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Remove deprecated code (#8656)

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This commit is contained in:
Gold856
2026-03-15 00:28:31 -04:00
committed by GitHub
parent f1adce4cf7
commit d1fba06851
52 changed files with 10 additions and 1135 deletions
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4
apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTagFieldLayout.java
View File

@@ -245,8 +245,8 @@ public class AprilTagFieldLayout {
/**
* Deserializes a field layout from a resource within a internal jar file.
*
* <p>Users should use {@link AprilTagFields#loadAprilTagLayoutField()} to load official layouts
* and {@link #AprilTagFieldLayout(String)} for custom layouts.
* <p>Users should use {@link #loadField(AprilTagFields)} to load official layouts and {@link
* #AprilTagFieldLayout(String)} for custom layouts.
*
* @param resourcePath The absolute path of the resource
* @return The deserialized layout

14
apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTagFields.java
View File

@@ -4,8 +4,6 @@
package org.wpilib.vision.apriltag;
import java.io.UncheckedIOException;
/** Loadable AprilTag field layouts. */
public enum AprilTagFields {
/** 2022 Rapid React. */
@@ -37,16 +35,4 @@ public enum AprilTagFields {
AprilTagFields(String resourceFile) {
m_resourceFile = kBaseResourceDir + resourceFile;
}
/**
* Get a {@link AprilTagFieldLayout} from the resource JSON.
*
* @return AprilTagFieldLayout of the field
* @throws UncheckedIOException If the layout does not exist
* @deprecated Use {@link AprilTagFieldLayout#loadField(AprilTagFields)} instead.
*/
@Deprecated(forRemoval = true, since = "2025")
public AprilTagFieldLayout loadAprilTagLayoutField() {
return AprilTagFieldLayout.loadField(this);
}
}

5
apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp
View File

@@ -177,8 +177,3 @@ AprilTagFieldLayout AprilTagFieldLayout::LoadField(AprilTagField field) {
wpi::util::json json = wpi::util::json::parse(fieldString);
return json.get<AprilTagFieldLayout>();
}
AprilTagFieldLayout wpi::apriltag::LoadAprilTagLayoutField(
AprilTagField field) {
return AprilTagFieldLayout::LoadField(field);
}

11
apriltag/src/main/native/include/wpi/apriltag/AprilTagFieldLayout.hpp
View File

@@ -161,15 +161,4 @@ void to_json(wpi::util::json& json, const AprilTagFieldLayout& layout);
WPILIB_DLLEXPORT
void from_json(const wpi::util::json& json, AprilTagFieldLayout& layout);
/**
* Loads an AprilTagFieldLayout from a predefined field
*
* @param field The predefined field
* @return AprilTagFieldLayout of the field
* @deprecated Use AprilTagFieldLayout::LoadField() instead
*/
[[deprecated("Use AprilTagFieldLayout::LoadField() instead")]]
WPILIB_DLLEXPORT AprilTagFieldLayout
LoadAprilTagLayoutField(AprilTagField field);
} // namespace wpi::apriltag

2
apriltag/src/main/python/semiwrap/AprilTagFieldLayout.yml
View File

@@ -3,8 +3,6 @@ functions:
ignore: true
from_json:
ignore: true
LoadAprilTagLayoutField:
ignore: true
classes:
wpi::apriltag::AprilTagFieldLayout:
enums:

30
commandsv2/src/main/java/org/wpilib/command2/Command.java
View File

@@ -307,26 +307,6 @@ public abstract class Command implements Sendable {
return new ParallelDeadlineGroup(deadline, this);
}
/**
* Decorates this command with a set of commands to run parallel to it, ending when the calling
* command ends and interrupting all the others. Often more convenient/less-verbose than
* constructing a new {@link ParallelDeadlineGroup} explicitly.
*
* <p>Note: This decorator works by adding this command to a composition. The command the
* decorator was called on cannot be scheduled independently or be added to a different
* composition (namely, decorators), unless it is manually cleared from the list of composed
* commands with {@link CommandScheduler#removeComposedCommand(Command)}. The command composition
* returned from this method can be further decorated without issue.
*
* @param parallel the commands to run in parallel
* @return the decorated command
* @deprecated Use {@link deadlineFor} instead.
*/
@Deprecated(since = "2025", forRemoval = true)
public ParallelDeadlineGroup deadlineWith(Command... parallel) {
return new ParallelDeadlineGroup(this, parallel);
}
/**
* Decorates this command with a set of commands to run parallel to it, ending when the calling
* command ends and interrupting all the others. Often more convenient/less-verbose than
@@ -535,16 +515,6 @@ public abstract class Command implements Sendable {
});
}
/**
* Schedules this command.
*
* @deprecated Use CommandScheduler.getInstance().schedule(Command...) instead
*/
@Deprecated(since = "2025", forRemoval = true)
public void schedule() {
CommandScheduler.getInstance().schedule(this);
}
/**
* Cancels this command. Will call {@link #end(boolean) end(true)}. Commands will be canceled
* regardless of {@link InterruptionBehavior interruption behavior}.

18
commandsv2/src/main/java/org/wpilib/command2/ProxyCommand.java
View File

@@ -24,24 +24,6 @@ public class ProxyCommand extends Command {
private final Supplier<Command> m_supplier;
private Command m_command;
/**
* Creates a new ProxyCommand that schedules the supplied command when initialized, and ends when
* it is no longer scheduled. Use this for lazily creating <strong>proxied</strong> commands at
* runtime. Proxying should only be done to escape from composition requirement semantics, so if
* only initialization time command construction is needed, use {@link DeferredCommand} instead.
*
* @param supplier the command supplier
* @deprecated This constructor's similarity to {@link DeferredCommand} is confusing and opens
* potential footguns for users who do not fully understand the semantics and implications of
* proxying, but who simply want runtime construction. Users who do know what they are doing
* and need a supplier-constructed proxied command should instead defer a proxy command.
* @see DeferredCommand
*/
@Deprecated(since = "2025", forRemoval = true)
public ProxyCommand(Supplier<Command> supplier) {
m_supplier = requireNonNullParam(supplier, "supplier", "ProxyCommand");
}
/**
* Creates a new ProxyCommand that schedules the given command when initialized, and ends when it
* is no longer scheduled.

4
commandsv2/src/main/native/cpp/frc2/command/Command.cpp
View File

@@ -152,10 +152,6 @@ CommandPtr Command::WithName(std::string_view name) && {
return std::move(*this).ToPtr().WithName(name);
}
void Command::Schedule() {
CommandScheduler::GetInstance().Schedule(this);
}
void Command::Cancel() {
CommandScheduler::GetInstance().Cancel(this);
}

14
commandsv2/src/main/native/cpp/frc2/command/CommandPtr.cpp
View File

@@ -176,15 +176,6 @@ CommandPtr CommandPtr::WithDeadline(CommandPtr&& deadline) && {
return std::move(*this);
}
CommandPtr CommandPtr::DeadlineWith(CommandPtr&& parallel) && {
AssertValid();
std::vector<std::unique_ptr<Command>> vec;
vec.emplace_back(std::move(parallel).Unwrap());
m_ptr =
std::make_unique<ParallelDeadlineGroup>(std::move(m_ptr), std::move(vec));
return std::move(*this);
}
CommandPtr CommandPtr::DeadlineFor(CommandPtr&& parallel) && {
AssertValid();
std::vector<std::unique_ptr<Command>> vec;
@@ -268,11 +259,6 @@ std::unique_ptr<Command> CommandPtr::Unwrap() && {
return std::move(m_ptr);
}
void CommandPtr::Schedule() const& {
AssertValid();
CommandScheduler::GetInstance().Schedule(*this);
}
void CommandPtr::Cancel() const& {
AssertValid();
CommandScheduler::GetInstance().Cancel(*this);

