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This commit is contained in:
PJ Reiniger
2025-11-07 19:57:21 -05:00
committed by Peter Johnson
parent c89910b7c6
commit c48b722dac
650 changed files with 1529 additions and 1545 deletions
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23
wpilibj/src/main/java/org/wpilib/drive/DifferentialDrive.java
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@@ -6,13 +6,13 @@ package org.wpilib.drive;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import java.util.function.DoubleConsumer;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.motor.MotorController;
import org.wpilib.math.util.MathUtil;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
import org.wpilib.hardware.motor.MotorController;
import java.util.function.DoubleConsumer;
/**
* A class for driving differential drive/skid-steer drive platforms such as the Kit of Parts drive
@@ -43,12 +43,13 @@ import java.util.function.DoubleConsumer;
* positive Z axis points up. Rotations follow the right-hand rule, so counterclockwise rotation
* around the Z axis is positive.
*
* <p>Inputs smaller then {@value org.wpilib.drive.RobotDriveBase#kDefaultDeadband} will
* be set to 0, and larger values will be scaled so that the full range is still used. This deadband
* value can be changed with {@link #setDeadband}.
* <p>Inputs smaller then {@value org.wpilib.drive.RobotDriveBase#kDefaultDeadband} will be set to
* 0, and larger values will be scaled so that the full range is still used. This deadband value can
* be changed with {@link #setDeadband}.
*
* <p>{@link org.wpilib.hardware.motor.MotorSafety} is enabled by default. The tankDrive, arcadeDrive,
* or curvatureDrive methods should be called periodically to avoid Motor Safety timeouts.
* <p>{@link org.wpilib.hardware.motor.MotorSafety} is enabled by default. The tankDrive,
* arcadeDrive, or curvatureDrive methods should be called periodically to avoid Motor Safety
* timeouts.
*/
public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoCloseable {
private static int instances;
@@ -94,8 +95,8 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
* Construct a DifferentialDrive.
*
* <p>To pass multiple motors per side, use CAN motor controller followers or {@link
* org.wpilib.hardware.motor.PWMMotorController#addFollower(PWMMotorController)}. If a
* motor needs to be inverted, do so before passing it in.
* org.wpilib.hardware.motor.PWMMotorController#addFollower(PWMMotorController)}. If a motor needs
* to be inverted, do so before passing it in.
*
* @param leftMotor Left motor.
* @param rightMotor Right motor.
@@ -111,8 +112,8 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
* Construct a DifferentialDrive.
*
* <p>To pass multiple motors per side, use CAN motor controller followers or {@link
* org.wpilib.hardware.motor.PWMMotorController#addFollower(PWMMotorController)}. If a
* motor needs to be inverted, do so before passing it in.
* org.wpilib.hardware.motor.PWMMotorController#addFollower(PWMMotorController)}. If a motor needs
* to be inverted, do so before passing it in.
*
* @param leftMotor Left motor setter.
* @param rightMotor Right motor setter.

12
wpilibj/src/main/java/org/wpilib/drive/MecanumDrive.java
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@@ -6,15 +6,15 @@ package org.wpilib.drive;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import java.util.function.DoubleConsumer;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.math.util.MathUtil;
import org.wpilib.hardware.motor.MotorController;
import org.wpilib.math.geometry.Rotation2d;
import org.wpilib.math.geometry.Translation2d;
import org.wpilib.math.util.MathUtil;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
import org.wpilib.hardware.motor.MotorController;
import java.util.function.DoubleConsumer;
/**
* A class for driving Mecanum drive platforms.
@@ -42,9 +42,9 @@ import java.util.function.DoubleConsumer;
* positive Z axis points up. Rotations follow the right-hand rule, so counterclockwise rotation
* around the Z axis is positive.
*
* <p>Inputs smaller then {@value org.wpilib.drive.RobotDriveBase#kDefaultDeadband} will
* be set to 0, and larger values will be scaled so that the full range is still used. This deadband
* value can be changed with {@link #setDeadband}.
* <p>Inputs smaller then {@value org.wpilib.drive.RobotDriveBase#kDefaultDeadband} will be set to
* 0, and larger values will be scaled so that the full range is still used. This deadband value can
* be changed with {@link #setDeadband}.
*
* <p>{@link org.wpilib.hardware.motor.MotorSafety} is enabled by default. The driveCartesian or
* drivePolar methods should be called periodically to avoid Motor Safety timeouts.

