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[wpilib] Split DriverStation into smaller classes (#8628)

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This commit is contained in:
Thad House
2026-04-18 19:56:45 -07:00
committed by GitHub
parent 58ad633ae2
commit ab2aef2c29
108 changed files with 4406 additions and 3211 deletions
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10
wpilibj/src/main/java/org/wpilib/hardware/led/LEDPattern.java
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@@ -13,7 +13,7 @@ import java.util.Map;
import java.util.Objects;
import java.util.function.BooleanSupplier;
import java.util.function.DoubleSupplier;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.DriverStationErrors;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.system.RobotController;
import org.wpilib.units.collections.LongToObjectHashMap;
@@ -576,13 +576,13 @@ public interface LEDPattern {
HAL.reportUsage("LEDPattern", "");
if (steps.isEmpty()) {
// no colors specified
DriverStation.reportWarning("Creating LED steps with no colors!", false);
DriverStationErrors.reportWarning("Creating LED steps with no colors!", false);
return kOff;
}
if (steps.size() == 1 && steps.keySet().iterator().next().doubleValue() == 0) {
// only one color specified, just show a static color
DriverStation.reportWarning("Creating LED steps with only one color!", false);
DriverStationErrors.reportWarning("Creating LED steps with only one color!", false);
return solid(steps.values().iterator().next());
}
@@ -638,13 +638,13 @@ public interface LEDPattern {
HAL.reportUsage("LEDPattern", "");
if (colors.length == 0) {
// Nothing to display
DriverStation.reportWarning("Creating a gradient with no colors!", false);
DriverStationErrors.reportWarning("Creating a gradient with no colors!", false);
return kOff;
}
if (colors.length == 1) {
// No gradients with one color
DriverStation.reportWarning("Creating a gradient with only one color!", false);
DriverStationErrors.reportWarning("Creating a gradient with only one color!", false);
return solid(colors[0]);
}

7
wpilibj/src/main/java/org/wpilib/hardware/motor/MotorSafety.java
View File

@@ -6,7 +6,8 @@ package org.wpilib.hardware.motor;
import java.util.LinkedHashSet;
import java.util.Set;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.driverstation.DriverStationErrors;
import org.wpilib.driverstation.RobotState;
import org.wpilib.hardware.hal.ControlWord;
import org.wpilib.hardware.hal.DriverStationJNI;
import org.wpilib.system.Timer;
@@ -133,12 +134,12 @@ public abstract class MotorSafety {
stopTime = m_stopTime;
}
if (!enabled || DriverStation.isDisabled() || DriverStation.isTest()) {
if (!enabled || RobotState.isDisabled() || RobotState.isTest()) {
return;
}
if (stopTime < Timer.getMonotonicTimestamp()) {
DriverStation.reportError(
DriverStationErrors.reportError(
getDescription()
+ "... Output not updated often enough. See https://docs.wpilib.org/motorsafety for more information.",
false);