Handle to the analog port to use.
- * @param[out] status the error code, or 0 for success
- * @return A scaled sample from the output of the oversample and average engine
- * for the channel.
- */
-double HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analogPortHandle,
-                                   int32_t* status);
-
-/**
- * Gets the factory scaling least significant bit weight constant.
- * The least significant bit weight constant for the channel that was calibrated
- * in manufacturing and stored in an eeprom in the module.
- *
- * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
- *
- * @param[in] analogPortHandle Handle to the analog port to use.
- * @param[out] status the error code, or 0 for success
- * @return Least significant bit weight.
- */
-int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analogPortHandle,
-                               int32_t* status);
-
-/**
- * Gets the factory scaling offset constant.
- * The offset constant for the channel that was calibrated in manufacturing and
- * stored in an eeprom in the module.
- *
- * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
- *
- * @param[in] analogPortHandle Handle to the analog port to use.
- * @param[out] status Error status variable. 0 on success.
- * @return Offset constant.
- */
-int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analogPortHandle,
-                            int32_t* status);
-
 /**
  *  Get the analog voltage from a raw value.
  *

hal/src/main/native/include/wpi/hal/Constants.h

@@ -1,28 +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 <stdint.h>
-
-/**
- * @defgroup hal_constants Constants Functions
- * @ingroup hal_capi
- * @{
- */
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/**
- * Gets the number of FPGA system clock ticks per microsecond.
- *
- * @return the number of clock ticks per microsecond
- */
-int32_t HAL_GetSystemClockTicksPerMicrosecond(void);
-#ifdef __cplusplus
-}  // extern "C"
-#endif
-/** @} */

hal/src/main/native/include/wpi/hal/HAL.h

@@ -25,14 +25,10 @@
  * Runtime type.
  */
 HAL_ENUM(HAL_RuntimeType) {
-  /** roboRIO 1.0 */
+  /** Systemcore runtime */
-  HAL_RUNTIME_ROBORIO,
-  /** roboRIO 2.0 */
-  HAL_RUNTIME_ROBORIO_2,
-  /** Simulation runtime */
-  HAL_RUNTIME_SIMULATION,
-  /** Systemcore */
   HAL_RUNTIME_SYSTEMCORE,
+  /** Simulation runtime */
+  HAL_RUNTIME_SIMULATION
 };
 
 #ifdef __cplusplus

hal/src/main/native/include/wpi/hal/Ports.h

@@ -23,6 +23,13 @@ extern "C" {
  */
 int32_t HAL_GetNumCanBuses(void);
 
+/**
+ * Gets the number of smart IO channels in the current system.
+ *
+ * @return the number of SmartIO
+ */
+int32_t HAL_GetNumSmartIo(void);
+
 /**
  * Gets the number of analog inputs in the current system.
  *

hal/src/main/native/include/wpi/hal/simulation/AnalogInData.h

@@ -22,21 +22,6 @@ void HALSIM_SetAnalogInInitialized(int32_t index, HAL_Bool initialized);
 
 HAL_SimDeviceHandle HALSIM_GetAnalogInSimDevice(int32_t index);
 
-int32_t HALSIM_RegisterAnalogInAverageBitsCallback(int32_t index,
-                                                   HAL_NotifyCallback callback,
-                                                   void* param,
-                                                   HAL_Bool initialNotify);
-void HALSIM_CancelAnalogInAverageBitsCallback(int32_t index, int32_t uid);
-int32_t HALSIM_GetAnalogInAverageBits(int32_t index);
-void HALSIM_SetAnalogInAverageBits(int32_t index, int32_t averageBits);
-
-int32_t HALSIM_RegisterAnalogInOversampleBitsCallback(
-    int32_t index, HAL_NotifyCallback callback, void* param,
-    HAL_Bool initialNotify);
-void HALSIM_CancelAnalogInOversampleBitsCallback(int32_t index, int32_t uid);
-int32_t HALSIM_GetAnalogInOversampleBits(int32_t index);
-void HALSIM_SetAnalogInOversampleBits(int32_t index, int32_t oversampleBits);
-
 int32_t HALSIM_RegisterAnalogInVoltageCallback(int32_t index,
                                                HAL_NotifyCallback callback,
                                                void* param,

hal/src/main/native/include/wpi/hal/simulation/RoboRioData.h

@@ -18,13 +18,6 @@ extern "C" {
 #endif
 
 void HALSIM_ResetRoboRioData(void);
-int32_t HALSIM_RegisterRoboRioFPGAButtonCallback(HAL_NotifyCallback callback,
-                                                 void* param,
-                                                 HAL_Bool initialNotify);
-void HALSIM_CancelRoboRioFPGAButtonCallback(int32_t uid);
-HAL_Bool HALSIM_GetRoboRioFPGAButton(void);
-void HALSIM_SetRoboRioFPGAButton(HAL_Bool fPGAButton);
-
 int32_t HALSIM_RegisterRoboRioVInVoltageCallback(HAL_NotifyCallback callback,
                                                  void* param,
                                                  HAL_Bool initialNotify);

hal/src/main/native/sim/AnalogInput.cpp

@@ -43,7 +43,6 @@ HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(
   }
 
   analog_port->channel = static_cast<uint8_t>(channel);
-  analog_port->isAccumulator = false;
 
   SimAnalogInData[channel].initialized = true;
   SimAnalogInData[channel].simDevice = 0;
@@ -80,52 +79,6 @@ void HAL_SetAnalogInputSimDevice(HAL_AnalogInputHandle handle,
   SimAnalogInData[port->channel].simDevice = device;
 }
 
-void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status) {
-  // No op
-}
-double HAL_GetAnalogSampleRate(int32_t* status) {
-  return kDefaultSampleRate;
-}
-void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
-                              int32_t bits, int32_t* status) {
-  auto port = analogInputHandles->Get(analogPortHandle);
-  if (port == nullptr) {
-    *status = HAL_HANDLE_ERROR;
-    return;
-  }
-
-  SimAnalogInData[port->channel].averageBits = bits;
-}
-int32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
-                                 int32_t* status) {
-  auto port = analogInputHandles->Get(analogPortHandle);
-  if (port == nullptr) {
-    *status = HAL_HANDLE_ERROR;
-    return 0;
-  }
-
-  return SimAnalogInData[port->channel].averageBits;
-}
-void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
-                                 int32_t bits, int32_t* status) {
-  auto port = analogInputHandles->Get(analogPortHandle);
-  if (port == nullptr) {
-    *status = HAL_HANDLE_ERROR;
-    return;
-  }
-
-  SimAnalogInData[port->channel].oversampleBits = bits;
-}
-int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
-                                    int32_t* status) {
-  auto port = analogInputHandles->Get(analogPortHandle);
-  if (port == nullptr) {
-    *status = HAL_HANDLE_ERROR;
-    return 0;
-  }
-
-  return SimAnalogInData[port->channel].oversampleBits;
-}
 int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle,
                            int32_t* status) {
   auto port = analogInputHandles->Get(analogPortHandle);
@@ -137,27 +90,12 @@ int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle,
   double voltage = SimAnalogInData[port->channel].voltage;
   return HAL_GetAnalogVoltsToValue(analogPortHandle, voltage, status);
 }
-int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analogPortHandle,
+
-                                  int32_t* status) {
-  // No averaging supported
-  return HAL_GetAnalogValue(analogPortHandle, status);
-}
 int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analogPortHandle,
                                   double voltage, int32_t* status) {
-  if (voltage > 5.0) {
+  return static_cast<int32_t>(voltage * 4095.0 / 3.3);
-    voltage = 5.0;
-    *status = VOLTAGE_OUT_OF_RANGE;
-  }
-  if (voltage < 0.0) {
-    voltage = 0.0;
-    *status = VOLTAGE_OUT_OF_RANGE;
-  }
-  int32_t LSBWeight = HAL_GetAnalogLSBWeight(analogPortHandle, status);
-  int32_t offset = HAL_GetAnalogOffset(analogPortHandle, status);
-  int32_t value =
-      static_cast<int32_t>((voltage + offset * 1.0e-9) / (LSBWeight * 1.0e-9));
-  return value;
 }
+
 double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle,
                             int32_t* status) {
   auto port = analogInputHandles->Get(analogPortHandle);
@@ -171,29 +109,6 @@ double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle,
 