1
wpilibj/src/main/java/org/wpilib/driverstation/DSControlWord.java
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@@ -4,7 +4,6 @@
package org.wpilib.driverstation;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.hardware.hal.ControlWord;
/** A wrapper around Driver Station control word. */

12
wpilibj/src/main/java/org/wpilib/driverstation/DriverStation.java
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@@ -4,6 +4,11 @@
package org.wpilib.driverstation;
import java.util.Map;
import java.util.Optional;
import java.util.OptionalDouble;
import java.util.OptionalInt;
import java.util.concurrent.locks.ReentrantLock;
import org.wpilib.datalog.BooleanArrayLogEntry;
import org.wpilib.datalog.BooleanLogEntry;
import org.wpilib.datalog.DataLog;
@@ -20,14 +25,9 @@ import org.wpilib.networktables.IntegerPublisher;
import org.wpilib.networktables.NetworkTableInstance;
import org.wpilib.networktables.StringPublisher;
import org.wpilib.networktables.StringTopic;
import org.wpilib.util.concurrent.EventVector;
import org.wpilib.system.Timer;
import org.wpilib.util.WPIUtilJNI;
import java.util.Map;
import java.util.Optional;
import java.util.OptionalDouble;
import java.util.OptionalInt;
import java.util.concurrent.locks.ReentrantLock;
import org.wpilib.util.concurrent.EventVector;
/** Provide access to the network communication data to / from the Driver Station. */
public final class DriverStation {

4
wpilibj/src/main/java/org/wpilib/driverstation/Gamepad.java
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@@ -4,11 +4,11 @@
package org.wpilib.driverstation;
import org.wpilib.event.BooleanEvent;
import org.wpilib.event.EventLoop;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.event.BooleanEvent;
import org.wpilib.event.EventLoop;
/**
* Handle input from Gamepad controllers connected to the Driver Station.

8
wpilibj/src/main/java/org/wpilib/driverstation/GenericHID.java
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@@ -4,13 +4,13 @@
package org.wpilib.driverstation;
import org.wpilib.hardware.hal.DriverStationJNI;
import org.wpilib.math.util.Pair;
import java.util.HashMap;
import java.util.Map;
import org.wpilib.driverstation.DriverStation.POVDirection;
import org.wpilib.event.BooleanEvent;
import org.wpilib.event.EventLoop;
import java.util.HashMap;
import java.util.Map;
import org.wpilib.hardware.hal.DriverStationJNI;
import org.wpilib.math.util.Pair;
/**
* Handle input from standard HID devices connected to the Driver Station.

2
wpilibj/src/main/java/org/wpilib/driverstation/Joystick.java
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@@ -4,9 +4,9 @@
package org.wpilib.driverstation;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.event.BooleanEvent;
import org.wpilib.event.EventLoop;
import org.wpilib.hardware.hal.HAL;
/**
* Handle input from Flight Joysticks connected to the Driver Station.

4
wpilibj/src/main/java/org/wpilib/event/BooleanEvent.java
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@@ -7,11 +7,11 @@ package org.wpilib.event;
import static org.wpilib.units.Units.Seconds;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import org.wpilib.math.filter.Debouncer;
import org.wpilib.units.measure.Time;
import java.util.concurrent.atomic.AtomicBoolean;
import java.util.function.BiFunction;
import java.util.function.BooleanSupplier;
import org.wpilib.math.filter.Debouncer;
import org.wpilib.units.measure.Time;
/**
* This class provides an easy way to link actions to active high logic signals. Each object

4
wpilibj/src/main/java/org/wpilib/hardware/accelerometer/ADXL345_I2C.java
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@@ -4,6 +4,8 @@
package org.wpilib.hardware.accelerometer;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;
import org.wpilib.hardware.bus.I2C;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.SimDevice;
@@ -14,8 +16,6 @@ import org.wpilib.networktables.DoubleTopic;
import org.wpilib.networktables.NTSendable;
import org.wpilib.networktables.NTSendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;
/** ADXL345 I2C Accelerometer. */
@SuppressWarnings("TypeName")

2
wpilibj/src/main/java/org/wpilib/hardware/bus/CAN.java
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@@ -4,11 +4,11 @@
package org.wpilib.hardware.bus;
import java.io.Closeable;
import org.wpilib.hardware.hal.CANAPIJNI;
import org.wpilib.hardware.hal.CANAPITypes;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.can.CANReceiveMessage;
import java.io.Closeable;
/**
* High level class for interfacing with CAN devices conforming to the standard CAN spec.

2
wpilibj/src/main/java/org/wpilib/hardware/bus/I2C.java
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@@ -6,10 +6,10 @@ package org.wpilib.hardware.bus;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import java.nio.ByteBuffer;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.I2CJNI;
import org.wpilib.hardware.hal.util.BoundaryException;
import java.nio.ByteBuffer;
/**
* I2C bus interface class.

