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Merge branch 'main' into 2027

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This commit is contained in:
Peter Johnson
2026-02-15 00:51:21 -08:00
parent 36c489247c 77dfad97c6
commit af865f8020
98 changed files with 3031 additions and 219 deletions
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4
wpilibc/src/main/native/include/wpi/drive/DifferentialDrive.hpp
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@@ -76,7 +76,7 @@ class DifferentialDrive : public RobotDriveBase,
* Construct a DifferentialDrive.
*
* To pass multiple motors per side, use CAN motor controller followers or
* PWMSpeedController::AddFollower(). If a motor needs to be inverted, do so
* PWMMotorController::AddFollower(). If a motor needs to be inverted, do so
* before passing it in.
*
* @param leftMotor Left motor.
@@ -90,7 +90,7 @@ class DifferentialDrive : public RobotDriveBase,
* Construct a DifferentialDrive.
*
* To pass multiple motors per side, use CAN motor controller followers or
* PWMSpeedController::AddFollower(). If a motor needs to be inverted, do so
* PWMMotorController::AddFollower(). If a motor needs to be inverted, do so
* before passing it in.
*
* @param leftMotor Left motor setter.

3
wpilibc/src/main/native/include/wpi/driverstation/DriverStation.hpp
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@@ -587,8 +587,7 @@ class DriverStation final {
* <p>When the DS is in practice mode, this number is a floating point number,
* and counts down.
*
* <p>When the DS is in teleop or autonomous mode, this number is a floating
* point number, and counts up.
* <p>When the DS is in teleop or autonomous mode, this number returns -1.0.
*
* <p>Simulation matches DS behavior without an FMS connected.
*

2
wpilibc/src/main/native/include/wpi/framework/TimedRobot.hpp
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@@ -64,7 +64,7 @@ class TimedRobot : public IterativeRobotBase {
~TimedRobot() override;
/**
* Return the system clock time in micrseconds for the start of the current
* Return the system clock time in microseconds for the start of the current
* periodic loop. This is in the same time base as Timer.GetFPGATimestamp(),
* but is stable through a loop. It is updated at the beginning of every
* periodic callback (including the normal periodic loop).

22
wpilibc/src/main/native/include/wpi/system/Timer.hpp
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@@ -139,19 +139,23 @@ class Timer {
static wpi::units::second_t GetFPGATimestamp();
/**
* Return the approximate match time.
*
* The FMS does not send an official match time to the robots, but does send
* an approximate match time. The value will count down the time remaining in
* the current period (auto or teleop).
*
* Return the approximate match time. The FMS does not send an official match
* time to the robots, but does send an approximate match time. The value will
* count down the time remaining in the current period (auto or teleop).
* Warning: This is not an official time (so it cannot be used to dispute ref
* calls or guarantee that a function will trigger before the match ends).
*
* The Practice Match function of the DS approximates the behavior seen on the
* field.
* <p>When connected to the real field, this number only changes in full
* integer increments, and always counts down.
*
* @return Time remaining in current match period (auto or teleop)
* <p>When the DS is in practice mode, this number is a floating point number,
* and counts down.
*
* <p>When the DS is in teleop or autonomous mode, this number returns -1.0.
*
* <p>Simulation matches DS behavior without an FMS connected.
*
* @return Time remaining in current match period (auto or teleop) in seconds
*/
static wpi::units::second_t GetMatchTime();