 double HAL_GetAnalogValueToVolts(HAL_AnalogInputHandle analogPortHandle,
                                  int32_t rawValue, int32_t* status) {
-  int32_t LSBWeight = HAL_GetAnalogLSBWeight(analogPortHandle, status);
+  return rawValue / 4095.0 * 3.3;
-  int32_t offset = HAL_GetAnalogOffset(analogPortHandle, status);
-  double voltage = LSBWeight * 1.0e-9 * rawValue - offset * 1.0e-9;
-  return voltage;
-}
-
-double HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analogPortHandle,
-                                   int32_t* status) {
-  auto port = analogInputHandles->Get(analogPortHandle);
-  if (port == nullptr) {
-    *status = HAL_HANDLE_ERROR;
-    return 0.0;
-  }
-
-  // No averaging supported
-  return SimAnalogInData[port->channel].voltage;
-}
-int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analogPortHandle,
-                               int32_t* status) {
-  return 1220703;
-}
-int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analogPortHandle,
-                            int32_t* status) {
-  return 0;
 }
 }  // extern "C"

hal/src/main/native/sim/AnalogInternal.hpp

@@ -13,15 +13,9 @@
 #include "wpi/hal/handles/IndexedHandleResource.hpp"
 
 namespace wpi::hal {
-constexpr int32_t kTimebase = 40000000;  ///< 40 MHz clock
-constexpr int32_t kDefaultOversampleBits = 0;
-constexpr int32_t kDefaultAverageBits = 7;
-constexpr double kDefaultSampleRate = 50000.0;
-static constexpr uint32_t kAccumulatorChannels[] = {0, 1};
 
 struct AnalogPort {
   uint8_t channel;
-  bool isAccumulator;
   std::string previousAllocation;
 };
 

hal/src/main/native/sim/Constants.cpp

@@ -1,19 +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.
-
-#include "wpi/hal/Constants.h"
-
-#include "ConstantsInternal.hpp"
-
-using namespace wpi::hal;
-
-namespace wpi::hal::init {
-void InitializeConstants() {}
-}  // namespace wpi::hal::init
-
-extern "C" {
-int32_t HAL_GetSystemClockTicksPerMicrosecond(void) {
-  return kSystemClockTicksPerMicrosecond;
-}
-}  // extern "C"

hal/src/main/native/sim/ConstantsInternal.hpp

@@ -1,11 +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 <stdint.h>
-
-namespace wpi::hal {
-constexpr int32_t kSystemClockTicksPerMicrosecond = 40;
-}  // namespace wpi::hal

hal/src/main/native/sim/HAL.cpp

@@ -86,7 +86,6 @@ void InitializeHAL() {
   InitializeAnalogInput();
   InitializeAnalogInternal();
   InitializeCAN();
-  InitializeConstants();
   InitializeCounter();
   InitializeDigitalInternal();
   InitializeDIO();

hal/src/main/native/sim/HALInitializer.hpp

@@ -38,7 +38,6 @@ extern void InitializeAlert();
 extern void InitializeAnalogInput();
 extern void InitializeAnalogInternal();
 extern void InitializeCAN();
-extern void InitializeConstants();
 extern void InitializeCounter();
 extern void InitializeDigitalInternal();
 extern void InitializeDIO();

hal/src/main/native/sim/MockHooks.cpp

@@ -7,7 +7,6 @@
 #include <algorithm>
 #include <atomic>
 #include <chrono>
-#include <cstdio>
 #include <thread>
 
 #include "MockHooksInternal.hpp"

hal/src/main/native/sim/PWM.cpp

@@ -4,8 +4,6 @@
 
 #include "wpi/hal/PWM.h"
 
-#include <cmath>
-
 #include "DigitalInternal.hpp"
 #include "HALInitializer.hpp"
 #include "HALInternal.hpp"

hal/src/main/native/sim/Ports.cpp

@@ -16,6 +16,9 @@ extern "C" {
 int32_t HAL_GetNumCanBuses(void) {
   return kNumCanBuses;
 }
+int32_t HAL_GetNumSmartIo(void) {
+  return kNumSmartIo;
+}
 int32_t HAL_GetNumAnalogInputs(void) {
   return kNumAnalogInputs;
 }

hal/src/main/native/sim/PortsInternal.hpp

@@ -9,6 +9,7 @@
 namespace wpi::hal {
 constexpr int32_t kNumCanBuses = 5;
 constexpr int32_t kAccelerometers = 1;
+constexpr int32_t kNumSmartIo = 6;
 constexpr int32_t kNumAccumulators = 2;
 constexpr int32_t kNumAnalogInputs = 8;
 constexpr int32_t kNumAnalogOutputs = 2;

hal/src/main/native/sim/mockdata/AnalogInData.cpp

@@ -18,8 +18,6 @@ AnalogInData* wpi::hal::SimAnalogInData;
 void AnalogInData::ResetData() {
   initialized.Reset(false);
   simDevice = 0;
-  averageBits.Reset(7);
-  oversampleBits.Reset(0);
   voltage.Reset(0.0);
 }
 
@@ -37,8 +35,6 @@ HAL_SimDeviceHandle HALSIM_GetAnalogInSimDevice(int32_t index) {
                                SimAnalogInData, LOWERNAME)
 
 DEFINE_CAPI(HAL_Bool, Initialized, initialized)
-DEFINE_CAPI(int32_t, AverageBits, averageBits)
-DEFINE_CAPI(int32_t, OversampleBits, oversampleBits)
 DEFINE_CAPI(double, Voltage, voltage)
 
 #define REGISTER(NAME) \
@@ -48,8 +44,6 @@ void HALSIM_RegisterAnalogInAllCallbacks(int32_t index,
                                          HAL_NotifyCallback callback,
                                          void* param, HAL_Bool initialNotify) {
   REGISTER(initialized);
-  REGISTER(averageBits);
-  REGISTER(oversampleBits);
   REGISTER(voltage);
 }
 }  // extern "C"

hal/src/main/native/sim/mockdata/AnalogInDataInternal.hpp

@@ -11,16 +11,12 @@
 namespace wpi::hal {
 class AnalogInData {
   HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
-  HAL_SIMDATAVALUE_DEFINE_NAME(AverageBits)
-  HAL_SIMDATAVALUE_DEFINE_NAME(OversampleBits)
   HAL_SIMDATAVALUE_DEFINE_NAME(Voltage)
 
  public:
   SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{
       false};
   std::atomic<HAL_SimDeviceHandle> simDevice;
-  SimDataValue<int32_t, HAL_MakeInt, GetAverageBitsName> averageBits{7};
-  SimDataValue<int32_t, HAL_MakeInt, GetOversampleBitsName> oversampleBits{0};
   SimDataValue<double, HAL_MakeDouble, GetVoltageName> voltage{0.0};
 
   virtual void ResetData();

hal/src/main/native/systemcore/AnalogInput.cpp

@@ -96,40 +96,6 @@ HAL_Bool HAL_CheckAnalogInputChannel(int32_t channel) {
 void HAL_SetAnalogInputSimDevice(HAL_AnalogInputHandle handle,
                                  HAL_SimDeviceHandle device) {}
 
-void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status) {
-  *status = HAL_HANDLE_ERROR;
-  return;
-}
-
-double HAL_GetAnalogSampleRate(int32_t* status) {
-  *status = HAL_HANDLE_ERROR;
-  return 0;
-}
-
-void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
-                              int32_t bits, int32_t* status) {
-  *status = HAL_HANDLE_ERROR;
-  return;
-}
-
-int32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
-                                 int32_t* status) {
-  *status = HAL_HANDLE_ERROR;
-  return 0;
-}
-
-void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
-                                 int32_t bits, int32_t* status) {
-  *status = HAL_HANDLE_ERROR;
-  return;
-}
-
-int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
-                                    int32_t* status) {
-  *status = HAL_HANDLE_ERROR;
-  return 0;
-}
-
 int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle,
                            int32_t* status) {
   auto port =
@@ -144,16 +110,9 @@ int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle,
   return ret;
 }
 
-int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analogPortHandle,
-                                  int32_t* status) {
-  *status = HAL_HANDLE_ERROR;
-  return 0;
-}
-
 int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analogPortHandle,
                                   double voltage, int32_t* status) {
-  *status = HAL_HANDLE_ERROR;
+  return static_cast<int32_t>(voltage * 4095.0 / 3.3);
-  return 0;
 }
 
 double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle,
@@ -173,26 +132,7 @@ double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle,
 
 double HAL_GetAnalogValueToVolts(HAL_AnalogInputHandle analogPortHandle,
                                  int32_t rawValue, int32_t* status) {
-  *status = HAL_HANDLE_ERROR;
+  return rawValue / 4095.0 * 3.3;
-  return 0;
-}
-
-double HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analogPortHandle,
-                                   int32_t* status) {
-  *status = HAL_HANDLE_ERROR;
-  return 0;
-}
-
-int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analogPortHandle,
-                               int32_t* status) {
-  *status = HAL_HANDLE_ERROR;
-  return 0;
-}
-
-int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analogPortHandle,
-                            int32_t* status) {
-  *status = HAL_HANDLE_ERROR;
-  return 0;
 }
 