1
commandsv2/src/main/native/cpp/frc2/command/Commands.cpp
View File

@@ -21,7 +21,6 @@
#include "wpi/commands2/WaitCommand.hpp"
#include "wpi/commands2/WaitUntilCommand.hpp"
#include "wpi/util/FunctionExtras.hpp"
#include "wpi/util/deprecated.hpp"
using namespace wpi::cmd;

13
commandsv2/src/main/native/cpp/frc2/command/ProxyCommand.cpp
View File

@@ -9,23 +9,10 @@
#include <fmt/format.h>
#include "wpi/util/deprecated.hpp"
#include "wpi/util/sendable/SendableBuilder.hpp"
using namespace wpi::cmd;
WPI_IGNORE_DEPRECATED
ProxyCommand::ProxyCommand(wpi::util::unique_function<Command*()> supplier)
: m_supplier(std::move(supplier)) {}
ProxyCommand::ProxyCommand(wpi::util::unique_function<CommandPtr()> supplier)
: ProxyCommand([supplier = std::move(supplier),
holder = std::optional<CommandPtr>{}]() mutable {
holder = supplier();
return holder->get();
}) {}
WPI_UNIGNORE_DEPRECATED
ProxyCommand::ProxyCommand(Command* command)
: m_supplier([command] { return command; }) {
SetName(fmt::format("Proxy({})", command->GetName()));

8
commandsv2/src/main/native/include/wpi/commands2/Command.hpp
View File

@@ -396,14 +396,6 @@ class Command : public wpi::util::Sendable,
*/
CommandPtr WithName(std::string_view name) &&;
/**
* Schedules this command.
*
* @deprecated Use CommandScheduler::GetInstance().Schedule() instead
*/
[[deprecated("Use CommandScheduler::GetInstance().Schedule() instead.")]]
void Schedule();
/**
* Cancels this command. Will call End(true). Commands will be canceled
* regardless of interruption behavior.

23
commandsv2/src/main/native/include/wpi/commands2/CommandPtr.hpp
View File

@@ -179,18 +179,6 @@ class [[nodiscard]] CommandPtr final {
*/
CommandPtr WithDeadline(CommandPtr&& deadline) &&;
/**
* Decorates this command with a set of commands to run parallel to it, ending
* when the calling command ends and interrupting all the others. Often more
* convenient/less-verbose than constructing a new {@link
* ParallelDeadlineGroup} explicitly.
*
* @param parallel the commands to run in parallel
* @return the decorated command
*/
[[deprecated("Replace with DeadlineFor")]]
CommandPtr DeadlineWith(CommandPtr&& parallel) &&;
/**
* Decorates this command with a set of commands to run parallel to it, ending
* when the calling command ends and interrupting all the others. Often more
@@ -274,17 +262,6 @@ class [[nodiscard]] CommandPtr final {
*/
std::unique_ptr<Command> Unwrap() &&;
/**
* Schedules this command.
*
* @deprecated Use CommandScheduler::GetInstance().Schedule() instead
*/
[[deprecated("Use CommandScheduler::GetInstance().Schedule() instead.")]]
void Schedule() const&;
// Prevent calls on a temporary, as the returned pointer would be invalid
void Schedule() && = delete;
/**
* Cancels this command. Will call End(true). Commands will be canceled
* regardless of interruption behavior.

1
commandsv2/src/main/native/include/wpi/commands2/Commands.hpp
View File

@@ -15,7 +15,6 @@
#include "wpi/commands2/CommandPtr.hpp"
#include "wpi/commands2/Requirements.hpp"
#include "wpi/commands2/SelectCommand.hpp"
#include "wpi/util/deprecated.hpp"
namespace wpi::cmd {
class Subsystem;

41
commandsv2/src/main/native/include/wpi/commands2/ProxyCommand.hpp
View File

@@ -9,7 +9,6 @@
#include "wpi/commands2/Command.hpp"
#include "wpi/commands2/CommandHelper.hpp"
#include "wpi/util/FunctionExtras.hpp"
#include "wpi/util/deprecated.hpp"
namespace wpi::cmd {
/**
@@ -27,46 +26,6 @@ namespace wpi::cmd {
*/
class ProxyCommand : public CommandHelper<Command, ProxyCommand> {
public:
/**
* Creates a new ProxyCommand that schedules the supplied command when
* initialized, and ends when it is no longer scheduled. Use this for lazily
* creating <strong>proxied</strong> commands at runtime. Proxying should only
* be done to escape from composition requirement semantics, so if only
* initialization time command construction is needed, use {@link
* DeferredCommand} instead.
*
* @param supplier the command supplier
* @deprecated This constructor's similarity to {@link DeferredCommand} is
* confusing and opens potential footguns for users who do not fully
* understand the semantics and implications of proxying, but who simply want
* runtime construction. Users who do know what they are doing and need a
* supplier-constructed proxied command should instead defer a proxy command.
* @see DeferredCommand
*/
WPI_IGNORE_DEPRECATED
[[deprecated("Defer a proxy command instead.")]]
explicit ProxyCommand(wpi::util::unique_function<Command*()> supplier);
/**
* Creates a new ProxyCommand that schedules the supplied command when
* initialized, and ends when it is no longer scheduled. Use this for lazily
* creating <strong>proxied</strong> commands at runtime. Proxying should only
* be done to escape from composition requirement semantics, so if only
* initialization time command construction is needed, use {@link
* DeferredCommand} instead.
*
* @param supplier the command supplier
* @deprecated This constructor's similarity to {@link DeferredCommand} is
* confusing and opens potential footguns for users who do not fully
* understand the semantics and implications of proxying, but who simply want
* runtime construction. Users who do know what they are doing and need a
* supplier-constructed proxied command should instead defer a proxy command.
* @see DeferredCommand
*/
[[deprecated("Defer a proxy command instead.")]]
explicit ProxyCommand(wpi::util::unique_function<CommandPtr()> supplier);
WPI_UNIGNORE_DEPRECATED
/**
* Creates a new ProxyCommand that schedules the given command when
* initialized, and ends when it is no longer scheduled.