2
wpilibj/src/main/java/org/wpilib/hardware/bus/SerialPort.java
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@@ -4,9 +4,9 @@
package org.wpilib.hardware.bus;
import java.nio.charset.StandardCharsets;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.SerialPortJNI;
import java.nio.charset.StandardCharsets;
/** Driver for the serial ports (USB, MXP, Onboard) on the roboRIO. */
public class SerialPort implements AutoCloseable {

2
wpilibj/src/main/java/org/wpilib/hardware/discrete/DigitalInput.java
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@@ -4,10 +4,10 @@
package org.wpilib.hardware.discrete;
import org.wpilib.system.SensorUtil;
import org.wpilib.hardware.hal.DIOJNI;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.SimDevice;
import org.wpilib.system.SensorUtil;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;

2
wpilibj/src/main/java/org/wpilib/hardware/discrete/DigitalOutput.java
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@@ -4,10 +4,10 @@
package org.wpilib.hardware.discrete;
import org.wpilib.system.SensorUtil;
import org.wpilib.hardware.hal.DIOJNI;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.SimDevice;
import org.wpilib.system.SensorUtil;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;

2
wpilibj/src/main/java/org/wpilib/hardware/discrete/PWM.java
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@@ -4,10 +4,10 @@
package org.wpilib.hardware.discrete;
import org.wpilib.system.SensorUtil;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.PWMJNI;
import org.wpilib.hardware.hal.SimDevice;
import org.wpilib.system.SensorUtil;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;

10
wpilibj/src/main/java/org/wpilib/hardware/led/LEDPattern.java
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@@ -9,6 +9,10 @@ import static org.wpilib.units.Units.Microsecond;
import static org.wpilib.units.Units.Microseconds;
import static org.wpilib.units.Units.Value;
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.system.RobotController;
import org.wpilib.units.collections.LongToObjectHashMap;
@@ -17,12 +21,8 @@ import org.wpilib.units.measure.Distance;
import org.wpilib.units.measure.Frequency;
import org.wpilib.units.measure.LinearVelocity;
import org.wpilib.units.measure.Time;
import org.wpilib.util.WPIUtilJNI;
import org.wpilib.util.Color;
import java.util.Map;
import java.util.Objects;
import java.util.function.BooleanSupplier;
import java.util.function.DoubleSupplier;
import org.wpilib.util.WPIUtilJNI;
/**
* An LED pattern controls lights on an LED strip to command patterns of color that may change over

2
wpilibj/src/main/java/org/wpilib/hardware/motor/MotorController.java
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@@ -6,8 +6,8 @@ package org.wpilib.hardware.motor;
import static org.wpilib.units.Units.Volts;
import org.wpilib.units.measure.Voltage;
import org.wpilib.system.RobotController;
import org.wpilib.units.measure.Voltage;
/** Interface for motor controlling devices. */
public interface MotorController {

2
wpilibj/src/main/java/org/wpilib/hardware/motor/MotorControllerGroup.java
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@@ -4,10 +4,10 @@
package org.wpilib.hardware.motor;
import java.util.Arrays;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
import java.util.Arrays;
/**
* Allows multiple {@link MotorController} objects to be linked together.

4
wpilibj/src/main/java/org/wpilib/hardware/motor/MotorSafety.java
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@@ -4,14 +4,14 @@
package org.wpilib.hardware.motor;
import java.util.LinkedHashSet;
import java.util.Set;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.hardware.hal.ControlWord;
import org.wpilib.hardware.hal.DriverStationJNI;
import org.wpilib.opmode.RobotState;
import org.wpilib.system.Timer;
import org.wpilib.util.WPIUtilJNI;
import java.util.LinkedHashSet;
import java.util.Set;
/**
* The Motor Safety feature acts as a watchdog timer for an individual motor. It operates by

7
wpilibj/src/main/java/org/wpilib/hardware/motor/PWMMotorController.java
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@@ -4,16 +4,15 @@
package org.wpilib.hardware.motor;
import java.util.ArrayList;
import org.wpilib.hardware.discrete.PWM;
import org.wpilib.hardware.hal.SimDevice;
import org.wpilib.hardware.hal.SimDevice.Direction;
import org.wpilib.hardware.hal.SimDouble;
import org.wpilib.system.RobotController;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
import org.wpilib.hardware.motor.MotorSafety;
import org.wpilib.hardware.discrete.PWM;
import org.wpilib.system.RobotController;
import java.util.ArrayList;
/** Common base class for all PWM Motor Controllers. */
@SuppressWarnings("removal")

6
wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticHub.java
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@@ -4,15 +4,15 @@
package org.wpilib.hardware.pneumatic;
import org.wpilib.system.SensorUtil;
import java.util.HashMap;
import java.util.Map;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.PortsJNI;
import org.wpilib.hardware.hal.REVPHFaults;
import org.wpilib.hardware.hal.REVPHJNI;
import org.wpilib.hardware.hal.REVPHStickyFaults;
import org.wpilib.hardware.hal.REVPHVersion;
import java.util.HashMap;
import java.util.Map;
import org.wpilib.system.SensorUtil;
/** Module class for controlling a REV Robotics Pneumatic Hub. */
public class PneumaticHub implements PneumaticsBase {

6
wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticsControlModule.java
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@@ -4,12 +4,12 @@
package org.wpilib.hardware.pneumatic;
import org.wpilib.system.SensorUtil;
import java.util.HashMap;
import java.util.Map;
import org.wpilib.hardware.hal.CTREPCMJNI;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.PortsJNI;
import java.util.HashMap;
import java.util.Map;
import org.wpilib.system.SensorUtil;
/** Module class for controlling a Cross The Road Electronics Pneumatics Control Module. */
public class PneumaticsControlModule implements PneumaticsBase {