 }  // extern "C"

hal/src/main/native/systemcore/Constants.cpp

@@ -1,19 +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.
-
-#include "wpi/hal/Constants.h"
-
-#include "ConstantsInternal.hpp"
-
-using namespace wpi::hal;
-
-namespace wpi::hal::init {
-void InitializeConstants() {}
-}  // namespace wpi::hal::init
-
-extern "C" {
-int32_t HAL_GetSystemClockTicksPerMicrosecond(void) {
-  return kSystemClockTicksPerMicrosecond;
-}
-}  // extern "C"

hal/src/main/native/systemcore/ConstantsInternal.hpp

@@ -1,11 +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 <stdint.h>
-
-namespace wpi::hal {
-constexpr int32_t kSystemClockTicksPerMicrosecond = 40;
-}  // namespace wpi::hal

hal/src/main/native/systemcore/HAL.cpp

@@ -42,7 +42,6 @@ void InitializeHAL() {
   InitializeAnalogInput();
   InitializeCAN();
   InitializeCANAPI();
-  InitializeConstants();
   InitializeCounter();
   InitializeDIO();
   InitializeDutyCycle();

hal/src/main/native/systemcore/HALInitializer.hpp

@@ -23,7 +23,6 @@ extern void InitializeAnalogInput();
 extern void InitializeAnalogInternal();
 extern void InitializeCAN();
 extern void InitializeCANAPI();
-extern void InitializeConstants();
 extern void InitializeCounter();
 extern void InitializeDigitalInternal();
 extern void InitializeDIO();

hal/src/main/native/systemcore/Ports.cpp

@@ -16,6 +16,9 @@ extern "C" {
 int32_t HAL_GetNumCanBuses(void) {
   return kNumCanBuses;
 }
+int32_t HAL_GetNumSmartIo(void) {
+  return kNumSmartIo;
+}
 int32_t HAL_GetNumAnalogInputs(void) {
   return kNumAnalogInputs;
 }

hal/src/main/native/systemcore/mockdata/AnalogInData.cpp

@@ -17,8 +17,6 @@ HAL_SimDeviceHandle HALSIM_GetAnalogInSimDevice(int32_t index) {
   HAL_SIMDATAVALUE_STUB_CAPI(TYPE, HALSIM, AnalogIn##CAPINAME, RETURN)
 
 DEFINE_CAPI(HAL_Bool, Initialized, false)
-DEFINE_CAPI(int32_t, AverageBits, 0)
-DEFINE_CAPI(int32_t, OversampleBits, 0)
 DEFINE_CAPI(double, Voltage, 0)
 
 void HALSIM_RegisterAnalogInAllCallbacks(int32_t index,

ntcoreffi/src/main/native/cpp/DataLogManager.cpp

@@ -173,20 +173,6 @@ inline void RemoveRefreshedDataEventHandle(WPI_EventHandle event) {}
 
 }  // namespace DriverStation
 
-// #ifdef __FIRST_SYSTEMCORE__
-// static constexpr int ROBORIO = 0;
-// namespace RobotBase {
-// inline int GetRuntimeType() {
-//   nLoadOut::tTargetClass targetClass = nLoadOut::getTargetClass();
-//   if (targetClass == nLoadOut::kTargetClass_RoboRIO2) {
-//     return 1;
-//   } else {
-//     return 0;
-//   }
-// }
-// }  // namespace RobotBase
-// #endif
-
 struct Thread final : public ::wpi::util::SafeThread {
   Thread(std::string_view dir, std::string_view filename, double period);
   ~Thread() override;

simulation/halsim_ws_core/doc/hardware_ws_api.md

@@ -111,8 +111,6 @@ The basic analog input just reads a voltage. An analog input can also be configu
 | Data Key               | Type    | Description                                         |
 | ---------------------- | ------- | --------------------------------------------------- |
 | ``"<init"``            | Boolean | If analog input is initialized in the robot program |
-| ``"<avg_bits"``        | Integer | The number of averaging bits                        |
-| ``"<oversample_bits"`` | Integer | The number of oversampling bits                     |
 | ``">voltage"``         | Float   | Input voltage, in volts                             |
 
 #### Digital Input/Output ("DIO")

simulation/halsim_ws_core/doc/wpilib-ws.yaml

@@ -127,12 +127,6 @@ components:
             <init:
               type: boolean
               description: "If analog input is initialized in the robot program"
-            "<avg_bits":
-              type: integer
-              description: "The number of averaging bits"
-            "<oversample_bits":
-              type: integer
-              description: "The number of oversampling bits"
             ">voltage":
               type: number
               description: "Input voltage, in volts"

simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Analog.cpp

@@ -30,9 +30,6 @@ HALSimWSProviderAnalogIn::~HALSimWSProviderAnalogIn() {
 
 void HALSimWSProviderAnalogIn::RegisterCallbacks() {
   m_initCbKey = REGISTER_AIN(Initialized, "<init", bool, boolean);
-  m_avgbitsCbKey = REGISTER_AIN(AverageBits, "<avg_bits", int32_t, int);
-  m_oversampleCbKey =
-      REGISTER_AIN(OversampleBits, "<oversample_bits", int32_t, int);
   m_voltageCbKey = REGISTER_AIN(Voltage, ">voltage", double, double);
 }
 
@@ -43,14 +40,10 @@ void HALSimWSProviderAnalogIn::CancelCallbacks() {
 void HALSimWSProviderAnalogIn::DoCancelCallbacks() {
   // Cancel callbacks
   HALSIM_CancelAnalogInInitializedCallback(m_channel, m_initCbKey);
-  HALSIM_CancelAnalogInAverageBitsCallback(m_channel, m_avgbitsCbKey);
-  HALSIM_CancelAnalogInOversampleBitsCallback(m_channel, m_oversampleCbKey);
   HALSIM_CancelAnalogInVoltageCallback(m_channel, m_voltageCbKey);
 
   // Reset callback IDs
   m_initCbKey = 0;
-  m_avgbitsCbKey = 0;
-  m_oversampleCbKey = 0;
   m_voltageCbKey = 0;
 }
 

simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_Analog.hpp

@@ -26,8 +26,6 @@ class HALSimWSProviderAnalogIn : public HALSimWSHalChanProvider {
 
  private:
   int32_t m_initCbKey = 0;
-  int32_t m_avgbitsCbKey = 0;
-  int32_t m_oversampleCbKey = 0;
   int32_t m_voltageCbKey = 0;
 };
 

wpilibc/src/main/native/cpp/hardware/discrete/AnalogInput.cpp

@@ -17,10 +17,6 @@
 using namespace wpi;
 
 AnalogInput::AnalogInput(int channel) {
-  if (!SensorUtil::CheckAnalogInputChannel(channel)) {
-    throw WPILIB_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
-  }
-
   m_channel = channel;
   int32_t status = 0;
   std::string stackTrace = wpi::util::GetStackTrace(1);
@@ -39,13 +35,6 @@ int AnalogInput::GetValue() const {
   return value;
 }
 
-int AnalogInput::GetAverageValue() const {
-  int32_t status = 0;
-  int value = HAL_GetAnalogAverageValue(m_port, &status);
-  WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
-  return value;
-}
-
 double AnalogInput::GetVoltage() const {
   int32_t status = 0;
   double voltage = HAL_GetAnalogVoltage(m_port, &status);
@@ -53,70 +42,10 @@ double AnalogInput::GetVoltage() const {
   return voltage;
 }
 
-double AnalogInput::GetAverageVoltage() const {
-  int32_t status = 0;
-  double voltage = HAL_GetAnalogAverageVoltage(m_port, &status);
-  WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
-  return voltage;
-}
-
 int AnalogInput::GetChannel() const {
   return m_channel;
 }
 