13
commandsv2/src/main/python/commands2/__init__.py
View File

@@ -59,16 +59,3 @@ __all__ = [
"WaitUntilCommand",
"WrapperCommand",
]
if not TYPE_CHECKING:
def __getattr__(attr):
if attr == "SubsystemBase":
import warnings
warnings.warn(
"SubsystemBase is deprecated", DeprecationWarning, stacklevel=2
)
return Subsystem
raise AttributeError(f"module {__name__!r} has no attribute {attr!r}")

29
commandsv2/src/main/python/commands2/command.py
View File

@@ -260,35 +260,6 @@ class Command(Sendable):
return SequentialCommandGroup(self, *next)
def deadlineWith(self, *parallel: Command) -> ParallelDeadlineGroup:
"""
Decorates this command with a set of commands to run parallel to it, ending when the calling
command ends and interrupting all the others. Often more convenient/less-verbose than
constructing a new ParallelDeadlineGroup explicitly.
.. note:: This decorator works by adding this command to a composition.
The command the decorator was called on cannot be scheduled
independently or be added to a different composition (namely,
decorators), unless it is manually cleared from the list of composed
commands with :func:`commands2.CommandScheduler.removeComposedCommand`.
The command composition returned from this method can be further
decorated without issue.
:param parallel: the commands to run in parallel
:returns: the decorated command
"""
import warnings
warnings.warn(
"deadlineWith is deprecated use deadlineFor instead",
DeprecationWarning,
stacklevel=2,
)
from .paralleldeadlinegroup import ParallelDeadlineGroup
return ParallelDeadlineGroup(self, *parallel)
def deadlineFor(self, *parallel: Command) -> ParallelDeadlineGroup:
"""
Decorates this command with a set of commands to run parallel to it, ending when the calling

63
commandsv2/src/main/python/commands2/proxycommand.py
View File

@@ -1,13 +1,9 @@
# validated: 2024-01-19 DS 192a28af4731 ProxyCommand.java
from __future__ import annotations
from typing import Callable, overload
from wpiutil import SendableBuilder
from .command import Command
from .util import format_args_kwargs
import warnings
class ProxyCommand(Command):
@@ -21,26 +17,8 @@ class ProxyCommand(Command):
If this command is interrupted, it will cancel the command.
"""
_supplier: Callable[[], Command]
_command: Command
@overload
def __init__(self, supplier: Callable[[], Command]):
"""
Creates a new ProxyCommand that schedules the supplied command when initialized, and ends when
it is no longer scheduled. Use this for lazily creating **proxied** commands at
runtime. Proxying should only be done to escape from composition requirement semantics, so if
only initialization time command construction is needed, use DeferredCommand instead.
:param supplier: the command supplier
This constructor's similarity to DeferredCommand is confusing and opens
potential footguns for users who do not fully understand the semantics and implications of
proxying, but who simply want runtime construction. Users who do know what they are doing
and need a supplier-constructed proxied command should instead proxy a DeferredCommand
using the ``asProxy`` decorator.
"""
...
@overload
def __init__(self, command: Command):
"""
Creates a new ProxyCommand that schedules the given command when initialized, and ends when it
@@ -48,47 +26,12 @@ class ProxyCommand(Command):
:param command: the command to run by proxy
"""
...
def __init__(self, *args, **kwargs):
super().__init__()
def init_supplier(supplier: Callable[[], Command]):
assert callable(supplier)
self._supplier = supplier
warnings.warn(
"The ProxyCommand supplier constructor has been deprecated",
DeprecationWarning,
stacklevel=3,
)
def init_command(command: Command):
self.setName(f"Proxy({command.getName()})")
self._supplier = lambda: command
num_args = len(args) + len(kwargs)
if num_args == 1 and len(kwargs) == 1:
if "supplier" in kwargs:
return init_supplier(kwargs["supplier"])
elif "command" in kwargs:
return init_command(kwargs["command"])
elif num_args == 1 and len(args) == 1:
if isinstance(args[0], Command):
return init_command(args[0])
elif callable(args[0]):
return init_supplier(args[0])
raise TypeError(f"""
TypeError: ProxyCommand(): incompatible function arguments. The following argument types are supported:
1. (self: ProxyCommand, supplier: () -> Command)
2. (self: ProxyCommand, command: Command)
Invoked with: {format_args_kwargs(self, *args, **kwargs)}
""")
self.setName(f"Proxy({command.getName()})")
self._command = command
def initialize(self):
self._command = self._supplier()
self._command.schedule()
def end(self, interrupted: bool):

18
commandsv2/src/test/python/test_command_decorators.py
View File

@@ -78,24 +78,6 @@ def test_andThen(scheduler: commands2.CommandScheduler):
assert condition == True
def test_deadlineWith(scheduler: commands2.CommandScheduler):
condition = OOBoolean(False)
condition.set(False)
dictator = commands2.WaitUntilCommand(condition)
endsBefore = commands2.InstantCommand()
endsAfter = commands2.WaitUntilCommand(lambda: False)
group = dictator.deadlineWith(endsBefore, endsAfter)
scheduler.schedule(group)
scheduler.run()
assert group.isScheduled()
condition.set(True)
scheduler.run()
assert not group.isScheduled()
def test_deadlineFor(scheduler: commands2.CommandScheduler):
condition = OOBoolean(False)
condition.set(False)

4
ntcore/src/main/native/cpp/jni/NetworkTablesJNI.cpp
View File

@@ -20,10 +20,6 @@
using namespace wpi::util::java;
#ifdef __GNUC__
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
namespace wpi::nt {
bool JNI_LoadTypes(JNIEnv* env);
void JNI_UnloadTypes(JNIEnv* env);

40
wpilibc/src/generate/main/native/cpp/driverstation/hid.cpp.jinja
View File

@@ -53,45 +53,7 @@ bool {{ ConsoleName }}Controller::Get{{ capitalize_first(button.name) }}ButtonRe
BooleanEvent {{ ConsoleName }}Controller::{{ capitalize_first(button.name) }}(EventLoop* loop) const {
return BooleanEvent(loop, [this]() { return this->Get{{ capitalize_first(button.name) }}Button(); });
}
{% endfor -%}
{% if ConsoleName == "Xbox" or ConsoleName == "Stadia"%}
bool {{ ConsoleName }}Controller::GetLeftBumper() const {
return GetRawButton(Button::kLeftBumper);
}
bool {{ ConsoleName }}Controller::GetRightBumper() const {
return GetRawButton(Button::kRightBumper);
}
bool {{ ConsoleName }}Controller::GetLeftBumperPressed() {
return GetRawButtonPressed(Button::kLeftBumper);
}
bool {{ ConsoleName }}Controller::GetRightBumperPressed() {
return GetRawButtonPressed(Button::kRightBumper);
}
bool {{ ConsoleName }}Controller::GetLeftBumperReleased() {
return GetRawButtonReleased(Button::kLeftBumper);
}
bool {{ ConsoleName }}Controller::GetRightBumperReleased() {
return GetRawButtonReleased(Button::kRightBumper);
}
{%- elif ConsoleName == "PS4" or ConsoleName == "PS5" %}
bool {{ ConsoleName }}Controller::GetTouchpad() const {
return GetRawButton(Button::kTouchpad);
}
bool {{ ConsoleName }}Controller::GetTouchpadPressed() {
return GetRawButtonPressed(Button::kTouchpad);
}
bool {{ ConsoleName }}Controller::GetTouchpadReleased() {
return GetRawButtonReleased(Button::kTouchpad);
}
{%- endif %}
{% endfor %}
void {{ ConsoleName }}Controller::InitSendable(wpi::util::SendableBuilder& builder) {
builder.SetSmartDashboardType("HID");
builder.PublishConstString("ControllerType", "{{ ConsoleName }}");

101
wpilibc/src/generate/main/native/include/wpi/driverstation/hid.hpp.jinja
View File

