Merge branch 'main' into 2027

wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java

@@ -4,9 +4,12 @@
 
 package edu.wpi.first.wpilibj;
 
+import static edu.wpi.first.units.Units.Seconds;
 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.hal.NotifierJNI;
+import edu.wpi.first.units.measure.Frequency;
+import edu.wpi.first.units.measure.Time;
 import java.util.concurrent.atomic.AtomicInteger;
 import java.util.concurrent.locks.ReentrantLock;
 
@@ -186,6 +189,15 @@ public class Notifier implements AutoCloseable {
     }
   }
 
+  /**
+   * Run the callback once after the given delay.
+   *
+   * @param delay Time to wait before the callback is called.
+   */
+  public void startSingle(Time delay) {
+    startSingle(delay.in(Seconds));
+  }
+
   /**
    * Run the callback periodically with the given period.
    *
@@ -207,6 +219,32 @@ public class Notifier implements AutoCloseable {
     }
   }
 
+  /**
+   * Run the callback periodically with the given period.
+   *
+   * <p>The user-provided callback should be written so that it completes before the next time it's
+   * scheduled to run.
+   *
+   * @param period Period after which to call the callback starting one period after the call to
+   *     this method.
+   */
+  public void startPeriodic(Time period) {
+    startPeriodic(period.in(Seconds));
+  }
+
+  /**
+   * Run the callback periodically with the given frequency.
+   *
+   * <p>The user-provided callback should be written so that it completes before the next time it's
+   * scheduled to run.
+   *
+   * @param frequency Frequency at which to call the callback, starting one period after the call to
+   *     this method.
+   */
+  public void startPeriodic(Frequency frequency) {
+    startPeriodic(frequency.asPeriod());
+  }
+
   /**
    * Stop further callback invocations.
    *

wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java

@@ -9,6 +9,7 @@ import static edu.wpi.first.units.Units.Seconds;
 import edu.wpi.first.hal.DriverStationJNI;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.NotifierJNI;
+import edu.wpi.first.units.measure.Frequency;
 import edu.wpi.first.units.measure.Time;
 import java.util.PriorityQueue;
 
@@ -82,7 +83,7 @@ public class TimedRobot extends IterativeRobotBase {
   /**
    * Constructor for TimedRobot.
    *
-   * @param period Period in seconds.
+   * @param period The period of the robot loop function.
    */
   protected TimedRobot(double period) {
     super(period);
@@ -93,6 +94,24 @@ public class TimedRobot extends IterativeRobotBase {
     HAL.reportUsage("Framework", "TimedRobot");
   }
 
+  /**
+   * Constructor for TimedRobot.
+   *
+   * @param period The period of the robot loop function.
+   */
+  protected TimedRobot(Time period) {
+    this(period.in(Seconds));
+  }
+
+  /**
+   * Constructor for TimedRobot.
+   *
+   * @param frequency The frequency of the robot loop function.
+   */
+  protected TimedRobot(Frequency frequency) {
+    this(frequency.asPeriod());
+  }
+
   @Override
   public void close() {
     NotifierJNI.stopNotifier(m_notifier);

wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java

@@ -4,6 +4,10 @@
 
 package edu.wpi.first.wpilibj;
 
+import static edu.wpi.first.units.Units.Seconds;
+
+import edu.wpi.first.units.measure.Time;
+
 /**
  * A timer class.
  *
@@ -46,10 +50,20 @@ public class Timer {
   }
 
   /**
-   * Pause the thread for a specified time. Pause the execution of the thread for a specified period
-   * of time given in seconds. Motors will continue to run at their last assigned values, and
-   * sensors will continue to update. Only the task containing the wait will pause until the wait
-   * time is expired.
+   * Pause the execution of the thread for a specified period of time. Motors will continue to run
+   * at their last assigned values, and sensors will continue to update. Only the task containing
+   * the wait will pause until the wait time is expired.
+   *
+   * @param period Length of time to pause
+   */
+  public static void delay(final Time period) {
+    delay(period.in(Seconds));
+  }
+
+  /**
+   * Pause the execution of the thread for a specified period of time given in seconds. Motors will
+   * continue to run at their last assigned values, and sensors will continue to update. Only the
+   * task containing the wait will pause until the wait time is expired.
    *
    * @param seconds Length of time to pause
    */
@@ -137,7 +151,17 @@ public class Timer {
   /**
    * Check if the period specified has passed.
    *
-   * @param seconds The period to check.
+   * @param period The period to check.
+   * @return Whether the period has passed.
+   */
+  public boolean hasElapsed(Time period) {
+    return hasElapsed(period.in(Seconds));
+  }
+
+  /**
+   * Check if the period specified has passed.
+   *
+   * @param seconds The period to check in seconds.
    * @return Whether the period has passed.
    */
   public boolean hasElapsed(double seconds) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java

