Merge branch 'main' into 2027

.github/workflows/gradle.yml

@@ -52,11 +52,11 @@ jobs:
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
         if: startsWith(github.ref, 'refs/tags/v2027')
       - name: Build with Gradle
-        uses: addnab/docker-run-action@v3
+        uses: addnab/docker-run-action@3e77f186b7a929ef010f183a9e24c0f9955ea609
         with:
           image: ${{ matrix.container }}
           options: -v ${{ github.workspace }}:/work -w /work -e ARTIFACTORY_PUBLISH_USERNAME -e ARTIFACTORY_PUBLISH_PASSWORD -e GITHUB_REF -e CI
-          run: df . && rm -f semicolon_delimited_script && echo $GITHUB_REF && ./gradlew build --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
+          run: df . && echo $GITHUB_REF && ./gradlew build --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
         env:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}

.github/workflows/sentinel-build.yml

@@ -53,11 +53,11 @@ jobs:
         with:
           fetch-depth: 0
       - name: Build with Gradle
-        uses: addnab/docker-run-action@v3
+        uses: addnab/docker-run-action@3e77f186b7a929ef010f183a9e24c0f9955ea609
         with:
           image: ${{ matrix.container }}
           options: -v ${{ github.workspace }}:/work -w /work -e GITHUB_REF -e CI
-          run: df . && rm -f semicolon_delimited_script && echo $GITHUB_REF && ./gradlew build -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
+          run: df . && echo $GITHUB_REF && ./gradlew build -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
       - name: Check free disk space
         run: df .
       - uses: actions/upload-artifact@v4

README.md

@@ -50,7 +50,7 @@ Using Gradle makes building WPILib very straightforward. It only has a few depen
 - C++ compiler
     - On Linux, install GCC 11 or greater
     - On Windows, install [Visual Studio Community 2022](https://visualstudio.microsoft.com/vs/community/) and select the C++ programming language during installation (Gradle can't use the build tools for Visual Studio)
-    - On macOS 13.3 or newer, install Xcode 14 or later (the command-line build tools are insufficient).
+    - On macOS, install the Xcode command-line build tools via `xcode-select --install`. Xcode 14 or later is required.
 - ARM compiler toolchain
     - Run `./gradlew installRoboRioToolchain` after cloning this repository
     - If the WPILib installer was used, this toolchain is already installed

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

@@ -90,7 +90,7 @@ wpi::units::ampere_t ElevatorSim::GetCurrentDraw() const {
   double kA = 1.0 / m_plant.B(1, 0);
   using Kv_t = wpi::units::unit_t<wpi::units::compound_unit<
       wpi::units::volt, wpi::units::inverse<wpi::units::meters_per_second>>>;
-  Kv_t Kv = Kv_t{kA * m_plant.A(1, 1)};
+  Kv_t Kv = Kv_t{-kA * m_plant.A(1, 1)};
   wpi::units::meters_per_second_t velocity{m_x(1)};
   wpi::units::radians_per_second_t motorVelocity = velocity * Kv * m_gearbox.Kv;
 

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

@@ -100,3 +100,15 @@ TEST(ElevatorSimTest, Stability) {
                         wpi::math::Vectord<1>{12.0}, 20_ms * 50)(0)},
                     sim.GetPosition(), 1_cm);
 }
+
+TEST(ElevatorSimTest, CurrentDraw) {
+  auto const motor = frc::DCMotor::KrakenX60(2);
+  frc::sim::ElevatorSim sim(motor, 20, 8_kg, 0.1_m, 0_m, 1_m, true, 0_m,
+                            {0.01, 0.0});
+
+  EXPECT_DOUBLE_EQ(0.0, sim.GetCurrentDraw().value());
+  sim.SetInputVoltage(motor.Voltage(motor.Torque(60_A), 0_rad_per_s));
+  sim.Update(100_ms);
+  // current draw should start at 60 A and decrease as the back emf catches up
+  EXPECT_TRUE(0_A < sim.GetCurrentDraw() && sim.GetCurrentDraw() < 60_A);
+}

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

@@ -124,4 +124,16 @@ class ElevatorSimTest {
         sim.getPosition(),
         0.01);
   }
+
+  @Test
+  void testCurrentDraw() {
+    var motor = DCMotor.getKrakenX60(2);
+    var sim = new ElevatorSim(motor, 20, 8.0, 0.1, 0.0, 1.0, true, 0.0, 0.01, 0.0);
+
+    assertEquals(0.0, sim.getCurrentDrawAmps());
+    sim.setInputVoltage(motor.getVoltage(motor.getTorque(60.0), 0.0));
+    sim.update(0.100);
+    // current draw should start at 60 A and decrease as the back emf catches up
+    assertTrue(0.0 < sim.getCurrentDrawAmps() && sim.getCurrentDrawAmps() < 60.0);
+  }
 }

wpiunits/src/main/java/org/wpilib/units/AngularMomentumUnit.java

@@ -73,6 +73,16 @@ public final class AngularMomentumUnit extends MultUnit<LinearMomentumUnit, Dist
     return VelocityUnit.combine(this, time);
   }
 
+  /**
+   * Combines this angular momentum by an angular velocity to yield a unit of moment of inertia.
+   *
+   * @param omega the unit of angular velocity
+   * @return the moment of inertia unit
+   */
+  public MomentOfInertiaUnit per(AngularVelocityUnit omega) {
+    return MomentOfInertiaUnit.combine(this, omega);
+  }
+
   /**
    * Creates a ratio unit between this unit and an arbitrary other unit.
    *
@@ -94,14 +104,4 @@ public final class AngularMomentumUnit extends MultUnit<LinearMomentumUnit, Dist
   public double convertFrom(double magnitude, AngularMomentumUnit otherUnit) {
     return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
   }
-
-  /**
-   * Multiplies this angular momentum by an angular velocity to yield a unit of moment of inertia.
-   *
-   * @param omega the unit of angular velocity
-   * @return the moment of inertia unit
-   */
-  public MomentOfInertiaUnit mult(AngularVelocityUnit omega) {
-    return MomentOfInertiaUnit.combine(this, omega);
-  }
 }

wpiunits/src/main/java/org/wpilib/units/Units.java

@@ -378,7 +378,7 @@ public final class Units {
 
   /** The standard SI unit for moment of inertia. */
   public static final MomentOfInertiaUnit KilogramSquareMeters =
-      KilogramMetersSquaredPerSecond.mult(RadiansPerSecond);
+      KilogramMetersSquaredPerSecond.per(RadiansPerSecond);
 
   // VoltageUnit
   /** The base unit of electric potential. */