4
wpilibj/src/main/java/org/wpilib/internal/DriverStationModeThread.java
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@@ -4,10 +4,10 @@
package org.wpilib.internal;
import java.util.concurrent.atomic.AtomicBoolean;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.hardware.hal.DriverStationJNI;
import org.wpilib.util.WPIUtilJNI;
import org.wpilib.driverstation.DriverStation;
import java.util.concurrent.atomic.AtomicBoolean;
/** For internal use only. */
public class DriverStationModeThread implements AutoCloseable {

14
wpilibj/src/main/java/org/wpilib/opmode/RobotBase.java
View File

@@ -4,10 +4,8 @@
package org.wpilib.opmode;
import org.wpilib.vision.stream.CameraServerShared;
import org.wpilib.vision.stream.CameraServerSharedStore;
import org.wpilib.system.Notifier;
import org.wpilib.system.RuntimeType;
import java.util.concurrent.locks.ReentrantLock;
import java.util.function.Supplier;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.HALUtil;
@@ -16,11 +14,13 @@ import org.wpilib.math.util.MathSharedStore;
import org.wpilib.networktables.MultiSubscriber;
import org.wpilib.networktables.NetworkTableEvent;
import org.wpilib.networktables.NetworkTableInstance;
import org.wpilib.system.Notifier;
import org.wpilib.system.RuntimeType;
import org.wpilib.system.Timer;
import org.wpilib.util.WPIUtilJNI;
import org.wpilib.system.WPILibVersion;
import java.util.concurrent.locks.ReentrantLock;
import java.util.function.Supplier;
import org.wpilib.util.WPIUtilJNI;
import org.wpilib.vision.stream.CameraServerShared;
import org.wpilib.vision.stream.CameraServerSharedStore;
/**
* Implement a Robot Program framework. The RobotBase class is intended to be subclassed to create a

2
wpilibj/src/main/java/org/wpilib/opmode/TimedRobot.java
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@@ -6,13 +6,13 @@ package org.wpilib.opmode;
import static org.wpilib.units.Units.Seconds;
import java.util.PriorityQueue;
import org.wpilib.hardware.hal.DriverStationJNI;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.NotifierJNI;
import org.wpilib.system.RobotController;
import org.wpilib.units.measure.Frequency;
import org.wpilib.units.measure.Time;
import java.util.PriorityQueue;
/**
* TimedRobot implements the IterativeRobotBase robot program framework.

4
wpilibj/src/main/java/org/wpilib/simulation/ADXL345Sim.java
View File

@@ -4,9 +4,9 @@
package org.wpilib.simulation;
import org.wpilib.hardware.hal.SimDouble;
import org.wpilib.hardware.accelerometer.ADXL345_I2C;
import java.util.Objects;
import org.wpilib.hardware.accelerometer.ADXL345_I2C;
import org.wpilib.hardware.hal.SimDouble;
/** Class to control a simulated ADXL345. */
public class ADXL345Sim {

2
wpilibj/src/main/java/org/wpilib/simulation/AnalogInputSim.java
View File

@@ -4,9 +4,9 @@
package org.wpilib.simulation;
import org.wpilib.hardware.discrete.AnalogInput;
import org.wpilib.hardware.hal.simulation.AnalogInDataJNI;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
import org.wpilib.hardware.discrete.AnalogInput;
/** Class to control a simulated analog input. */
public class AnalogInputSim {

4
wpilibj/src/main/java/org/wpilib/simulation/BatterySim.java
View File

@@ -33,8 +33,8 @@ public final class BatterySim {
/**
* Calculate the loaded battery voltage. Use this with {@link RoboRioSim#setVInVoltage(double)} to
* set the simulated battery voltage, which can then be retrieved with the {@link
* org.wpilib.system.RobotController#getBatteryVoltage()} method. This function assumes a
* nominal voltage of 12v and a resistance of 20 milliohms (0.020 ohms)
* org.wpilib.system.RobotController#getBatteryVoltage()} method. This function assumes a nominal
* voltage of 12v and a resistance of 20 milliohms (0.020 ohms)
*
* @param currents The currents drawn from the battery.
* @return The battery's voltage under load.