-void AnalogInput::SetAverageBits(int bits) {
-  int32_t status = 0;
-  HAL_SetAnalogAverageBits(m_port, bits, &status);
-  WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
-}
-
-int AnalogInput::GetAverageBits() const {
-  int32_t status = 0;
-  int averageBits = HAL_GetAnalogAverageBits(m_port, &status);
-  WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
-  return averageBits;
-}
-
-void AnalogInput::SetOversampleBits(int bits) {
-  int32_t status = 0;
-  HAL_SetAnalogOversampleBits(m_port, bits, &status);
-  WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
-}
-
-int AnalogInput::GetOversampleBits() const {
-  int32_t status = 0;
-  int oversampleBits = HAL_GetAnalogOversampleBits(m_port, &status);
-  WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
-  return oversampleBits;
-}
-
-int AnalogInput::GetLSBWeight() const {
-  int32_t status = 0;
-  int lsbWeight = HAL_GetAnalogLSBWeight(m_port, &status);
-  WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
-  return lsbWeight;
-}
-
-int AnalogInput::GetOffset() const {
-  int32_t status = 0;
-  int offset = HAL_GetAnalogOffset(m_port, &status);
-  WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
-  return offset;
-}
-
-void AnalogInput::SetSampleRate(double samplesPerSecond) {
-  int32_t status = 0;
-  HAL_SetAnalogSampleRate(samplesPerSecond, &status);
-  WPILIB_CheckErrorStatus(status, "SetSampleRate");
-}
-
-double AnalogInput::GetSampleRate() {
-  int32_t status = 0;
-  double sampleRate = HAL_GetAnalogSampleRate(&status);
-  WPILIB_CheckErrorStatus(status, "GetSampleRate");
-  return sampleRate;
-}
-
 void AnalogInput::SetSimDevice(HAL_SimDeviceHandle device) {
   HAL_SetAnalogInputSimDevice(m_port, device);
 }
@@ -124,5 +53,5 @@ void AnalogInput::SetSimDevice(HAL_SimDeviceHandle device) {
 void AnalogInput::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Analog Input");
   builder.AddDoubleProperty(
-      "Value", [=, this] { return GetAverageVoltage(); }, nullptr);
+      "Value", [=, this] { return GetVoltage(); }, nullptr);
 }

wpilibc/src/main/native/cpp/hardware/discrete/DigitalInput.cpp

@@ -17,9 +17,6 @@
 using namespace wpi;
 
 DigitalInput::DigitalInput(int channel) {
-  if (!SensorUtil::CheckDigitalChannel(channel)) {
-    throw WPILIB_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
-  }
   m_channel = channel;
 
   int32_t status = 0;

wpilibc/src/main/native/cpp/hardware/discrete/DigitalOutput.cpp

@@ -18,9 +18,6 @@ using namespace wpi;
 
 DigitalOutput::DigitalOutput(int channel) {
   m_pwmGenerator = HAL_INVALID_HANDLE;
-  if (!SensorUtil::CheckDigitalChannel(channel)) {
-    throw WPILIB_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
-  }
   m_channel = channel;
 
   int32_t status = 0;
@@ -120,9 +117,6 @@ void DigitalOutput::DisablePWM() {
 
   int32_t status = 0;
 
-  // Disable the output by routing to a dead bit.
-  HAL_SetDigitalPWMOutputChannel(m_pwmGenerator,
-                                 SensorUtil::GetNumDigitalChannels(), &status);
   WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
 
   HAL_FreeDigitalPWM(m_pwmGenerator);

wpilibc/src/main/native/cpp/hardware/discrete/PWM.cpp

@@ -15,10 +15,6 @@
 using namespace wpi;
 
 PWM::PWM(int channel, bool registerSendable) {
-  if (!SensorUtil::CheckPWMChannel(channel)) {
-    throw WPILIB_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
-  }
-
   auto stack = wpi::util::GetStackTrace(1);
   int32_t status = 0;
   m_handle = HAL_InitializePWMPort(channel, stack.c_str(), &status);

wpilibc/src/main/native/cpp/hardware/led/AddressableLED.cpp

@@ -9,16 +9,11 @@
 #include "wpi/hal/AddressableLED.h"
 #include "wpi/hal/UsageReporting.hpp"
 #include "wpi/system/Errors.hpp"
-#include "wpi/util/SensorUtil.hpp"
 #include "wpi/util/StackTrace.hpp"
 
 using namespace wpi;
 
 AddressableLED::AddressableLED(int channel) : m_channel{channel} {
-  if (!SensorUtil::CheckDigitalChannel(channel)) {
-    throw WPILIB_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
-  }
-
   int32_t status = 0;
   auto stack = wpi::util::GetStackTrace(1);
   m_handle = HAL_InitializeAddressableLED(channel, stack.c_str(), &status);

wpilibc/src/main/native/cpp/hardware/rotation/DutyCycle.cpp

@@ -16,9 +16,6 @@
 using namespace wpi;
 
 DutyCycle::DutyCycle(int channel) : m_channel{channel} {
-  if (!SensorUtil::CheckDigitalChannel(channel)) {
-    throw WPILIB_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
-  }
   InitDutyCycle();
 }
 

wpilibc/src/main/native/cpp/simulation/AnalogInputSim.cpp

@@ -34,40 +34,6 @@ void AnalogInputSim::SetInitialized(bool initialized) {
   HALSIM_SetAnalogInInitialized(m_index, initialized);
 }
 
-std::unique_ptr<CallbackStore> AnalogInputSim::RegisterAverageBitsCallback(
-    NotifyCallback callback, bool initialNotify) {
-  auto store = std::make_unique<CallbackStore>(
-      m_index, -1, callback, &HALSIM_CancelAnalogInAverageBitsCallback);
-  store->SetUid(HALSIM_RegisterAnalogInAverageBitsCallback(
-      m_index, &CallbackStoreThunk, store.get(), initialNotify));
-  return store;
-}
-
-int AnalogInputSim::GetAverageBits() const {
-  return HALSIM_GetAnalogInAverageBits(m_index);
-}
-
-void AnalogInputSim::SetAverageBits(int averageBits) {
-  HALSIM_SetAnalogInAverageBits(m_index, averageBits);
-}
-
-std::unique_ptr<CallbackStore> AnalogInputSim::RegisterOversampleBitsCallback(
-    NotifyCallback callback, bool initialNotify) {
-  auto store = std::make_unique<CallbackStore>(
-      m_index, -1, callback, &HALSIM_CancelAnalogInOversampleBitsCallback);
-  store->SetUid(HALSIM_RegisterAnalogInOversampleBitsCallback(
-      m_index, &CallbackStoreThunk, store.get(), initialNotify));
-  return store;
-}
-
-int AnalogInputSim::GetOversampleBits() const {
-  return HALSIM_GetAnalogInOversampleBits(m_index);
-}
-
-void AnalogInputSim::SetOversampleBits(int oversampleBits) {
-  HALSIM_SetAnalogInOversampleBits(m_index, oversampleBits);
-}
-
 std::unique_ptr<CallbackStore> AnalogInputSim::RegisterVoltageCallback(
     NotifyCallback callback, bool initialNotify) {
   auto store = std::make_unique<CallbackStore>(

wpilibc/src/main/native/cpp/util/SensorUtil.cpp

@@ -4,9 +4,6 @@
 
 #include "wpi/util/SensorUtil.hpp"
 
-#include "wpi/hal/AnalogInput.h"
-#include "wpi/hal/DIO.h"
-#include "wpi/hal/PWM.h"
 #include "wpi/hal/Ports.h"
 
 using namespace wpi;
@@ -19,26 +16,6 @@ int SensorUtil::GetDefaultREVPHModule() {
   return 1;
 }
 
-bool SensorUtil::CheckDigitalChannel(int channel) {
+int SensorUtil::GetNumSmartIoPorts() {
-  return HAL_CheckDIOChannel(channel);
+  return HAL_GetNumSmartIo();
-}
-
-bool SensorUtil::CheckPWMChannel(int channel) {
-  return HAL_CheckPWMChannel(channel);
-}
-
-bool SensorUtil::CheckAnalogInputChannel(int channel) {
-  return HAL_CheckAnalogInputChannel(channel);
-}
-
-int SensorUtil::GetNumDigitalChannels() {
-  return HAL_GetNumDigitalChannels();
-}
-
-int SensorUtil::GetNumAnalogInputs() {
-  return HAL_GetNumAnalogInputs();
-}
-
-int SensorUtil::GetNumPwmChannels() {
-  return HAL_GetNumPWMChannels();
 }

wpilibc/src/main/native/cppcs/RobotBase.cpp

@@ -28,14 +28,10 @@
 #include "wpi/util/print.hpp"
 #include "wpi/util/timestamp.hpp"
 
-static_assert(wpi::RuntimeType::ROBORIO ==
-              static_cast<wpi::RuntimeType>(HAL_RUNTIME_ROBORIO));
-static_assert(wpi::RuntimeType::ROBORIO_2 ==
-              static_cast<wpi::RuntimeType>(HAL_RUNTIME_ROBORIO_2));
-static_assert(wpi::RuntimeType::SIMULATION ==
-              static_cast<wpi::RuntimeType>(HAL_RUNTIME_SIMULATION));
 static_assert(wpi::RuntimeType::SYSTEMCORE ==
               static_cast<wpi::RuntimeType>(HAL_RUNTIME_SYSTEMCORE));
+static_assert(wpi::RuntimeType::SIMULATION ==
+              static_cast<wpi::RuntimeType>(HAL_RUNTIME_SIMULATION));
 
 using SetCameraServerSharedFP = void (*)(wpi::CameraServerShared*);
 

wpilibc/src/main/native/include/wpi/hardware/discrete/AnalogInput.hpp

@@ -51,52 +51,15 @@ class AnalogInput : public wpi::util::Sendable,
    */
   int GetValue() const;
 
