Merge branch 'main' into 2027

wpimath/src/main/native/include/frc/StateSpaceUtil.h

@@ -260,7 +260,7 @@ WPILIB_DLLEXPORT constexpr Eigen::Vector3d PoseTo3dVector(const Pose2d& pose) {
 }
 
 /**
- * Converts a Pose2d into a vector of [x, y, std::cos(theta), std::sin(theta)].
+ * Converts a Pose2d into a vector of [x, y, cos(theta), sin(theta)].
  *
  * @param pose The pose that is being represented.
  *

wpimath/src/main/native/include/frc/geometry/Ellipse2d.h

@@ -91,7 +91,7 @@ class WPILIB_DLLEXPORT Ellipse2d {
     auto a = units::math::max(m_xSemiAxis, m_ySemiAxis);
 
     // Minor semi-axis
-    auto b = units::math::min(m_xSemiAxis, m_ySemiAxis);  // NOLINT
+    auto b = units::math::min(m_xSemiAxis, m_ySemiAxis);
 
     auto c = units::math::sqrt(a * a - b * b);
 
@@ -203,7 +203,9 @@ class WPILIB_DLLEXPORT Ellipse2d {
     auto x = rotPoint.X() - m_center.X();
     auto y = rotPoint.Y() - m_center.Y();
 
+    // NOLINTNEXTLINE (bugprone-integer-division)
     return (x * x) / (m_xSemiAxis * m_xSemiAxis) +
+           // NOLINTNEXTLINE (bugprone-integer-division)
            (y * y) / (m_ySemiAxis * m_ySemiAxis);
   }
 };

wpimath/src/main/native/include/frc/geometry/Quaternion.h

@@ -296,8 +296,8 @@ class WPILIB_DLLEXPORT Quaternion {
     // 𝑣⃗ = θ * v̂
     // v̂ = 𝑣⃗ / θ
 
-    // 𝑞 = std::cos(θ/2) + std::sin(θ/2) * v̂
-    // 𝑞 = std::cos(θ/2) + std::sin(θ/2) / θ * 𝑣⃗
+    // 𝑞 = cos(θ/2) + sin(θ/2) * v̂
+    // 𝑞 = cos(θ/2) + sin(θ/2) / θ * 𝑣⃗
 
     double theta = gcem::hypot(rvec(0), rvec(1), rvec(2));
     double cos = gcem::cos(theta / 2);

wpimath/src/main/native/include/frc/system/plant/DCMotor.h

@@ -247,6 +247,31 @@ class WPILIB_DLLEXPORT DCMotor {
     return DCMotor(12_V, 9.37_Nm, 483_A, 2_A, 5800_rpm, numMotors);
   }
 
+  /**
+   * Return a gearbox of Kraken X44 brushless motors.
+   */
+  static constexpr DCMotor KrakenX44(int numMotors = 1) {
+    // From https://motors.ctr-electronics.com/dyno/dynometer-testing/
+    return DCMotor(12_V, 4.11_Nm, 279_A, 2_A, 7758_rpm, numMotors);
+  }
+
+  /**
+   * Return a gearbox of Kraken X44 brushless motors with FOC (Field-Oriented
+   * Control) enabled.
+   */
+  static constexpr DCMotor KrakenX44FOC(int numMotors = 1) {
+    // From https://motors.ctr-electronics.com/dyno/dynometer-testing/
+    return DCMotor(12_V, 5.01_Nm, 329_A, 2_A, 7368_rpm, numMotors);
+  }
+
+  /**
+   * Return a gearbox of Minion brushless motors.
+   */
+  static constexpr DCMotor Minion(int numMotors = 1) {
+    // From https://motors.ctr-electronics.com/dyno/dynometer-testing/
+    return DCMotor(12_V, 3.17_Nm, 211_A, 2_A, 7704_rpm, numMotors);
+  }
+
   /**
    * Return a gearbox of Neo Vortex brushless motors.
    */

wpimath/src/main/native/thirdparty/sleipnir/.clang-format

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wpimath/src/main/native/thirdparty/sleipnir/.clang-tidy

@@ -1,74 +0,0 @@
-Checks:
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-  bugprone-bool-pointer-implicit-conversion,
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wpimath/src/main/native/thirdparty/sleipnir/.styleguide

@@ -1,23 +0,0 @@
-cppHeaderFileInclude {
-  \.hpp$
-}
-
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-  \.cpp$
-}
-
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-  \.patch$
-  \.png$
-  \.svg$
-  jormungandr/cpp/docstrings\.hpp$
-  jormungandr/py\.typed$
-}
-
-includeOtherLibs {
-  ^Eigen/
-  ^catch2/
-  ^gch/
-  ^nanobind/
-  ^sleipnir/
-}

wpimath/src/main/native/thirdparty/sleipnir/.styleguide-license

@@ -1 +0,0 @@
-// Copyright (c) Sleipnir contributors

wpimath/src/main/native/thirdparty/sleipnir/include/.styleguide

@@ -1,14 +0,0 @@
-cppHeaderFileInclude {
-  \.hpp$
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-
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-
-includeOtherLibs {
-  ^Eigen/
-  ^fmt/
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-  ^wpi/
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wpimath/src/main/native/thirdparty/sleipnir/src/.styleguide

@@ -1,13 +0,0 @@
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-  \.hpp$
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-
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