@@ -116,106 +116,7 @@ class {{ ConsoleName }}Controller : public GenericHID,
* digital signal attached to the given loop.
*/
BooleanEvent {{ capitalize_first(button.name) }}(EventLoop* loop) const;
{% endfor -%}
{% if ConsoleName == "Xbox" or ConsoleName == "Stadia" %}
/**
* Read the value of the left bumper (LB) button on the controller.
*
* @return the state of the button
* @deprecated Use GetLeftBumperButton instead. This function is deprecated
* for removal to make function names consistent to allow the HID classes to
* be automatically generated.
*/
[[deprecated("Use GetLeftBumperButton instead")]]
bool GetLeftBumper() const;
/**
* Read the value of the right bumper (RB) button on the controller.
*
* @return the state of the button
* @deprecated Use GetRightBumperButton instead. This function is deprecated
* for removal to make function names consistent to allow the HID classes to
* be automatically generated.
*/
[[deprecated("Use GetRightBumperButton instead")]]
bool GetRightBumper() const;
/**
* Whether the left bumper (LB) was pressed since the last check.
*
* @return Whether the button was pressed since the last check
* @deprecated Use GetLeftBumperButtonPressed instead. This function is
* deprecated for removal to make function names consistent to allow the HID
* classes to be automatically generated.
*/
[[deprecated("Use GetLeftBumperButtonPressed instead")]]
bool GetLeftBumperPressed();
/**
* Whether the right bumper (RB) was pressed since the last check.
*
* @return Whether the button was pressed since the last check
* @deprecated Use GetRightBumperButtonPressed instead. This function is
* deprecated for removal to make function names consistent to allow the HID
* classes to be automatically generated.
*/
[[deprecated("Use GetRightBumperButtonPressed instead")]]
bool GetRightBumperPressed();
/**
* Whether the left bumper (LB) was released since the last check.
*
* @return Whether the button was released since the last check.
* @deprecated Use GetLeftBumperButtonReleased instead. This function is
* deprecated for removal to make function names consistent to allow the HID
* classes to be automatically generated.
*/
[[deprecated("Use GetLeftBumperButtonReleased instead")]]
bool GetLeftBumperReleased();
/**
* Whether the right bumper (RB) was released since the last check.
*
* @return Whether the button was released since the last check.
* @deprecated Use GetRightBumperButtonReleased instead. This function is
* deprecated for removal to make function names consistent to allow the HID
* classes to be automatically generated.
*/
[[deprecated("Use GetRightBumperButtonReleased instead")]]
bool GetRightBumperReleased();
{% elif ConsoleName == "PS4" or ConsoleName == "PS5" %}
/**
* Read the value of the touchpad button on the controller.
*
* @return The state of the button.
* @deprecated Use GetTouchpadButton instead. This function is deprecated for
* removal to make function names consistent to allow the HID classes to be
* automatically generated.
*/
[[deprecated("Use GetTouchpadButton instead")]]
bool GetTouchpad() const;
/**
* Whether the touchpad was pressed since the last check.
*
* @return Whether the touchpad was pressed since the last check.
* @deprecated Use GetTouchpadButtonPressed instead. This function is
* deprecated for removal to make function names consistent to allow the HID
* classes to be automatically generated.
*/
[[deprecated("Use GetTouchpadButtonPressed instead")]]
bool GetTouchpadPressed();
/**
* Whether the touchpad was released since the last check.
*
* @return Whether the touchpad was released since the last check.
* @deprecated Use GetLeftBumperButton instead. This function is deprecated
* for removal to make function names consistent to allow the HID classes to
* be automatically generated.
*/
[[deprecated("Use GetTouchpadButtonReleased instead")]]
bool GetTouchpadReleased();
{% endif %}
{% endfor %}
/** Represents a digital button on an {{ ConsoleName }}Controller. */
struct Button {
{%- for button in buttons %}

1
wpilibc/src/generated/main/native/cpp/driverstation/NiDsPS4Controller.cpp generated
View File

@@ -265,7 +265,6 @@ BooleanEvent NiDsPS4Controller::Touchpad(EventLoop* loop) const {
return BooleanEvent(loop, [this]() { return this->GetTouchpadButton(); });
}
void NiDsPS4Controller::InitSendable(wpi::util::SendableBuilder& builder) {
builder.SetSmartDashboardType("HID");
builder.PublishConstString("ControllerType", "NiDsPS4");

1
wpilibc/src/generated/main/native/cpp/driverstation/NiDsPS5Controller.cpp generated
View File

@@ -265,7 +265,6 @@ BooleanEvent NiDsPS5Controller::Touchpad(EventLoop* loop) const {
return BooleanEvent(loop, [this]() { return this->GetTouchpadButton(); });
}
void NiDsPS5Controller::InitSendable(wpi::util::SendableBuilder& builder) {
builder.SetSmartDashboardType("HID");
builder.PublishConstString("ControllerType", "NiDsPS5");

1
wpilibc/src/generated/main/native/cpp/driverstation/NiDsStadiaController.cpp generated
View File

@@ -273,7 +273,6 @@ BooleanEvent NiDsStadiaController::Frame(EventLoop* loop) const {
return BooleanEvent(loop, [this]() { return this->GetFrameButton(); });
}
void NiDsStadiaController::InitSendable(wpi::util::SendableBuilder& builder) {
builder.SetSmartDashboardType("HID");
builder.PublishConstString("ControllerType", "NiDsStadia");

1
wpilibc/src/generated/main/native/cpp/driverstation/NiDsXboxController.cpp generated
View File

@@ -217,7 +217,6 @@ BooleanEvent NiDsXboxController::RightStick(EventLoop* loop) const {
return BooleanEvent(loop, [this]() { return this->GetRightStickButton(); });
}
void NiDsXboxController::InitSendable(wpi::util::SendableBuilder& builder) {
builder.SetSmartDashboardType("HID");
builder.PublishConstString("ControllerType", "NiDsXbox");

8
wpilibc/src/main/native/cpp/framework/IterativeRobotBase.cpp
View File

@@ -86,10 +86,6 @@ void IterativeRobotBase::TeleopExit() {}
void IterativeRobotBase::TestExit() {}
void IterativeRobotBase::SetNetworkTablesFlushEnabled(bool enabled) {
m_ntFlushEnabled = enabled;
}
wpi::units::second_t IterativeRobotBase::GetPeriod() const {
return m_period;
}
@@ -171,9 +167,7 @@ void IterativeRobotBase::LoopFunc() {
m_watchdog.Disable();
// Flush NetworkTables
if (m_ntFlushEnabled) {
wpi::nt::NetworkTableInstance::GetDefault().FlushLocal();
}
wpi::nt::NetworkTableInstance::GetDefault().FlushLocal();
// Warn on loop time overruns
if (m_watchdog.IsExpired()) {