-  /**
-   * Get a sample from the output of the oversample and average engine for this
-   * channel.
-   *
-   * The sample is 12-bit + the bits configured in SetOversampleBits().
-   * The value configured in SetAverageBits() will cause this value to be
-   * averaged 2**bits number of samples.
-   *
-   * This is not a sliding window. The sample will not change until
-   * 2**(OversampleBits + AverageBits) samples have been acquired from the
-   * module on this channel.
-   *
-   * Use GetAverageVoltage() to get the analog value in calibrated units.
-   *
-   * @return A sample from the oversample and average engine for this channel.
-   */
-  int GetAverageValue() const;
-
   /**
    * Get a scaled sample straight from this channel.
    *
-   * The value is scaled to units of Volts using the calibrated scaling data
+   * The value is scaled to units of Volts.
-   * from GetLSBWeight() and GetOffset().
    *
    * @return A scaled sample straight from this channel.
    */
   double GetVoltage() const;
 
-  /**
-   * Get a scaled sample from the output of the oversample and average engine
-   * for this channel.
-   *
-   * The value is scaled to units of Volts using the calibrated scaling data
-   * from GetLSBWeight() and GetOffset().
-   *
-   * Using oversampling will cause this value to be higher resolution, but it
-   * will update more slowly.
-   *
-   * Using averaging will cause this value to be more stable, but it will update
-   * more slowly.
-   *
-   * @return A scaled sample from the output of the oversample and average
-   * engine for this channel.
-   */
-  double GetAverageVoltage() const;
-
   /**
    * Get the channel number.
    *
@@ -104,88 +67,6 @@ class AnalogInput : public wpi::util::Sendable,
    */
   int GetChannel() const;
 
-  /**
-   * Set the number of averaging bits.
-   *
-   * This sets the number of averaging bits. The actual number of averaged
-   * samples is 2^bits.
-   *
-   * Use averaging to improve the stability of your measurement at the expense
-   * of sampling rate. The averaging is done automatically in the FPGA.
-   *
-   * @param bits Number of bits of averaging.
-   */
-  void SetAverageBits(int bits);
-
-  /**
-   * Get the number of averaging bits previously configured.
-   *
-   * This gets the number of averaging bits from the FPGA. The actual number of
-   * averaged samples is 2^bits. The averaging is done automatically in the
-   * FPGA.
-   *
-   * @return Number of bits of averaging previously configured.
-   */
-  int GetAverageBits() const;
-
-  /**
-   * Set the number of oversample bits.
-   *
-   * This sets the number of oversample bits. The actual number of oversampled
-   * values is 2^bits. Use oversampling to improve the resolution of your
-   * measurements at the expense of sampling rate. The oversampling is done
-   * automatically in the FPGA.
-   *
-   * @param bits Number of bits of oversampling.
-   */
-  void SetOversampleBits(int bits);
-
-  /**
-   * Get the number of oversample bits previously configured.
-   *
-   * This gets the number of oversample bits from the FPGA. The actual number of
-   * oversampled values is 2^bits. The oversampling is done automatically in the
-   * FPGA.
-   *
-   * @return Number of bits of oversampling previously configured.
-   */
-  int GetOversampleBits() const;
-
-  /**
-   * Get the factory scaling least significant bit weight constant.
-   *
-   * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
-   *
-   * @return Least significant bit weight.
-   */
-  int GetLSBWeight() const;
-
-  /**
-   * Get the factory scaling offset constant.
-   *
-   * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
-   *
-   * @return Offset constant.
-   */
-  int GetOffset() const;
-
-  /**
-   * Set the sample rate per channel for all analog channels.
-   *
-   * The maximum rate is 500kS/s divided by the number of channels in use.
-   * This is 62500 samples/s per channel.
-   *
-   * @param samplesPerSecond The number of samples per second.
-   */
-  static void SetSampleRate(double samplesPerSecond);
-
-  /**
-   * Get the current sample rate for all channels
-   *
-   * @return Sample rate.
-   */
-  static double GetSampleRate();
-
   /**
    * Indicates this input is used by a simulated device.
    *

wpilibc/src/main/native/include/wpi/hardware/discrete/PWM.hpp

@@ -16,12 +16,7 @@ namespace wpi {
 class AddressableLED;
 
 /**
- * Class implements the PWM generation in the FPGA.
+ * Class for sending pulse-width modulation (PWM) signals.
- *
- * The values supplied as arguments for PWM outputs range from -1.0 to 1.0. They
- * are mapped to the microseconds to keep the pulse high, with a range of 0
- * (off) to 4096. Changes are immediately sent to the FPGA, and the update
- * occurs at the next FPGA cycle (5.05ms). There is no delay.
  */
 class PWM : public wpi::util::Sendable, public wpi::util::SendableHelper<PWM> {
  public:

wpilibc/src/main/native/include/wpi/simulation/AnalogInputSim.hpp

@@ -59,58 +59,6 @@ class AnalogInputSim {
    */
   void SetInitialized(bool initialized);
 
-  /**
-   * Register a callback on the number of average bits.
-   *
-   * @param callback the callback that will be called whenever the number of
-   *                 average bits is changed
-   * @param initialNotify if true, the callback will be run on the initial value
-   * @return the CallbackStore object associated with this callback
-   */
-  [[nodiscard]]
-  std::unique_ptr<CallbackStore> RegisterAverageBitsCallback(
-      NotifyCallback callback, bool initialNotify);
-
-  /**
-   * Get the number of average bits.
-   *
-   * @return the number of average bits
-   */
-  int GetAverageBits() const;
-
-  /**
-   * Change the number of average bits.
-   *
-   * @param averageBits the new value
-   */
-  void SetAverageBits(int averageBits);
-
-  /**
-   * Register a callback on the amount of oversampling bits.
-   *
-   * @param callback the callback that will be called whenever the oversampling
-   *                 bits are changed
-   * @param initialNotify if true, the callback will be run on the initial value
-   * @return the CallbackStore object associated with this callback
-   */
-  [[nodiscard]]
-  std::unique_ptr<CallbackStore> RegisterOversampleBitsCallback(
-      NotifyCallback callback, bool initialNotify);
-
-  /**
-   * Get the amount of oversampling bits.
-   *
-   * @return the amount of oversampling bits
-   */
-  int GetOversampleBits() const;
-
-  /**
-   * Change the amount of oversampling bits.
-   *
-   * @param oversampleBits the new value
-   */
-  void SetOversampleBits(int oversampleBits);
-
   /**
    * Register a callback on the voltage.
    *

wpilibc/src/main/native/include/wpi/system/RuntimeType.hpp

@@ -9,12 +9,9 @@ namespace wpi {
  * Runtime type.
  */
 enum class RuntimeType {
-  /// roboRIO 1.0.
+  /// Systemcore runtime.
-  ROBORIO,
+  SYSTEMCORE,
-  /// roboRIO 2.0.
-  ROBORIO_2,
   /// Simulation runtime.
-  SIMULATION,
+  SIMULATION
-  SYSTEMCORE
 };
 }  // namespace wpi

wpilibc/src/main/native/include/wpi/util/SensorUtil.hpp

@@ -28,39 +28,7 @@ class SensorUtil final {
    */
   static int GetDefaultREVPHModule();
 
-  /**
+  static int GetNumSmartIoPorts();
-   * Check that the digital channel number is valid.
-   *
-   * Verify that the channel number is one of the legal channel numbers. Channel
-   * numbers are 0-based.
-   *
-   * @return Digital channel is valid
-   */
-  static bool CheckDigitalChannel(int channel);
-
-  /**
-   * Check that the PWM channel number is valid.
-   *
-   * Verify that the channel number is one of the legal channel numbers. Channel
-   * numbers are 0-based.
-   *
-   * @return PWM channel is valid
-   */
-  static bool CheckPWMChannel(int channel);
-
-  /**
-   * Check that the analog input number is value.
-   *
-   * Verify that the analog input number is one of the legal channel numbers.
-   * Channel numbers are 0-based.
-   *
-   * @return Analog channel is valid
-   */
-  static bool CheckAnalogInputChannel(int channel);
-
-  static int GetNumDigitalChannels();
-  static int GetNumAnalogInputs();
-  static int GetNumPwmChannels();
 };
 
