Merge branch 'main' into 2027

wpilibj/src/main/java/org/wpilib/driverstation/DriverStation.java

@@ -1733,8 +1733,7 @@ public final class DriverStation {
    *
    * <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.
    *

wpilibj/src/main/java/org/wpilib/framework/TimedRobot.java

@@ -181,9 +181,9 @@ public class TimedRobot extends IterativeRobotBase {
   }
 
   /**
-   * Return the system clock time in micrseconds 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).
+   * 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).
    *
    * @return Robot running time in microseconds, as of the start of the current periodic function.
    */

wpilibj/src/main/java/org/wpilib/hardware/led/LEDPattern.java

@@ -14,6 +14,7 @@ import java.util.Objects;
 import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
 import org.wpilib.driverstation.DriverStation;
+import org.wpilib.hardware.hal.HAL;
 import org.wpilib.system.RobotController;
 import org.wpilib.units.collections.LongToObjectHashMap;
 import org.wpilib.units.measure.Dimensionless;
@@ -150,6 +151,7 @@ public interface LEDPattern {
    * @return the mapped pattern
    */
   default LEDPattern mapIndex(IndexMapper indexMapper) {
+    HAL.reportUsage("LEDPattern", "");
     return (reader, writer) -> {
       int bufLen = reader.getLength();
       applyTo(
@@ -295,6 +297,7 @@ public interface LEDPattern {
     final long totalTimeMicros = (long) (onTime.in(Microseconds) + offTime.in(Microseconds));
     final long onTimeMicros = (long) onTime.in(Microseconds);
 
+    HAL.reportUsage("LEDPattern", "");
     return (reader, writer) -> {
       if (RobotController.getTime() % totalTimeMicros < onTimeMicros) {
         applyTo(reader, writer);
@@ -324,6 +327,7 @@ public interface LEDPattern {
    * @return the blinking pattern
    */
   default LEDPattern synchronizedBlink(BooleanSupplier signal) {
+    HAL.reportUsage("LEDPattern", "");
     return (reader, writer) -> {
       if (signal.getAsBoolean()) {
         applyTo(reader, writer);
@@ -343,6 +347,7 @@ public interface LEDPattern {
   default LEDPattern breathe(Time period) {
     final long periodMicros = (long) period.in(Microseconds);
 
+    HAL.reportUsage("LEDPattern", "");
     return (reader, writer) -> {
       applyTo(
           reader,
@@ -374,6 +379,7 @@ public interface LEDPattern {
    * @return the combined overlay pattern
    */
   default LEDPattern overlayOn(LEDPattern base) {
+    HAL.reportUsage("LEDPattern", "");
     return (reader, writer) -> {
       // write the base pattern down first...
       base.applyTo(reader, writer);
@@ -401,6 +407,7 @@ public interface LEDPattern {
    * @return the blended pattern
    */
   default LEDPattern blend(LEDPattern other) {
+    HAL.reportUsage("LEDPattern", "");
     return (reader, writer) -> {
       applyTo(reader, writer);
 
@@ -432,6 +439,7 @@ public interface LEDPattern {
    * @return the masked pattern
    */
   default LEDPattern mask(LEDPattern mask) {
+    HAL.reportUsage("LEDPattern", "");
     return (reader, writer) -> {
       // Apply the current pattern down as normal...
       applyTo(reader, writer);
@@ -471,6 +479,7 @@ public interface LEDPattern {
   default LEDPattern atBrightness(Dimensionless relativeBrightness) {
     double multiplier = relativeBrightness.in(Value);
 
+    HAL.reportUsage("LEDPattern", "");
     return (reader, writer) -> {
       applyTo(
           reader,
@@ -497,6 +506,7 @@ public interface LEDPattern {
    * @return the pattern
    */
   static LEDPattern solid(Color color) {
+    HAL.reportUsage("LEDPattern", "");
     return (reader, writer) -> {
       int bufLen = reader.getLength();
       for (int led = 0; led < bufLen; led++) {
@@ -526,6 +536,7 @@ public interface LEDPattern {
    * @return the mask pattern
    */
   static LEDPattern progressMaskLayer(DoubleSupplier progressSupplier) {
+    HAL.reportUsage("LEDPattern", "");
     return (reader, writer) -> {
       double progress = Math.clamp(progressSupplier.getAsDouble(), 0, 1);
 
@@ -562,6 +573,7 @@ public interface LEDPattern {
    * @return a motionless step pattern
    */
   static LEDPattern steps(Map<? extends Number, Color> steps) {
+    HAL.reportUsage("LEDPattern", "");
     if (steps.isEmpty()) {
       // no colors specified
       DriverStation.reportWarning("Creating LED steps with no colors!", false);
@@ -623,6 +635,7 @@ public interface LEDPattern {
    * @return a motionless gradient pattern
    */
   static LEDPattern gradient(GradientType type, Color... colors) {
+    HAL.reportUsage("LEDPattern", "");
     if (colors.length == 0) {
       // Nothing to display
       DriverStation.reportWarning("Creating a gradient with no colors!", false);
@@ -680,6 +693,7 @@ public interface LEDPattern {
    * @return the rainbow pattern
    */
   static LEDPattern rainbow(int saturation, int value) {
+    HAL.reportUsage("LEDPattern", "");
     return (reader, writer) -> {
       int bufLen = reader.getLength();
       for (int i = 0; i < bufLen; i++) {

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

@@ -41,8 +41,16 @@ public class Timer {
    * 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.
+   * dispute ref calls or guarantee that a function will trigger before the match ends).
+   *
+   * <p>When connected to the real field, this number only changes in full integer increments, and
+   * always counts down.
+   *
+   * <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
    */