7
wpilibj/src/main/java/org/wpilib/simulation/DCMotorSim.java
View File

@@ -27,10 +27,9 @@ public class DCMotorSim extends LinearSystemSim<N2, N1, N2> {
*
* @param plant The linear system representing the DC motor. This system can be created with
* {@link org.wpilib.math.system.plant.LinearSystemId#createDCMotorSystem(DCMotor, double,
* double)} or {@link
* org.wpilib.math.system.plant.LinearSystemId#createDCMotorSystem(double, double)}. If
* {@link org.wpilib.math.system.plant.LinearSystemId#createDCMotorSystem(double, double)}
* is used, the distance unit must be radians.
* double)} or {@link org.wpilib.math.system.plant.LinearSystemId#createDCMotorSystem(double,
* double)}. If {@link org.wpilib.math.system.plant.LinearSystemId#createDCMotorSystem(double,
* double)} is used, the distance unit must be radians.
* @param gearbox The type of and number of motors in the DC motor gearbox.
* @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no
* noise is desired. If present must have 2 elements. The first element is for position. The

4
wpilibj/src/main/java/org/wpilib/simulation/DIOSim.java
View File

@@ -4,10 +4,10 @@
package org.wpilib.simulation;
import org.wpilib.hardware.hal.simulation.DIODataJNI;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
import org.wpilib.hardware.discrete.DigitalInput;
import org.wpilib.hardware.discrete.DigitalOutput;
import org.wpilib.hardware.hal.simulation.DIODataJNI;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
/** Class to control a simulated digital input or output. */
public class DIOSim {

16
wpilibj/src/main/java/org/wpilib/simulation/DifferentialDrivetrainSim.java
View File

@@ -4,12 +4,10 @@
package org.wpilib.simulation;
import org.wpilib.math.linalg.Matrix;
import org.wpilib.math.util.Nat;
import org.wpilib.math.util.StateSpaceUtil;
import org.wpilib.math.linalg.VecBuilder;
import org.wpilib.math.geometry.Pose2d;
import org.wpilib.math.geometry.Rotation2d;
import org.wpilib.math.linalg.Matrix;
import org.wpilib.math.linalg.VecBuilder;
import org.wpilib.math.numbers.N1;
import org.wpilib.math.numbers.N2;
import org.wpilib.math.numbers.N7;
@@ -17,6 +15,8 @@ import org.wpilib.math.system.LinearSystem;
import org.wpilib.math.system.NumericalIntegration;
import org.wpilib.math.system.plant.DCMotor;
import org.wpilib.math.system.plant.LinearSystemId;
import org.wpilib.math.util.Nat;
import org.wpilib.math.util.StateSpaceUtil;
import org.wpilib.math.util.Units;
import org.wpilib.system.RobotController;
@@ -24,8 +24,8 @@ import org.wpilib.system.RobotController;
* This class simulates the state of the drivetrain. In simulationPeriodic, users should first set
* inputs from motors with {@link #setInputs(double, double)}, call {@link #update(double)} to
* update the simulation, and set estimated encoder and gyro positions, as well as estimated
* odometry pose. Teams can use {@link org.wpilib.smartdashboard.Field2d} to visualize
* their robot on the Sim GUI's field.
* odometry pose. Teams can use {@link org.wpilib.smartdashboard.Field2d} to visualize their robot
* on the Sim GUI's field.
*
* <p>Our state-space system is:
*
@@ -90,8 +90,8 @@ public class DifferentialDrivetrainSim {
*
* @param plant The {@link LinearSystem} representing the robot's drivetrain. This system can be
* created with {@link
* org.wpilib.math.system.plant.LinearSystemId#createDrivetrainVelocitySystem(DCMotor,
* double, double, double, double, double)} or {@link
* org.wpilib.math.system.plant.LinearSystemId#createDrivetrainVelocitySystem(DCMotor, double,
* double, double, double, double)} or {@link
* org.wpilib.math.system.plant.LinearSystemId#identifyDrivetrainSystem(double, double,
* double, double)}.
* @param driveMotor A {@link DCMotor} representing the drivetrain.

4
wpilibj/src/main/java/org/wpilib/simulation/DigitalPWMSim.java
View File

@@ -4,10 +4,10 @@
package org.wpilib.simulation;
import java.util.NoSuchElementException;
import org.wpilib.hardware.discrete.DigitalOutput;
import org.wpilib.hardware.hal.simulation.DigitalPWMDataJNI;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
import org.wpilib.hardware.discrete.DigitalOutput;
import java.util.NoSuchElementException;
/**
* Class to control a simulated digital PWM output.

2
wpilibj/src/main/java/org/wpilib/simulation/DriverStationSim.java
View File

@@ -4,12 +4,12 @@
package org.wpilib.simulation;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.hardware.hal.AllianceStationID;
import org.wpilib.hardware.hal.DriverStationJNI;
import org.wpilib.hardware.hal.simulation.DriverStationDataJNI;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
import org.wpilib.util.WPIUtilJNI;
import org.wpilib.driverstation.DriverStation;
/** Class to control a simulated driver station. */
public final class DriverStationSim {

2
wpilibj/src/main/java/org/wpilib/simulation/EncoderSim.java
View File

@@ -4,10 +4,10 @@
package org.wpilib.simulation;
import java.util.NoSuchElementException;
import org.wpilib.hardware.hal.simulation.EncoderDataJNI;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
import org.wpilib.hardware.rotation.Encoder;
import java.util.NoSuchElementException;
/** Class to control a simulated encoder. */
public class EncoderSim {