68
wpilibc/src/main/native/cpp/system/Resource.cpp
View File

@@ -1,68 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "wpi/system/Resource.hpp"
#include <limits>
#include <memory>
#include <string>
#include <vector>
#include "wpi/system/Errors.hpp"
#include "wpi/util/deprecated.hpp"
WPI_IGNORE_DEPRECATED
using namespace wpi;
wpi::util::mutex Resource::m_createMutex;
void Resource::CreateResourceObject(std::unique_ptr<Resource>& r,
uint32_t elements) {
std::scoped_lock lock(m_createMutex);
if (!r) {
r = std::make_unique<Resource>(elements);
}
}
WPI_UNIGNORE_DEPRECATED
Resource::Resource(uint32_t elements) {
m_isAllocated = std::vector<bool>(elements, false);
}
uint32_t Resource::Allocate(const std::string& resourceDesc) {
std::scoped_lock lock(m_allocateMutex);
for (uint32_t i = 0; i < m_isAllocated.size(); i++) {
if (!m_isAllocated[i]) {
m_isAllocated[i] = true;
return i;
}
}
throw WPILIB_MakeError(err::NoAvailableResources, "{}", resourceDesc);
}
uint32_t Resource::Allocate(uint32_t index, const std::string& resourceDesc) {
std::scoped_lock lock(m_allocateMutex);
if (index >= m_isAllocated.size()) {
throw WPILIB_MakeError(err::ChannelIndexOutOfRange, "{}", resourceDesc);
}
if (m_isAllocated[index]) {
throw WPILIB_MakeError(err::ResourceAlreadyAllocated, "{}", resourceDesc);
}
m_isAllocated[index] = true;
return index;
}
void Resource::Free(uint32_t index) {
std::unique_lock lock(m_allocateMutex);
if (index == std::numeric_limits<uint32_t>::max()) {
return;
}
if (index >= m_isAllocated.size()) {
throw WPILIB_MakeError(err::NotAllocated, "index {}", index);
}
if (!m_isAllocated[index]) {
throw WPILIB_MakeError(err::NotAllocated, "index {}", index);
}
m_isAllocated[index] = false;
}

11
wpilibc/src/main/native/include/wpi/framework/IterativeRobotBase.hpp
View File

@@ -187,16 +187,6 @@ class IterativeRobotBase : public RobotBase {
*/
virtual void TestExit();
/**
* Enables or disables flushing NetworkTables every loop iteration.
* By default, this is enabled.
*
* @param enabled True to enable, false to disable
* @deprecated Deprecated without replacement.
*/
[[deprecated("Deprecated without replacement.")]]
void SetNetworkTablesFlushEnabled(bool enabled);
/**
* Gets time period between calls to Periodic() functions.
*/
@@ -229,7 +219,6 @@ class IterativeRobotBase : public RobotBase {
int m_lastMode = -1;
wpi::units::second_t m_period;
Watchdog m_watchdog;
bool m_ntFlushEnabled = true;
bool m_calledDsConnected = false;
void PrintLoopOverrunMessage();

88
wpilibc/src/main/native/include/wpi/system/Resource.hpp
View File

@@ -1,88 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <stdint.h>
#include <memory>
#include <string>
#include <vector>
#include "wpi/util/mutex.hpp"
namespace wpi {
/**
* The Resource class is a convenient way to track allocated resources.
*
* It tracks them as indices in the range [0 .. elements - 1]. E.g. the library
* uses this to track hardware channel allocation.
*
* The Resource class does not allocate the hardware channels or other
* resources; it just tracks which indices were marked in use by Allocate and
* not yet freed by Free.
* @deprecated Use the HandleResource classes instead
*/
class [[deprecated("Use the HandleResource classes instead")]] Resource {
public:
virtual ~Resource() = default;
/**
* Factory method to create a Resource allocation-tracker *if* needed.
*
* @param r address of the caller's Resource pointer. If *r == nullptr,
* this will construct a Resource and make *r point to it. If
* *r != nullptr, i.e. the caller already has a Resource
* instance, this won't do anything.
* @param elements the number of elements for this Resource allocator to
* track, that is, it will allocate resource numbers in the
* range [0 .. elements - 1].
*/
static void CreateResourceObject(std::unique_ptr<Resource>& r,
uint32_t elements);
/**
* Allocate storage for a new instance of Resource.
*
* Allocate a bool array of values that will get initialized to indicate that
* no resources have been allocated yet. The indices of the resources are
* [0 .. elements - 1].
*/
explicit Resource(uint32_t size);
/**
* Allocate a resource.
*
* When a resource is requested, mark it allocated. In this case, a free
* resource value within the range is located and returned after it is marked
* allocated.
*/
uint32_t Allocate(const std::string& resourceDesc);
/**
* Allocate a specific resource value.
*
* The user requests a specific resource value, i.e. channel number and it is
* verified unallocated, then returned.
*/
uint32_t Allocate(uint32_t index, const std::string& resourceDesc);
/**
* Free an allocated resource.
*
* After a resource is no longer needed, for example a destructor is called
* for a channel assignment class, Free will release the resource value so it
* can be reused somewhere else in the program.
*/
void Free(uint32_t index);
private:
std::vector<bool> m_isAllocated;
wpi::util::mutex m_allocateMutex;
static wpi::util::mutex m_createMutex;
};
} // namespace wpi

1
wpilibc/src/main/python/semiwrap/IterativeRobotBase.yml
View File

@@ -23,7 +23,6 @@ classes:
AutonomousExit:
TeleopExit:
TestExit:
SetNetworkTablesFlushEnabled:
GetPeriod:
PrintWatchdogEpochs:
doc: |

118
wpilibj/src/generate/main/java/hid.java.jinja
View File

@@ -186,123 +186,7 @@ public class {{ ConsoleName }}Controller extends GenericHID implements Sendable
public BooleanEvent {{ button.name }}(EventLoop loop) {
return button(Button.k{{ capitalize_first(button.name) }}.value, loop);
}
{% endfor -%}
{% if ConsoleName == "Xbox" or ConsoleName == "Stadia" %}
/**
* Read the value of the left bumper (LB) button on the controller.
*
* @return The state of the button.
* @deprecated Use {@link getLeftBumperButton} instead. This function is deprecated for removal
* to make function names consistent to allow the HID classes to be automatically generated.
*/
@Deprecated(since = "2025", forRemoval = true)
public boolean getLeftBumper() {
return getRawButton(Button.kLeftBumper.value);
}
/**
* Read the value of the right bumper (RB) button on the controller.
*
* @return The state of the button.
* @deprecated Use {@link getRightBumperButton} instead. This function is deprecated for removal
* to make function names consistent to allow the HID classes to be automatically generated.
*/
@Deprecated(since = "2025", forRemoval = true)
public boolean getRightBumper() {
return getRawButton(Button.kRightBumper.value);
}
/**
* Whether the left bumper (LB) was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
* @deprecated Use {@link getLeftBumperButtonPressed} instead. This function is deprecated for
* removal to make function names consistent to allow the HID classes to be automatically
* generated.
*/
@Deprecated(since = "2025", forRemoval = true)
public boolean getLeftBumperPressed() {
return getRawButtonPressed(Button.kLeftBumper.value);
}
/**
* Whether the right bumper (RB) was pressed since the last check.
*
* @return Whether the button was pressed since the last check.
* @deprecated Use {@link getRightBumperButtonPressed} instead. This function is deprecated for
* removal to make function names consistent to allow the HID classes to be automatically
* generated.
*/
@Deprecated(since = "2025", forRemoval = true)
public boolean getRightBumperPressed() {
return getRawButtonPressed(Button.kRightBumper.value);
}
/**
* Whether the left bumper (LB) was released since the last check.
*
* @return Whether the button was released since the last check.
* @deprecated Use {@link getLeftBumperButtonReleased} instead. This function is deprecated for
* removal to make function names consistent to allow the HID classes to be automatically
* generated.
*/
@Deprecated(since = "2025", forRemoval = true)
public boolean getLeftBumperReleased() {
return getRawButtonReleased(Button.kLeftBumper.value);
}
/**
* Whether the right bumper (RB) was released since the last check.
*
* @return Whether the button was released since the last check.
* @deprecated Use {@link getRightBumperButtonReleased} instead. This function is deprecated for
* removal to make function names consistent to allow the HID classes to be automatically
* generated.
*/
@Deprecated(since = "2025", forRemoval = true)
public boolean getRightBumperReleased() {
return getRawButtonReleased(Button.kRightBumper.value);
}
{%- elif ConsoleName == "PS4" or ConsoleName == "PS5" %}
/**
* Read the value of the touchpad on the controller.
*
* @return The state of the touchpad.
* @deprecated Use {@link getTouchpadButton} instead. This function is deprecated for removal to
* make function names consistent to allow the HID classes to be automatically generated.
*/
@Deprecated(since = "2025", forRemoval = true)
public boolean getTouchpad() {
return getRawButton(Button.kTouchpad.value);
}
/**
* Whether the touchpad was pressed since the last check.
*
* @return Whether the touchpad was pressed since the last check.
* @deprecated Use {@link getTouchpadButtonPressed} instead. This function is deprecated for
* removal to make function names consistent to allow the HID classes to be automatically
* generated.
*/
@Deprecated(since = "2025", forRemoval = true)
public boolean getTouchpadPressed() {
return getRawButtonPressed(Button.kTouchpad.value);
}
/**
* Whether the touchpad was released since the last check.
*
* @return Whether the touchpad was released since the last check.
* @deprecated Use {@link getTouchpadButtonReleased} instead. This function is deprecated for
* removal to make function names consistent to allow the HID classes to be automatically
* generated.
*/
@Deprecated(since = "2025", forRemoval = true)
public boolean getTouchpadReleased() {
return getRawButtonReleased(Button.kTouchpad.value);
}
{%- endif %}
{% endfor %}
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("HID");