 }  // namespace wpi

wpilibc/src/main/python/semiwrap/AnalogInput.yml

@@ -8,18 +8,8 @@ classes:
     methods:
       AnalogInput:
       GetValue:
-      GetAverageValue:
       GetVoltage:
-      GetAverageVoltage:
       GetChannel:
-      SetAverageBits:
-      GetAverageBits:
-      SetOversampleBits:
-      GetOversampleBits:
-      GetLSBWeight:
-      GetOffset:
-      SetSampleRate:
-      GetSampleRate:
       SetSimDevice:
       InitSendable:
 

wpilibc/src/main/python/semiwrap/SensorUtil.yml

@@ -2,11 +2,6 @@ classes:
   wpi::SensorUtil:
     nodelete: true
     methods:
-      CheckDigitalChannel:
-      CheckPWMChannel:
-      CheckAnalogInputChannel:
       GetDefaultCTREPCMModule:
       GetDefaultREVPHModule:
-      GetNumDigitalChannels:
+      GetNumSmartIoPorts:
-      GetNumAnalogInputs:
-      GetNumPwmChannels:

wpilibc/src/main/python/semiwrap/simulation/AnalogInputSim.yml

@@ -13,12 +13,6 @@ classes:
       RegisterInitializedCallback:
       GetInitialized:
       SetInitialized:
-      RegisterAverageBitsCallback:
-      GetAverageBits:
-      SetAverageBits:
-      RegisterOversampleBitsCallback:
-      GetOversampleBits:
-      SetOversampleBits:
       RegisterVoltageCallback:
       GetVoltage:
       SetVoltage:

wpilibc/src/test/native/cpp/simulation/AnalogInputSimTest.cpp

@@ -62,34 +62,4 @@ TEST(AnalogInputSimTest, SetVoltage) {
   }
 }
 
-TEST(AnalogInputSimTest, SetOverSampleBits) {
-  HAL_Initialize(500, 0);
-  AnalogInput input{5};
-  AnalogInputSim sim(input);
-
-  IntCallback callback;
-  auto cb = sim.RegisterOversampleBitsCallback(callback.GetCallback(), false);
-
-  input.SetOversampleBits(3504);
-  EXPECT_EQ(3504, sim.GetOversampleBits());
-  EXPECT_EQ(3504, input.GetOversampleBits());
-  EXPECT_TRUE(callback.WasTriggered());
-  EXPECT_EQ(3504, callback.GetLastValue());
-}
-
-TEST(AnalogInputSimTest, SetAverageBits) {
-  HAL_Initialize(500, 0);
-  AnalogInput input{5};
-  AnalogInputSim sim(input);
-
-  IntCallback callback;
-  auto cb = sim.RegisterAverageBitsCallback(callback.GetCallback(), false);
-
-  input.SetAverageBits(3504);
-  EXPECT_EQ(3504, sim.GetAverageBits());
-  EXPECT_EQ(3504, input.GetAverageBits());
-  EXPECT_TRUE(callback.WasTriggered());
-  EXPECT_EQ(3504, callback.GetLastValue());
-}
-
 }  // namespace wpi::sim

wpilibcExamples/src/main/cpp/snippets/AnalogInput/cpp/Robot.cpp

@@ -12,16 +12,6 @@
 class Robot : public wpi::TimedRobot {
  public:
   Robot() {
-    // Sets the AnalogInput to 4-bit oversampling.  16 samples will be added
-    // together.
-    // Thus, the reported values will increase by about a factor of 16, and the
-    // update rate will decrease by a similar amount.
-    m_analog.SetOversampleBits(4);
-
-    // Sets the AnalogInput to 4-bit averaging.  16 samples will be averaged
-    // together. The update rate will decrease by a factor of 16.
-    m_analog.SetAverageBits(4);
-
     // Gets the raw instantaneous measured value from the analog input, without
     // applying any calibration and ignoring oversampling and averaging
     // settings.
@@ -30,14 +20,6 @@ class Robot : public wpi::TimedRobot {
     // Gets the instantaneous measured voltage from the analog input.
     // Oversampling and averaging settings are ignored
     m_analog.GetVoltage();
-
-    // Gets the averaged value from the analog input.  The value is not
-    // rescaled, but oversampling and averaging are both applied.
-    m_analog.GetAverageValue();
-
-    // Gets the averaged voltage from the analog input.  Rescaling,
-    // oversampling, and averaging are all applied.
-    m_analog.GetAverageVoltage();
   }
 
   void TeleopPeriodic() override {}

wpilibcExamples/src/main/cpp/snippets/AnalogPotentiometer/cpp/Robot.cpp

@@ -12,10 +12,7 @@
  */
 class Robot : public wpi::TimedRobot {
  public:
-  Robot() {
+  Robot() {}
-    // Set averaging bits to 2
-    m_input.SetAverageBits(2);
-  }
 
   void TeleopPeriodic() override {
     // Get the value of the potentiometer

wpilibj/src/main/java/org/wpilib/hardware/discrete/AnalogInput.java

@@ -56,22 +56,7 @@ public class AnalogInput implements Sendable, AutoCloseable {
   }
 
   /**
-   * Get a sample from the output of the oversample and average engine for this channel. The sample
+   * Get a scaled sample straight from this channel. The value is scaled to units of Volts.
-   * is 12-bit + the bits configured in SetOversampleBits(). The value configured in
-   * setAverageBits() will cause this value to be averaged 2^bits number of samples. This is not a
-   * sliding window. The sample will not change until 2^(OversampleBits + AverageBits) samples have
-   * been acquired from this channel. Use getAverageVoltage() to get the analog value in calibrated
-   * units.
-   *
-   * @return A sample from the oversample and average engine for this channel.
-   */
-  public int getAverageValue() {
-    return AnalogInputJNI.getAnalogAverageValue(m_port);
-  }
-
-  /**
-   * Get a scaled sample straight from this channel. The value is scaled to units of Volts using the
-   * calibrated scaling data from getLSBWeight() and getOffset().
    *
    * @return A scaled sample straight from this channel.
    */
@@ -79,43 +64,6 @@ public class AnalogInput implements Sendable, AutoCloseable {
     return AnalogInputJNI.getAnalogVoltage(m_port);
   }
 
-  /**
-   * Get a scaled sample from the output of the oversample and average engine for this channel. The
-   * value is scaled to units of Volts using the calibrated scaling data from getLSBWeight() and
-   * getOffset(). Using oversampling will cause this value to be higher resolution, but it will
-   * update more slowly. Using averaging will cause this value to be more stable, but it will update
-   * more slowly.
-   *
-   * @return A scaled sample from the output of the oversample and average engine for this channel.
-   */
-  public double getAverageVoltage() {
-    return AnalogInputJNI.getAnalogAverageVoltage(m_port);
-  }
-
-  /**
-   * Get the factory scaling the least significant bit weight constant. The least significant bit
-   * weight constant for the channel that was calibrated in manufacturing and stored in an eeprom.
-   *
-   * <p>Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
-   *
-   * @return Least significant bit weight.
-   */
-  public long getLSBWeight() {
-    return AnalogInputJNI.getAnalogLSBWeight(m_port);
-  }
-
-  /**
-   * Get the factory scaling offset constant. The offset constant for the channel that was
-   * calibrated in manufacturing and stored in an eeprom.
-   *
-   * <p>Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
-   *
-   * @return Offset constant.
-   */
-  public int getOffset() {
-    return AnalogInputJNI.getAnalogOffset(m_port);
-  }
-
   /**
    * Get the channel number.
    *
@@ -125,70 +73,6 @@ public class AnalogInput implements Sendable, AutoCloseable {
     return m_channel;
   }
 
-  /**
-   * Set the number of averaging bits. This sets the number of averaging bits. The actual number of
-   * averaged samples is 2^bits. The averaging is done automatically in the FPGA.
-   *
-   * @param bits The number of averaging bits.
-   */
-  public void setAverageBits(final int bits) {
-    AnalogInputJNI.setAnalogAverageBits(m_port, bits);
-  }
-
-  /**
-   * Get the number of averaging bits. This gets the number of averaging bits from the FPGA. The
-   * actual number of averaged samples is 2^bits. The averaging is done automatically in the FPGA.
-   *
-   * @return The number of averaging bits.
-   */
-  public int getAverageBits() {
-    return AnalogInputJNI.getAnalogAverageBits(m_port);
-  }
-
-  /**
-   * Set the number of oversample bits. This sets the number of oversample bits. The actual number
-   * of oversampled values is 2^bits. The oversampling is done automatically in the FPGA.
-   *
-   * @param bits The number of oversample bits.
-   */
-  public void setOversampleBits(final int bits) {
-    AnalogInputJNI.setAnalogOversampleBits(m_port, bits);
-  }
-
-  /**
-   * Get the number of oversample bits. This gets the number of oversample bits from the FPGA. The
-   * actual number of oversampled values is 2^bits. The oversampling is done automatically in the
-   * FPGA.
-   *
-   * @return The number of oversample bits.
-   */
-  public int getOversampleBits() {
-    return AnalogInputJNI.getAnalogOversampleBits(m_port);
-  }
-
-  /**
-   * Set the sample rate per channel.
-   *
-   * <p>This is a global setting for all channels. The maximum rate is 500kS/s divided by the number
-   * of channels in use. This is 62500 samples/s per channel if all 8 channels are used.
-   *
-   * @param samplesPerSecond The number of samples per second.
-   */
-  public static void setGlobalSampleRate(final double samplesPerSecond) {
-    AnalogInputJNI.setAnalogSampleRate(samplesPerSecond);
-  }
-
-  /**
-   * Get the current sample rate.
-   *
-   * <p>This assumes one entry in the scan list. This is a global setting for all channels.
-   *
-   * @return Sample rate.
-   */
-  public static double getGlobalSampleRate() {
-    return AnalogInputJNI.getAnalogSampleRate();
-  }
-
   /**
    * Indicates this input is used by a simulated device.
    *
@@ -201,6 +85,6 @@ public class AnalogInput implements Sendable, AutoCloseable {
   @Override
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("Analog Input");
-    builder.addDoubleProperty("Value", this::getAverageVoltage, null);
+    builder.addDoubleProperty("Value", this::getVoltage, null);
   }
 }