10
wpilibj/src/main/java/org/wpilib/simulation/LinearSystemSim.java
View File

@@ -4,13 +4,13 @@
package org.wpilib.simulation;
import org.wpilib.math.linalg.Matrix;
import org.wpilib.math.util.Num;
import org.wpilib.math.util.StateSpaceUtil;
import org.wpilib.math.numbers.N1;
import org.wpilib.math.system.LinearSystem;
import org.ejml.MatrixDimensionException;
import org.ejml.simple.SimpleMatrix;
import org.wpilib.math.linalg.Matrix;
import org.wpilib.math.numbers.N1;
import org.wpilib.math.system.LinearSystem;
import org.wpilib.math.util.Num;
import org.wpilib.math.util.StateSpaceUtil;
/**
* This class helps simulate linear systems. To use this class, do the following in the {@link

2
wpilibj/src/main/java/org/wpilib/simulation/PWMSim.java
View File

@@ -4,9 +4,9 @@
package org.wpilib.simulation;
import org.wpilib.hardware.discrete.PWM;
import org.wpilib.hardware.hal.simulation.NotifyCallback;
import org.wpilib.hardware.hal.simulation.PWMDataJNI;
import org.wpilib.hardware.discrete.PWM;
/** Class to control a simulated PWM output. */
public class PWMSim {

3
wpilibj/src/main/java/org/wpilib/simulation/SimDeviceSim.java
View File

@@ -235,7 +235,8 @@ public class SimDeviceSim {
}
/**
* Register a callback to be run every time a new {@link org.wpilib.hardware.hal.SimDevice} is created.
* Register a callback to be run every time a new {@link org.wpilib.hardware.hal.SimDevice} is
* created.
*
* @param prefix the prefix to filter sim devices
* @param callback the callback

4
wpilibj/src/main/java/org/wpilib/simulation/SingleJointedArmSim.java
View File

@@ -38,8 +38,8 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N2> {
* Creates a simulated arm mechanism.
*
* @param plant The linear system that represents the arm. This system can be created with {@link
* org.wpilib.math.system.plant.LinearSystemId#createSingleJointedArmSystem(DCMotor,
* double, double)}.
* org.wpilib.math.system.plant.LinearSystemId#createSingleJointedArmSystem(DCMotor, double,
* double)}.
* @param gearbox The type of and number of motors in the arm gearbox.
* @param gearing The gearing of the arm (numbers greater than 1 represent reductions).
* @param armLength The length of the arm in meters.

4
wpilibj/src/main/java/org/wpilib/smartdashboard/Field2d.java
View File

@@ -6,6 +6,8 @@ package org.wpilib.smartdashboard;
import static org.wpilib.units.Units.Meters;
import java.util.ArrayList;
import java.util.List;
import org.wpilib.math.geometry.Pose2d;
import org.wpilib.math.geometry.Rotation2d;
import org.wpilib.networktables.NTSendable;
@@ -13,8 +15,6 @@ import org.wpilib.networktables.NTSendableBuilder;
import org.wpilib.networktables.NetworkTable;
import org.wpilib.units.measure.Distance;
import org.wpilib.util.sendable.SendableRegistry;
import java.util.ArrayList;
import java.util.List;
/**
* 2D representation of game field for dashboards.

6
wpilibj/src/main/java/org/wpilib/smartdashboard/FieldObject2d.java
View File

@@ -6,15 +6,15 @@ package org.wpilib.smartdashboard;
import static org.wpilib.units.Units.Meters;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
import org.wpilib.math.geometry.Pose2d;
import org.wpilib.math.geometry.Rotation2d;
import org.wpilib.math.geometry.Translation2d;
import org.wpilib.math.trajectory.Trajectory;
import org.wpilib.networktables.DoubleArrayEntry;
import org.wpilib.units.measure.Distance;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
/** Game field object on a Field2d. */
public class FieldObject2d implements AutoCloseable {

6
wpilibj/src/main/java/org/wpilib/smartdashboard/Mechanism2d.java
View File

@@ -4,15 +4,15 @@
package org.wpilib.smartdashboard;
import java.util.HashMap;
import java.util.Map;
import java.util.Map.Entry;
import org.wpilib.networktables.DoubleArrayPublisher;
import org.wpilib.networktables.NTSendable;
import org.wpilib.networktables.NTSendableBuilder;
import org.wpilib.networktables.NetworkTable;
import org.wpilib.networktables.StringPublisher;
import org.wpilib.util.Color8Bit;
import java.util.HashMap;
import java.util.Map;
import java.util.Map.Entry;
/**
* Visual 2D representation of arms, elevators, and general mechanisms through a node-based API.

2
wpilibj/src/main/java/org/wpilib/smartdashboard/MechanismObject2d.java
View File

@@ -4,9 +4,9 @@
package org.wpilib.smartdashboard;
import org.wpilib.networktables.NetworkTable;
import java.util.HashMap;
import java.util.Map;
import org.wpilib.networktables.NetworkTable;
/**
* Common base class for all Mechanism2d node types.