@@ -4,7 +4,10 @@
 
 package edu.wpi.first.wpilibj;
 
+import static edu.wpi.first.units.Units.Seconds;
+
 import edu.wpi.first.hal.NotifierJNI;
+import edu.wpi.first.units.measure.Time;
 import java.io.Closeable;
 import java.util.PriorityQueue;
 import java.util.concurrent.locks.ReentrantLock;
@@ -55,6 +58,16 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
     m_tracer = new Tracer();
   }
 
+  /**
+   * Watchdog constructor.
+   *
+   * @param timeout The watchdog's timeout with microsecond resolution.
+   * @param callback This function is called when the timeout expires.
+   */
+  public Watchdog(Time timeout, Runnable callback) {
+    this(timeout.in(Seconds), callback);
+  }
+
   @Override
   public void close() {
     disable();

wpilibj/src/main/java/edu/wpi/first/wpilibj/event/BooleanEvent.java

@@ -4,9 +4,11 @@
 
 package edu.wpi.first.wpilibj.event;
 
+import static edu.wpi.first.units.Units.Seconds;
 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.math.filter.Debouncer;
+import edu.wpi.first.units.measure.Time;
 import java.util.concurrent.atomic.AtomicBoolean;
 import java.util.function.BiFunction;
 import java.util.function.BooleanSupplier;
@@ -167,7 +169,18 @@ public class BooleanEvent implements BooleanSupplier {
    * Creates a new debounced event from this event - it will become active when this event has been
    * active for longer than the specified period.
    *
-   * @param seconds The debounce period.
+   * @param period The debounce period.
+   * @return The debounced event (rising edges debounced only).
+   */
+  public BooleanEvent debounce(Time period) {
+    return debounce(period.in(Seconds));
+  }
+
+  /**
+   * Creates a new debounced event from this event - it will become active when this event has been
+   * active for longer than the specified period.
+   *
+   * @param seconds The debounce period in seconds.
    * @return The debounced event (rising edges debounced only).
    */
   public BooleanEvent debounce(double seconds) {
@@ -178,7 +191,19 @@ public class BooleanEvent implements BooleanSupplier {
    * Creates a new debounced event from this event - it will become active when this event has been
    * active for longer than the specified period.
    *
-   * @param seconds The debounce period.
+   * @param period The debounce period.
+   * @param type The debounce type.
+   * @return The debounced event.
+   */
+  public BooleanEvent debounce(Time period, Debouncer.DebounceType type) {
+    return debounce(period.in(Seconds), type);
+  }
+
+  /**
+   * Creates a new debounced event from this event - it will become active when this event has been
+   * active for longer than the specified period.
+   *
+   * @param seconds The debounce period in seconds.
    * @param type The debounce type.
    * @return The debounced event.
    */

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/Field2d.java

@@ -4,11 +4,14 @@
 
 package edu.wpi.first.wpilibj.smartdashboard;
 
+import static edu.wpi.first.units.Units.Meters;
+
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.networktables.NTSendable;
 import edu.wpi.first.networktables.NTSendableBuilder;
 import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.util.sendable.SendableRegistry;
 import java.util.ArrayList;
 import java.util.List;
@@ -66,6 +69,17 @@ public class Field2d implements NTSendable, AutoCloseable {
     m_objects.get(0).setPose(x, y, rotation);
   }
 
+  /**
+   * Set the robot pose from x, y, and rotation.
+   *
+   * @param x X location
+   * @param y Y location
+   * @param rotation rotation
+   */
+  public synchronized void setRobotPose(Distance x, Distance y, Rotation2d rotation) {
+    m_objects.get(0).setPose(x.in(Meters), y.in(Meters), rotation);
+  }
+
   /**
    * Get the robot pose.
    *

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java

@@ -4,11 +4,14 @@
 
 package edu.wpi.first.wpilibj.smartdashboard;
 
+import static edu.wpi.first.units.Units.Meters;
+
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.trajectory.Trajectory;
 import edu.wpi.first.networktables.DoubleArrayEntry;
+import edu.wpi.first.units.measure.Distance;
 import java.util.ArrayList;
 import java.util.Collections;
 import java.util.List;
@@ -51,6 +54,17 @@ public class FieldObject2d implements AutoCloseable {
     setPose(new Pose2d(x, y, rotation));
   }
 
+  /**
+   * Set the pose from x, y, and rotation.
+   *
+   * @param x X location
+   * @param y Y location
+   * @param rotation rotation
+   */
+  public synchronized void setPose(Distance x, Distance y, Rotation2d rotation) {
+    setPose(new Pose2d(x.in(Meters), y.in(Meters), rotation));
+  }
+
   /**
    * Get the pose.
    *