1
wpilibj/src/generated/main/java/org/wpilib/driverstation/NiDsPS4Controller.java generated
View File

@@ -715,7 +715,6 @@ public class NiDsPS4Controller extends GenericHID implements Sendable {
return button(Button.kTouchpad.value, loop);
}
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("HID");

1
wpilibj/src/generated/main/java/org/wpilib/driverstation/NiDsPS5Controller.java generated
View File

@@ -715,7 +715,6 @@ public class NiDsPS5Controller extends GenericHID implements Sendable {
return button(Button.kTouchpad.value, loop);
}
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("HID");

1
wpilibj/src/generated/main/java/org/wpilib/driverstation/NiDsStadiaController.java generated
View File

@@ -731,7 +731,6 @@ public class NiDsStadiaController extends GenericHID implements Sendable {
return button(Button.kFrame.value, loop);
}
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("HID");

1
wpilibj/src/generated/main/java/org/wpilib/driverstation/NiDsXboxController.java generated
View File

@@ -607,7 +607,6 @@ public class NiDsXboxController extends GenericHID implements Sendable {
return button(Button.kRightStick.value, loop);
}
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("HID");

16
wpilibj/src/main/java/org/wpilib/framework/IterativeRobotBase.java
View File

@@ -60,7 +60,6 @@ public abstract class IterativeRobotBase extends RobotBase {
private RobotMode m_lastMode;
private final double m_period;
private final Watchdog m_watchdog;
private boolean m_ntFlushEnabled = true;
private boolean m_calledDsConnected;
/**
@@ -226,17 +225,6 @@ public abstract class IterativeRobotBase extends RobotBase {
*/
public void testExit() {}
/**
* Enables or disables flushing NetworkTables every loop iteration. By default, this is enabled.
*
* @param enabled True to enable, false to disable
* @deprecated Deprecated without replacement.
*/
@Deprecated(forRemoval = true, since = "2025")
public void setNetworkTablesFlushEnabled(boolean enabled) {
m_ntFlushEnabled = enabled;
}
/**
* Gets time period between calls to Periodic() functions.
*
@@ -342,9 +330,7 @@ public abstract class IterativeRobotBase extends RobotBase {
m_watchdog.disable();
// Flush NetworkTables
if (m_ntFlushEnabled) {
NetworkTableInstance.getDefault().flushLocal();
}
NetworkTableInstance.getDefault().flushLocal();
// Warn on loop time overruns
if (m_watchdog.isExpired()) {

107
wpilibj/src/main/java/org/wpilib/system/Resource.java
View File

@@ -1,107 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package org.wpilib.system;
import org.wpilib.hardware.hal.util.AllocationException;
import org.wpilib.hardware.hal.util.CheckedAllocationException;
/**
* Track resources in the program. The Resource class is a convenient way of keeping track of
* allocated arbitrary resources in the program. Resources are just indices that have a lower and
* upper bound that are tracked by this class. In the library they are used for tracking allocation
* of hardware channels but this is purely arbitrary. The resource class does not do any actual
* allocation, but simply tracks if a given index is currently in use.
*
* <p><b>WARNING:</b> this should only be statically allocated. When the program loads into memory
* all the static constructors are called. At that time a linked list of all the "Resources" is
* created. Then, when the program actually starts - in the Robot constructor, all resources are
* initialized. This ensures that the program is restartable in memory without having to
* unload/reload.
*
* @deprecated Will be removed with no replacement.
*/
@Deprecated(forRemoval = true, since = "2025")
public final class Resource {
private static Resource resourceList;
private final boolean[] m_numAllocated;
private final int m_size;
private final Resource m_nextResource;
/** Clears all allocated resources. */
public static void restartProgram() {
for (Resource r = Resource.resourceList; r != null; r = r.m_nextResource) {
for (int i = 0; i < r.m_size; i++) {
r.m_numAllocated[i] = false;
}
}
}
/**
* Allocate storage for a new instance of Resource. Allocate a bool array of values that will get
* initialized to indicate that no resources have been allocated yet. The indices of the resources
* are 0..size-1.
*
* @param size The number of blocks to allocate
*/
public Resource(final int size) {
m_size = size;
m_numAllocated = new boolean[size];
for (int i = 0; i < size; i++) {
m_numAllocated[i] = false;
}
m_nextResource = Resource.resourceList;
Resource.resourceList = this;
}
/**
* Allocate a resource. When a resource is requested, mark it allocated. In this case, a free
* resource value within the range is located and returned after it is marked allocated.
*
* @return The index of the allocated block.
* @throws CheckedAllocationException If there are no resources available to be allocated.
*/
public int allocate() throws CheckedAllocationException {
for (int i = 0; i < m_size; i++) {
if (!m_numAllocated[i]) {
m_numAllocated[i] = true;
return i;
}
}
throw new CheckedAllocationException("No available resources");
}
/**
* Allocate a specific resource value. The user requests a specific resource value, i.e. channel
* number, and it is verified unallocated, then returned.
*
* @param index The resource to allocate
* @return The index of the allocated block
* @throws CheckedAllocationException If there are no resources available to be allocated.
*/
public int allocate(final int index) throws CheckedAllocationException {
if (index >= m_size || index < 0) {
throw new CheckedAllocationException("Index " + index + " out of range");
}
if (m_numAllocated[index]) {
throw new CheckedAllocationException("Resource at index " + index + " already allocated");
}
m_numAllocated[index] = true;
return index;
}
/**
* Free an allocated resource. After a resource is no longer needed, for example a destructor is
* called for a channel assignment class, this method will release the resource value, so it can
* be reused somewhere else in the program.
*
* @param index The index of the resource to free.
*/
public void free(final int index) {
if (!m_numAllocated[index]) {
throw new AllocationException("No resource available to be freed");
}
m_numAllocated[index] = false;
}
}