20
wpilibj/src/main/java/org/wpilib/smartdashboard/SendableBuilderImpl.java
View File

@@ -4,6 +4,15 @@
package org.wpilib.smartdashboard;
import java.util.ArrayList;
import java.util.List;
import java.util.function.BooleanSupplier;
import java.util.function.Consumer;
import java.util.function.DoubleConsumer;
import java.util.function.DoubleSupplier;
import java.util.function.LongConsumer;
import java.util.function.LongSupplier;
import java.util.function.Supplier;
import org.wpilib.networktables.BooleanArrayPublisher;
import org.wpilib.networktables.BooleanArraySubscriber;
import org.wpilib.networktables.BooleanArrayTopic;
@@ -43,19 +52,10 @@ import org.wpilib.networktables.StringSubscriber;
import org.wpilib.networktables.StringTopic;
import org.wpilib.networktables.Subscriber;
import org.wpilib.networktables.Topic;
import org.wpilib.system.RobotController;
import org.wpilib.util.function.BooleanConsumer;
import org.wpilib.util.function.FloatConsumer;
import org.wpilib.util.function.FloatSupplier;
import org.wpilib.system.RobotController;
import java.util.ArrayList;
import java.util.List;
import java.util.function.BooleanSupplier;
import java.util.function.Consumer;
import java.util.function.DoubleConsumer;
import java.util.function.DoubleSupplier;
import java.util.function.LongConsumer;
import java.util.function.LongSupplier;
import java.util.function.Supplier;
/** Implementation detail for SendableBuilder. */
public class SendableBuilderImpl implements NTSendableBuilder {

6
wpilibj/src/main/java/org/wpilib/smartdashboard/SendableChooser.java
View File

@@ -6,14 +6,14 @@ package org.wpilib.smartdashboard;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
import java.util.LinkedHashMap;
import java.util.Map;
import java.util.concurrent.atomic.AtomicInteger;
import java.util.concurrent.locks.ReentrantLock;
import java.util.function.Consumer;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.util.sendable.SendableRegistry;
/**
* The {@link SendableChooser} class is a useful tool for presenting a selection of options to the

6
wpilibj/src/main/java/org/wpilib/smartdashboard/SmartDashboard.java
View File

@@ -4,15 +4,15 @@
package org.wpilib.smartdashboard;
import java.util.HashMap;
import java.util.Map;
import java.util.Set;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.networktables.NetworkTable;
import org.wpilib.networktables.NetworkTableEntry;
import org.wpilib.networktables.NetworkTableInstance;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableRegistry;
import java.util.HashMap;
import java.util.Map;
import java.util.Set;
/**
* The {@link SmartDashboard} class is the bridge between robot programs and the SmartDashboard on

6
wpilibj/src/main/java/org/wpilib/sysid/SysIdRoutineLog.java
View File

@@ -12,8 +12,11 @@ import static org.wpilib.units.Units.RotationsPerSecond;
import static org.wpilib.units.Units.Second;
import static org.wpilib.units.Units.Volts;
import java.util.HashMap;
import java.util.Map;
import org.wpilib.datalog.DoubleLogEntry;
import org.wpilib.datalog.StringLogEntry;
import org.wpilib.system.DataLogManager;
import org.wpilib.units.measure.Angle;
import org.wpilib.units.measure.AngularAcceleration;
import org.wpilib.units.measure.AngularVelocity;
@@ -22,9 +25,6 @@ import org.wpilib.units.measure.Distance;
import org.wpilib.units.measure.LinearAcceleration;
import org.wpilib.units.measure.LinearVelocity;
import org.wpilib.units.measure.Voltage;
import org.wpilib.system.DataLogManager;
import java.util.HashMap;
import java.util.Map;
/**
* Utility for logging data from a SysId test routine. Each complete routine (quasistatic and

22
wpilibj/src/main/java/org/wpilib/system/DataLogManager.java
View File

@@ -4,17 +4,6 @@
package org.wpilib.system;
import org.wpilib.datalog.DataLog;
import org.wpilib.datalog.DataLogBackgroundWriter;
import org.wpilib.datalog.FileLogger;
import org.wpilib.datalog.IntegerLogEntry;
import org.wpilib.datalog.StringLogEntry;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.networktables.NetworkTableInstance;
import org.wpilib.opmode.RobotBase;
import org.wpilib.util.WPIUtilJNI;
import org.wpilib.util.concurrent.Event;
import java.io.File;
import java.io.IOException;
import java.nio.file.Files;
@@ -26,6 +15,17 @@ import java.time.format.DateTimeFormatter;
import java.util.Arrays;
import java.util.Comparator;
import java.util.Random;
import org.wpilib.datalog.DataLog;
import org.wpilib.datalog.DataLogBackgroundWriter;
import org.wpilib.datalog.FileLogger;
import org.wpilib.datalog.IntegerLogEntry;
import org.wpilib.datalog.StringLogEntry;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.networktables.NetworkTableInstance;
import org.wpilib.opmode.RobotBase;
import org.wpilib.util.WPIUtilJNI;
import org.wpilib.util.concurrent.Event;
/**
* Centralized data log that provides automatic data log file management. It automatically cleans up

