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Merge branch 'main' into 2027

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This commit is contained in:
Peter Johnson
2025-06-30 20:21:11 -07:00
parent f55564729b a3ce880334
commit 82ce317083
107 changed files with 502 additions and 16466 deletions
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4
wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java
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@@ -192,8 +192,8 @@ public class Notifier implements AutoCloseable {
* <p>The user-provided callback should be written so that it completes before the next time it's
* scheduled to run.
*
* @param period Period in seconds after which to to call the callback starting one period after
* the call to this method.
* @param period Period in seconds after which to call the callback starting one period after the
* call to this method.
*/
public void startPeriodic(double period) {
m_processLock.lock();

9
wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java
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@@ -96,6 +96,15 @@ public final class Preferences {
});
}
/**
* Gets the network table used for preferences entries.
*
* @return the network table used for preferences entries
*/
public static NetworkTable getNetworkTable() {
return m_table;
}
/**
* Gets the preferences keys.
*

8
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
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@@ -260,8 +260,8 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
// Square the inputs (while preserving the sign) to increase fine control
// while permitting full power.
if (squareInputs) {
xSpeed = Math.copySign(xSpeed * xSpeed, xSpeed);
zRotation = Math.copySign(zRotation * zRotation, zRotation);
xSpeed = MathUtil.copySignPow(xSpeed, 2);
zRotation = MathUtil.copySignPow(zRotation, 2);
}
double leftSpeed = xSpeed - zRotation;
@@ -335,8 +335,8 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
// Square the inputs (while preserving the sign) to increase fine control
// while permitting full power.
if (squareInputs) {
leftSpeed = Math.copySign(leftSpeed * leftSpeed, leftSpeed);
rightSpeed = Math.copySign(rightSpeed * rightSpeed, rightSpeed);
leftSpeed = MathUtil.copySignPow(leftSpeed, 2);
rightSpeed = MathUtil.copySignPow(rightSpeed, 2);
}
return new WheelSpeeds(leftSpeed, rightSpeed);