wpilibj/src/main/java/org/wpilib/hardware/discrete/DigitalInput.java

@@ -7,7 +7,6 @@ package org.wpilib.hardware.discrete;
 import org.wpilib.hardware.hal.DIOJNI;
 import org.wpilib.hardware.hal.HAL;
 import org.wpilib.hardware.hal.SimDevice;
-import org.wpilib.system.SensorUtil;
 import org.wpilib.util.sendable.Sendable;
 import org.wpilib.util.sendable.SendableBuilder;
 import org.wpilib.util.sendable.SendableRegistry;
@@ -29,7 +28,6 @@ public class DigitalInput implements AutoCloseable, Sendable {
    */
   @SuppressWarnings("this-escape")
   public DigitalInput(int channel) {
-    SensorUtil.checkDigitalChannel(channel);
     m_channel = channel;
 
     m_handle = DIOJNI.initializeDIOPort(channel, true);

wpilibj/src/main/java/org/wpilib/hardware/discrete/DigitalOutput.java

@@ -7,7 +7,6 @@ package org.wpilib.hardware.discrete;
 import org.wpilib.hardware.hal.DIOJNI;
 import org.wpilib.hardware.hal.HAL;
 import org.wpilib.hardware.hal.SimDevice;
-import org.wpilib.system.SensorUtil;
 import org.wpilib.util.sendable.Sendable;
 import org.wpilib.util.sendable.SendableBuilder;
 import org.wpilib.util.sendable.SendableRegistry;
@@ -30,7 +29,6 @@ public class DigitalOutput implements AutoCloseable, Sendable {
    */
   @SuppressWarnings("this-escape")
   public DigitalOutput(int channel) {
-    SensorUtil.checkDigitalChannel(channel);
     m_channel = channel;
 
     m_handle = DIOJNI.initializeDIOPort(channel, false);
@@ -161,8 +159,6 @@ public class DigitalOutput implements AutoCloseable, Sendable {
     if (m_pwmGenerator == invalidPwmGenerator) {
       return;
     }
-    // Disable the output by routing to a dead bit.
-    DIOJNI.setDigitalPWMOutputChannel(m_pwmGenerator, SensorUtil.NUM_DIGITAL_CHANNELS);
     DIOJNI.freeDigitalPWM(m_pwmGenerator);
     m_pwmGenerator = invalidPwmGenerator;
   }

wpilibj/src/main/java/org/wpilib/hardware/discrete/PWM.java

@@ -7,7 +7,6 @@ package org.wpilib.hardware.discrete;
 import org.wpilib.hardware.hal.HAL;
 import org.wpilib.hardware.hal.PWMJNI;
 import org.wpilib.hardware.hal.SimDevice;
-import org.wpilib.system.SensorUtil;
 import org.wpilib.util.sendable.Sendable;
 import org.wpilib.util.sendable.SendableBuilder;
 import org.wpilib.util.sendable.SendableRegistry;
@@ -46,7 +45,6 @@ public class PWM implements Sendable, AutoCloseable {
    */
   @SuppressWarnings("this-escape")
   public PWM(final int channel, final boolean registerSendable) {
-    SensorUtil.checkPWMChannel(channel);
     m_channel = channel;
 
     m_handle = PWMJNI.initializePWMPort(channel);

wpilibj/src/main/java/org/wpilib/simulation/AnalogInputSim.java

@@ -60,67 +60,6 @@ public class AnalogInputSim {
     AnalogInDataJNI.setInitialized(m_index, initialized);
   }
 
-  /**
-   * Register a callback on the number of average bits.
-   *
-   * @param callback the callback that will be called whenever the number of average bits is changed
-   * @param initialNotify if true, the callback will be run on the initial value
-   * @return the {@link CallbackStore} object associated with this callback.
-   */
-  public CallbackStore registerAverageBitsCallback(NotifyCallback callback, boolean initialNotify) {
-    int uid = AnalogInDataJNI.registerAverageBitsCallback(m_index, callback, initialNotify);
-    return new CallbackStore(m_index, uid, AnalogInDataJNI::cancelAverageBitsCallback);
-  }
-
-  /**
-   * Get the number of average bits.
-   *
-   * @return the number of average bits
-   */
-  public int getAverageBits() {
-    return AnalogInDataJNI.getAverageBits(m_index);
-  }
-
-  /**
-   * Change the number of average bits.
-   *
-   * @param averageBits the new value
-   */
-  public void setAverageBits(int averageBits) {
-    AnalogInDataJNI.setAverageBits(m_index, averageBits);
-  }
-
-  /**
-   * Register a callback on the amount of oversampling bits.
-   *
-   * @param callback the callback that will be called whenever the oversampling bits are changed.
-   * @param initialNotify if true, the callback will be run on the initial value
-   * @return the {@link CallbackStore} object associated with this callback.
-   */
-  public CallbackStore registerOversampleBitsCallback(
-      NotifyCallback callback, boolean initialNotify) {
-    int uid = AnalogInDataJNI.registerOversampleBitsCallback(m_index, callback, initialNotify);
-    return new CallbackStore(m_index, uid, AnalogInDataJNI::cancelOversampleBitsCallback);
-  }
-
-  /**
-   * Get the amount of oversampling bits.
-   *
-   * @return the amount of oversampling bits
-   */
-  public int getOversampleBits() {
-    return AnalogInDataJNI.getOversampleBits(m_index);
-  }
-
-  /**
-   * Change the amount of oversampling bits.
-   *
-   * @param oversampleBits the new value
-   */
-  public void setOversampleBits(int oversampleBits) {
-    AnalogInDataJNI.setOversampleBits(m_index, oversampleBits);
-  }
-
   /**
    * Register a callback on the voltage.
    *

wpilibj/src/main/java/org/wpilib/system/RuntimeType.java

@@ -8,14 +8,10 @@ import org.wpilib.hardware.hal.HALUtil;
 
 /** Runtime type. */
 public enum RuntimeType {
-  /** roboRIO 1.0. */
+  /** Systemcore runtime. */
-  ROBORIO(HALUtil.RUNTIME_ROBORIO),
+  SYSTEMCORE(HALUtil.RUNTIME_SYSTEMCORE),
-  /** roboRIO 2.0. */
-  ROBORIO_2(HALUtil.RUNTIME_ROBORIO_2),
   /** Simulation runtime. */
-  SIMULATION(HALUtil.RUNTIME_SIMULATION),
+  SIMULATION(HALUtil.RUNTIME_SIMULATION);
-  /** Systemcore. */
-  SYSTEMCORE(HALUtil.RUNTIME_SYSTEMCORE);
 
   /** RuntimeType value. */
   public final int value;
@@ -31,11 +27,10 @@ public enum RuntimeType {
    * @return Matching runtime type
    */
   public static RuntimeType getValue(int type) {
-    return switch (type) {
+    if (type == HALUtil.RUNTIME_SYSTEMCORE) {
-      case HALUtil.RUNTIME_ROBORIO -> RuntimeType.ROBORIO;
+      return RuntimeType.SYSTEMCORE;
-      case HALUtil.RUNTIME_ROBORIO_2 -> RuntimeType.ROBORIO_2;
+    } else {
-      case HALUtil.RUNTIME_SYSTEMCORE -> RuntimeType.SYSTEMCORE;
+      return RuntimeType.SIMULATION;
-      default -> RuntimeType.SIMULATION;
+    }
-    };
   }
 }

wpilibj/src/main/java/org/wpilib/system/SensorUtil.java

@@ -4,10 +4,6 @@
 
 package org.wpilib.system;
 