5
wpilibj/src/main/java/org/wpilib/system/Notifier.java
View File

@@ -7,13 +7,12 @@ package org.wpilib.system;
import static org.wpilib.units.Units.Seconds;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import java.util.concurrent.atomic.AtomicInteger;
import java.util.concurrent.locks.ReentrantLock;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.hardware.hal.NotifierJNI;
import org.wpilib.units.measure.Frequency;
import org.wpilib.units.measure.Time;
import org.wpilib.system.RobotController;
import java.util.concurrent.atomic.AtomicInteger;
import java.util.concurrent.locks.ReentrantLock;
/**
* Notifiers run a user-provided callback function on a separate thread.

2
wpilibj/src/main/java/org/wpilib/system/RobotController.java
View File

@@ -9,6 +9,7 @@ import static org.wpilib.units.Units.Celsius;
import static org.wpilib.units.Units.Microseconds;
import static org.wpilib.units.Units.Volts;
import java.util.function.LongSupplier;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.hardware.hal.HALUtil;
import org.wpilib.hardware.hal.PowerJNI;
@@ -18,7 +19,6 @@ import org.wpilib.units.measure.Current;
import org.wpilib.units.measure.Temperature;
import org.wpilib.units.measure.Time;
import org.wpilib.units.measure.Voltage;
import java.util.function.LongSupplier;
/** Contains functions for roboRIO functionality. */
public final class RobotController {

2
wpilibj/src/main/java/org/wpilib/system/Timer.java
View File

@@ -6,8 +6,8 @@ package org.wpilib.system;
import static org.wpilib.units.Units.Seconds;
import org.wpilib.units.measure.Time;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.units.measure.Time;
/**
* A timer class.

6
wpilibj/src/main/java/org/wpilib/system/Watchdog.java
View File

@@ -6,12 +6,12 @@ package org.wpilib.system;
import static org.wpilib.units.Units.Seconds;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.hardware.hal.NotifierJNI;
import org.wpilib.units.measure.Time;
import java.io.Closeable;
import java.util.PriorityQueue;
import java.util.concurrent.locks.ReentrantLock;
import org.wpilib.driverstation.DriverStation;
import org.wpilib.hardware.hal.NotifierJNI;
import org.wpilib.units.measure.Time;
/**
* A class that's a wrapper around a watchdog timer.

16
wpilibj/src/main/java/org/wpilib/util/Alert.java
View File

@@ -4,23 +4,23 @@
package org.wpilib.util;
import org.wpilib.system.RobotController;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
import org.wpilib.smartdashboard.SmartDashboard;
import java.util.Comparator;
import java.util.EnumMap;
import java.util.HashMap;
import java.util.Map;
import java.util.Set;
import java.util.TreeSet;
import org.wpilib.smartdashboard.SmartDashboard;
import org.wpilib.system.RobotController;
import org.wpilib.util.sendable.Sendable;
import org.wpilib.util.sendable.SendableBuilder;
/**
* Persistent alert to be sent via NetworkTables. Alerts are tagged with a type of {@code kError},
* {@code kWarning}, or {@code kInfo} to denote urgency. See {@link
* org.wpilib.util.Alert.AlertType AlertType} for suggested usage of each type. Alerts can be
* displayed on supported dashboards, and are shown in a priority order based on type and recency of
* activation, with newly activated alerts first.
* {@code kWarning}, or {@code kInfo} to denote urgency. See {@link org.wpilib.util.Alert.AlertType
* AlertType} for suggested usage of each type. Alerts can be displayed on supported dashboards, and
* are shown in a priority order based on type and recency of activation, with newly activated
* alerts first.
*
* <p>Alerts should be created once and stored persistently, then updated to "active" or "inactive"
* as necessary. {@link #set(boolean)} can be safely called periodically.

2
wpilibj/src/main/java/org/wpilib/util/Color.java
View File

@@ -4,8 +4,8 @@
package org.wpilib.util;
import org.wpilib.math.util.MathUtil;
import java.util.Objects;
import org.wpilib.math.util.MathUtil;
/**
* Represents colors.

4
wpilibj/src/main/java/org/wpilib/util/Preferences.java
View File

@@ -6,6 +6,8 @@ package org.wpilib.util;
import static org.wpilib.util.ErrorMessages.requireNonNullParam;
import java.util.Collection;
import java.util.EnumSet;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.networktables.MultiSubscriber;
import org.wpilib.networktables.NetworkTable;
@@ -16,8 +18,6 @@ import org.wpilib.networktables.NetworkTableListener;
import org.wpilib.networktables.StringPublisher;
import org.wpilib.networktables.StringTopic;
import org.wpilib.networktables.Topic;
import java.util.Collection;
import java.util.EnumSet;
/**
* The preferences class provides a relatively simple way to save important values to the roboRIO to