44
wpimath/src/main/java/org/wpilib/math/controller/PIDController.java
View File

@@ -222,28 +222,6 @@ public class PIDController implements Sendable, AutoCloseable {
return m_period;
}
/**
* Returns the position tolerance of this controller.
*
* @return the position tolerance of the controller.
* @deprecated Use getErrorTolerance() instead.
*/
@Deprecated(forRemoval = true, since = "2025")
public double getPositionTolerance() {
return m_errorTolerance;
}
/**
* Returns the velocity tolerance of this controller.
*
* @return the velocity tolerance of the controller.
* @deprecated Use getErrorDerivativeTolerance() instead.
*/
@Deprecated(forRemoval = true, since = "2025")
public double getVelocityTolerance() {
return m_errorDerivativeTolerance;
}
/**
* Returns the error tolerance of this controller. Defaults to 0.05.
*
@@ -377,28 +355,6 @@ public class PIDController implements Sendable, AutoCloseable {
m_errorDerivativeTolerance = errorDerivativeTolerance;
}
/**
* Returns the difference between the setpoint and the measurement.
*
* @return The error.
* @deprecated Use getError() instead.
*/
@Deprecated(forRemoval = true, since = "2025")
public double getPositionError() {
return m_error;
}
/**
* Returns the velocity error.
*
* @return The velocity error.
* @deprecated Use getErrorDerivative() instead.
*/
@Deprecated(forRemoval = true, since = "2025")
public double getVelocityError() {
return m_errorDerivative;
}
/**
* Returns the difference between the setpoint and the measurement.
*

22
wpimath/src/main/java/org/wpilib/math/trajectory/constraint/EllipticalRegionConstraint.java
View File

@@ -6,34 +6,12 @@ package org.wpilib.math.trajectory.constraint;
import org.wpilib.math.geometry.Ellipse2d;
import org.wpilib.math.geometry.Pose2d;
import org.wpilib.math.geometry.Rotation2d;
import org.wpilib.math.geometry.Translation2d;
/** Enforces a particular constraint only within an elliptical region. */
public class EllipticalRegionConstraint implements TrajectoryConstraint {
private final Ellipse2d m_ellipse;
private final TrajectoryConstraint m_constraint;
/**
* Constructs a new EllipticalRegionConstraint.
*
* @param center The center of the ellipse in which to enforce the constraint.
* @param xWidth The width of the ellipse in which to enforce the constraint in meters.
* @param yWidth The height of the ellipse in which to enforce the constraint in meters.
* @param rotation The rotation to apply to all radii around the origin.
* @param constraint The constraint to enforce when the robot is within the region.
* @deprecated Use constructor taking Ellipse2d instead.
*/
@Deprecated(since = "2025", forRemoval = true)
public EllipticalRegionConstraint(
Translation2d center,
double xWidth,
double yWidth,
Rotation2d rotation,
TrajectoryConstraint constraint) {
this(new Ellipse2d(new Pose2d(center, rotation), xWidth / 2.0, yWidth / 2.0), constraint);
}
/**
* Constructs a new EllipticalRegionConstraint.
*

17
wpimath/src/main/java/org/wpilib/math/trajectory/constraint/RectangularRegionConstraint.java
View File

@@ -6,29 +6,12 @@ package org.wpilib.math.trajectory.constraint;
import org.wpilib.math.geometry.Pose2d;
import org.wpilib.math.geometry.Rectangle2d;
import org.wpilib.math.geometry.Translation2d;
/** Enforces a particular constraint only within a rectangular region. */
public class RectangularRegionConstraint implements TrajectoryConstraint {
private final Rectangle2d m_rectangle;
private final TrajectoryConstraint m_constraint;
/**
* Constructs a new RectangularRegionConstraint.
*
* @param bottomLeftPoint The bottom left point of the rectangular region in which to enforce the
* constraint.
* @param topRightPoint The top right point of the rectangular region in which to enforce the
* constraint.
* @param constraint The constraint to enforce when the robot is within the region.
* @deprecated Use constructor taking Rectangle2d instead.
*/
@Deprecated(since = "2025", forRemoval = true)
public RectangularRegionConstraint(
Translation2d bottomLeftPoint, Translation2d topRightPoint, TrajectoryConstraint constraint) {
this(new Rectangle2d(bottomLeftPoint, topRightPoint), constraint);
}
/**
* Constructs a new RectangularRegionConstraint.
*

42
wpimath/src/main/native/include/wpi/math/controller/ArmFeedforward.hpp
View File

@@ -67,48 +67,6 @@ class WPILIB_DLLEXPORT ArmFeedforward {
}
}
/**
* Calculates the feedforward from the gains and setpoints assuming continuous
* control.
*
* @param angle The angle setpoint, in radians. This angle should be
* measured from the horizontal (i.e. if the provided
* angle is 0, the arm should be parallel to the floor).
* If your encoder does not follow this convention, an
* offset should be added.
* @param velocity The velocity setpoint.
* @param acceleration The acceleration setpoint.
* @return The computed feedforward, in volts.
*/
[[deprecated("Use the current/next velocity overload instead.")]]
constexpr wpi::units::volt_t Calculate(
wpi::units::unit_t<Angle> angle, wpi::units::unit_t<Velocity> velocity,
wpi::units::unit_t<Acceleration> acceleration) const {
return kS * wpi::util::sgn(velocity) + kG * wpi::units::math::cos(angle) +
kV * velocity + kA * acceleration;
}
/**
* Calculates the feedforward from the gains and setpoints assuming continuous
* control.
*
* @param currentAngle The current angle in radians. This angle should be
* measured from the horizontal (i.e. if the provided angle is 0, the arm
* should be parallel to the floor). If your encoder does not follow this
* convention, an offset should be added.
* @param currentVelocity The current velocity setpoint.
* @param nextVelocity The next velocity setpoint.
* @param dt Time between velocity setpoints in seconds.
* @return The computed feedforward in volts.
*/
[[deprecated("Use the current/next velocity overload instead.")]]
wpi::units::volt_t Calculate(wpi::units::unit_t<Angle> currentAngle,
wpi::units::unit_t<Velocity> currentVelocity,
wpi::units::unit_t<Velocity> nextVelocity,
wpi::units::second_t dt) const {
return Calculate(currentAngle, currentVelocity, nextVelocity);
}
/**
* Calculates the feedforward from the gains and setpoint assuming discrete
* control. Use this method when the velocity does not change.