-import org.wpilib.hardware.hal.AnalogInputJNI;
-import org.wpilib.hardware.hal.ConstantsJNI;
-import org.wpilib.hardware.hal.DIOJNI;
-import org.wpilib.hardware.hal.PWMJNI;
 import org.wpilib.hardware.hal.PortsJNI;
 
 /**
@@ -15,22 +11,12 @@ import org.wpilib.hardware.hal.PortsJNI;
  * channels and error processing.
  */
 public final class SensorUtil {
-  /** Ticks per microsecond. */
+  /** Number of SmartIo Ports. */
-  public static final int SYSTEM_CLOCK_TICKS_PER_MICROSECOND =
+  public static final int kSmartIoPorts = PortsJNI.getNumSmartIo();
-      ConstantsJNI.getSystemClockTicksPerMicrosecond();
-
-  /** Number of digital channels per Systemcore. */
-  public static final int NUM_DIGITAL_CHANNELS = PortsJNI.getNumDigitalChannels();
-
-  /** Number of analog input channels per Systemcore. */
-  public static final int NUM_ANALOG_INPUTS = PortsJNI.getNumAnalogInputs();
 
   /** Number of solenoid channels per module. */
   public static final int NUM_CTRE_SOLENOID_CHANNELS = PortsJNI.getNumCTRESolenoidChannels();
 
-  /** Number of PWM channels per Systemcore. */
-  public static final int NUM_PWM_CHANNELS = PortsJNI.getNumPWMChannels();
-
   /** Number of power distribution channels per PDP. */
   public static final int NUM_CTRE_PDP_CHANNELS = PortsJNI.getNumCTREPDPChannels();
 
@@ -46,57 +32,6 @@ public final class SensorUtil {
   /** Number of PH modules. */
   public static final int NUM_REV_PH_MODULES = PortsJNI.getNumREVPHModules();
 
-  /**
-   * Check that the digital channel number is valid. Verify that the channel number is one of the
-   * legal channel numbers. Channel numbers are 0-based.
-   *
-   * @param channel The channel number to check.
-   */
-  public static void checkDigitalChannel(final int channel) {
-    if (!DIOJNI.checkDIOChannel(channel)) {
-      String buf =
-          "Requested DIO channel is out of range. Minimum: 0, Maximum: "
-              + NUM_DIGITAL_CHANNELS
-              + ", Requested: "
-              + channel;
-      throw new IllegalArgumentException(buf);
-    }
-  }
-
-  /**
-   * Check that the PWM channel number is valid. Verify that the channel number is one of the legal
-   * channel numbers. Channel numbers are 0-based.
-   *
-   * @param channel The channel number to check.
-   */
-  public static void checkPWMChannel(final int channel) {
-    if (!PWMJNI.checkPWMChannel(channel)) {
-      String buf =
-          "Requested PWM channel is out of range. Minimum: 0, Maximum: "
-              + NUM_PWM_CHANNELS
-              + ", Requested: "
-              + channel;
-      throw new IllegalArgumentException(buf);
-    }
-  }
-
-  /**
-   * Check that the analog input number is value. Verify that the analog input number is one of the
-   * legal channel numbers. Channel numbers are 0-based.
-   *
-   * @param channel The channel number to check.
-   */
-  public static void checkAnalogInputChannel(final int channel) {
-    if (!AnalogInputJNI.checkAnalogInputChannel(channel)) {
-      String buf =
-          "Requested analog input channel is out of range. Minimum: 0, Maximum: "
-              + NUM_ANALOG_INPUTS
-              + ", Requested: "
-              + channel;
-      throw new IllegalArgumentException(buf);
-    }
-  }
-
   /**
    * Get the number of the default solenoid module.
    *

wpilibj/src/test/java/org/wpilib/simulation/AnalogInputSimTest.java

@@ -52,13 +52,4 @@ class AnalogInputSimTest {
       }
     }
   }
-
-  @Test
-  void testSetOverSampleBits() {
-    HAL.initialize(500, 0);
-    try (AnalogInput input = new AnalogInput(5)) {
-      input.setOversampleBits(3504);
-      assertEquals(3504, input.getOversampleBits());
-    }
-  }
 }

wpilibj/src/test/java/org/wpilib/system/SensorUtilTest.java

@@ -5,26 +5,10 @@
 package org.wpilib.system;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertThrows;
 
 import org.junit.jupiter.api.Test;
 
 class SensorUtilTest {
-  @Test
-  void checkAnalogInputChannel() {
-    assertThrows(IllegalArgumentException.class, () -> SensorUtil.checkAnalogInputChannel(100));
-  }
-
-  @Test
-  void testInvalidDigitalChannel() {
-    assertThrows(IllegalArgumentException.class, () -> SensorUtil.checkDigitalChannel(100));
-  }
-
-  @Test
-  void testInvalidPwmChannel() {
-    assertThrows(IllegalArgumentException.class, () -> SensorUtil.checkPWMChannel(100));
-  }
-
   @Test
   void testgetDefaultCtrePcmModule() {
     assertEquals(0, SensorUtil.getDefaultCTREPCMModule());

wpilibjExamples/src/main/java/org/wpilib/snippets/analoginput/Robot.java

@@ -16,16 +16,7 @@ public class Robot extends TimedRobot {
   AnalogInput m_analog = new AnalogInput(0);
 
   /** Called once at the beginning of the robot program. */
-  public Robot() {
+  public Robot() {}
-    // Sets the AnalogInput to 4-bit oversampling.  16 samples will be added together.
-    // Thus, the reported values will increase by about a factor of 16, and the update
-    // rate will decrease by a similar amount.
-    m_analog.setOversampleBits(4);
-
-    // Sets the AnalogInput to 4-bit averaging.  16 samples will be averaged together.
-    // The update rate will decrease by a factor of 16.
-    m_analog.setAverageBits(4);
-  }
 
   @Override
   public void teleopPeriodic() {
@@ -37,13 +28,5 @@ public class Robot extends TimedRobot {
     // Gets the instantaneous measured voltage from the analog input.
     // Oversampling and averaging settings are ignored
     m_analog.getVoltage();
-
-    // Gets the averaged value from the analog input.  The value is not
-    // rescaled, but oversampling and averaging are both applied.
-    m_analog.getAverageValue();
-
-    // Gets the averaged voltage from the analog input.  Rescaling,
-    // oversampling, and averaging are all applied.
-    m_analog.getAverageVoltage();
   }
 }

wpilibjExamples/src/main/java/org/wpilib/snippets/analogpotentiometer/Robot.java

@@ -30,10 +30,7 @@ public class Robot extends TimedRobot {
   AnalogPotentiometer m_pot1 = new AnalogPotentiometer(m_input, 180, 30);
 
   /** Called once at the beginning of the robot program. */
-  public Robot() {
+  public Robot() {}
-    // Set averaging bits to 2
-    m_input.setAverageBits(2);
-  }
 
   @Override
   public void teleopPeriodic() {

wpimath/src/main/java/org/wpilib/math/filter/LinearFilter.java

@@ -27,11 +27,10 @@ import org.wpilib.util.container.DoubleCircularBuffer;
  * impact of these high frequency components. Likewise, a "high pass" filter gets rid of slow-moving
  * signal components, letting you detect large changes more easily.
  *
- * <p>Example FRC applications of filters: - Getting rid of noise from an analog sensor input (note:
+ * <p>Example FRC applications of filters: - Getting rid of noise from an analog sensor input -
- * the roboRIO's FPGA can do this faster in hardware) - Smoothing out joystick input to prevent the
+ * Smoothing out joystick input to prevent the wheels from slipping or the robot from tipping -
- * wheels from slipping or the robot from tipping - Smoothing motor commands so that unnecessary
+ * Smoothing motor commands so that unnecessary strain isn't put on electrical or mechanical
- * strain isn't put on electrical or mechanical components - If you use clever gains, you can make a
+ * components - If you use clever gains, you can make a PID controller out of this class!
- * PID controller out of this class!
  *
  * <p>For more on filters, we highly recommend the following articles:<br>
  * <a

wpimath/src/main/native/include/wpi/math/filter/LinearFilter.hpp

@@ -49,8 +49,7 @@ namespace wpi::math {
  * components, letting you detect large changes more easily.
  *
  * Example FRC applications of filters:
- *  - Getting rid of noise from an analog sensor input (note: the roboRIO's FPGA
+ *  - Getting rid of noise from an analog sensor input
- *    can do this faster in hardware)
  *  - Smoothing out joystick input to prevent the wheels from slipping or the
  *    robot from tipping
  *  - Smoothing motor commands so that unnecessary strain isn't put on