40
wpimath/src/main/native/include/wpi/math/controller/PIDController.hpp
View File

@@ -192,28 +192,6 @@ class WPILIB_DLLEXPORT PIDController
return m_errorDerivativeTolerance;
}
/**
* Gets the position tolerance of this controller.
*
* @return The position tolerance of the controller.
* @deprecated Use GetErrorTolerance() instead.
*/
[[deprecated("Use the GetErrorTolerance method instead.")]]
constexpr double GetPositionTolerance() const {
return m_errorTolerance;
}
/**
* Gets the velocity tolerance of this controller.
*
* @return The velocity tolerance of the controller.
* @deprecated Use GetErrorDerivativeTolerance() instead.
*/
[[deprecated("Use the GetErrorDerivativeTolerance method instead.")]]
constexpr double GetVelocityTolerance() const {
return m_errorDerivativeTolerance;
}
/**
* Gets the accumulated error used in the integral calculation of this
* controller.
@@ -328,24 +306,6 @@ class WPILIB_DLLEXPORT PIDController
*/
constexpr double GetErrorDerivative() const { return m_errorDerivative; }
/**
* Returns the difference between the setpoint and the measurement.
* @deprecated Use GetError() instead.
*/
[[deprecated("Use GetError method instead.")]]
constexpr double GetPositionError() const {
return m_error;
}
/**
* Returns the velocity error.
* @deprecated Use GetErrorDerivative() instead.
*/
[[deprecated("Use GetErrorDerivative method instead.")]]
constexpr double GetVelocityError() const {
return m_errorDerivative;
}
/**
* Returns the next output of the PID controller.
*

20
wpimath/src/main/native/include/wpi/math/trajectory/constraint/EllipticalRegionConstraint.hpp
View File

@@ -21,26 +21,6 @@ namespace wpi::math {
template <std::derived_from<TrajectoryConstraint> Constraint>
class EllipticalRegionConstraint : public TrajectoryConstraint {
public:
/**
* Constructs a new EllipticalRegionConstraint.
*
* @param center The center of the ellipse in which to enforce the constraint.
* @param xWidth The width of the ellipse in which to enforce the constraint.
* @param yWidth The height of the ellipse in which to enforce the constraint.
* @param rotation The rotation to apply to all radii around the origin.
* @param constraint The constraint to enforce when the robot is within the
* region.
* @deprecated Use constructor taking Ellipse2d instead.
*/
[[deprecated("Use constructor taking Ellipse2d instead.")]]
constexpr EllipticalRegionConstraint(const Translation2d& center,
wpi::units::meter_t xWidth,
wpi::units::meter_t yWidth,
const Rotation2d& rotation,
const Constraint& constraint)
: m_ellipse{Pose2d{center, rotation}, xWidth / 2.0, yWidth / 2.0},
m_constraint(constraint) {}
/**
* Constructs a new EllipticalRegionConstraint.
*

17
wpimath/src/main/native/include/wpi/math/trajectory/constraint/RectangularRegionConstraint.hpp
View File

@@ -19,23 +19,6 @@ namespace wpi::math {
template <std::derived_from<TrajectoryConstraint> Constraint>
class RectangularRegionConstraint : public TrajectoryConstraint {
public:
/**
* Constructs a new RectangularRegionConstraint.
*
* @param bottomLeftPoint The bottom left point of the rectangular region in
* which to enforce the constraint.
* @param topRightPoint The top right point of the rectangular region in which
* to enforce the constraint.
* @param constraint The constraint to enforce when the robot is within the
* region.
* @deprecated Use constructor taking Rectangle2d instead.
*/
[[deprecated("Use constructor taking Rectangle2d instead.")]]
constexpr RectangularRegionConstraint(const Translation2d& bottomLeftPoint,
const Translation2d& topRightPoint,
const Constraint& constraint)
: m_rectangle{bottomLeftPoint, topRightPoint}, m_constraint(constraint) {}
/**
* Constructs a new RectangularRegionConstraint.
*

4
wpimath/src/main/python/semiwrap/ArmFeedforward.yml
View File

@@ -13,10 +13,6 @@ classes:
wpi::units::volt_t, wpi::units::volt_t, wpi::units::unit_t<kv_unit>, wpi::units::unit_t<ka_unit>:
Calculate:
overloads:
wpi::units::unit_t<Angle>, wpi::units::unit_t<Velocity>, wpi::units::unit_t<Acceleration> [const]:
ignore: true
wpi::units::unit_t<Angle>, wpi::units::unit_t<Velocity>, wpi::units::unit_t<Velocity>, wpi::units::second_t [const]:
ignore: true
wpi::units::unit_t<Angle>, wpi::units::unit_t<Velocity> [const]:
wpi::units::unit_t<Angle>, wpi::units::unit_t<Velocity>, wpi::units::unit_t<Velocity> [const]:
MaxAchievableVelocity:

10
wpimath/src/main/python/semiwrap/EllipticalRegionConstraint.yml
View File

@@ -10,20 +10,10 @@ classes:
methods:
EllipticalRegionConstraint:
overloads:
const Translation2d&, wpi::units::meter_t, wpi::units::meter_t, const Rotation2d&, const Constraint&:
const Ellipse2d&, const Constraint&:
MaxVelocity:
MinMaxAcceleration:
template_inline_code: |
cls_EllipticalRegionConstraint
.def_static("fromFeet", [](const Translation2d& center, wpi::units::foot_t xWidth,
wpi::units::foot_t yWidth, const Rotation2d& rotation,
const Constraint& constraint) {
return std::make_shared<EllipticalRegionConstraint<Constraint>>(center, xWidth, yWidth, rotation, constraint);
}, py::arg("center"), py::arg("xWidth"), py::arg("yWidth"), py::arg("rotation"), py::arg("constraint"))
;
templates:
EllipticalRegionConstraint:
qualname: wpi::math::EllipticalRegionConstraint

4
wpimath/src/main/python/semiwrap/PIDController.yml
View File

@@ -19,8 +19,6 @@ classes:
GetPeriod:
GetErrorTolerance:
GetErrorDerivativeTolerance:
GetPositionTolerance:
GetVelocityTolerance:
GetAccumulatedError:
SetSetpoint:
GetSetpoint:
@@ -32,8 +30,6 @@ classes:
SetTolerance:
GetError:
GetErrorDerivative:
GetPositionError:
GetVelocityError:
Calculate:
overloads:
double:

1
wpimath/src/main/python/semiwrap/RectangularRegionConstraint.yml
View File

@@ -10,7 +10,6 @@ classes:
methods:
RectangularRegionConstraint:
overloads:
const Translation2d&, const Translation2d&, const Constraint&:
const Rectangle2d&, const Constraint&:
MaxVelocity:
MinMaxAcceleration:

22
xrpVendordep/src/main/native/cpp/xrp/XRPServo.cpp
View File

@@ -62,25 +62,3 @@ wpi::units::radian_t XRPServo::GetAngle() const {
return 90_deg;
}
void XRPServo::SetPosition(double pos) {
if (pos < 0.0) {
pos = 0.0;
}
if (pos > 1.0) {
pos = 1.0;
}
if (m_simPosition) {
m_simPosition.Set(pos);
}
}
double XRPServo::GetPosition() const {
if (m_simPosition) {
return m_simPosition.Get();
}
return 0.5;
}

18
xrpVendordep/src/main/native/include/wpi/xrp/XRPServo.hpp
View File

@@ -46,24 +46,6 @@ class XRPServo {
*/
wpi::units::radian_t GetAngle() const;
/**
* Set the servo position.
*
* @param position Desired position (Between 0.0 and 1.0)
* @deprecated Use SetAngle() instead
*/
[[deprecated("Use SetAngle() instead")]]
void SetPosition(double position);
/**
* Get the servo position.
*
* @return Current servo position
* @deprecated Use GetAngle() instead
*/
[[deprecated("Use GetAngle() instead")]]
double GetPosition() const;
private:
hal::SimDevice m_simDevice;
hal::SimDouble m_simPosition;

2
xrpVendordep/src/main/python/semiwrap/XRPServo.yml
View File

@@ -4,5 +4,3 @@ classes:
XRPServo:
SetAngle:
GetAngle:
SetPosition:
GetPosition: