Merge branch 'main' into 2027

wpilibc/src/main/native/cpp/Joystick.cpp

@@ -5,12 +5,8 @@
 #include "frc/Joystick.h"
 
 #include <cmath>
-#include <numbers>
 
 #include <hal/FRCUsageReporting.h>
-#include <units/dimensionless.h>
-#include <units/math.h>
-#include <wpi/deprecated.h>
 
 #include "frc/event/BooleanEvent.h"
 
@@ -123,6 +119,5 @@ double Joystick::GetMagnitude() const {
 }
 
 units::radian_t Joystick::GetDirection() const {
-  return units::math::atan2(units::dimensionless::scalar_t{GetX()},
-                            units::dimensionless::scalar_t{-GetY()});
+  return units::radian_t{std::atan2(GetX(), -GetY())};
 }

wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp

@@ -42,6 +42,15 @@ void DCMotorSim::SetState(units::radian_t angularPosition,
   SetState(Vectord<2>{angularPosition, angularVelocity});
 }
 
+void DCMotorSim::SetAngle(units::radian_t angularPosition) {
+  SetState(angularPosition, GetAngularVelocity());
+}
+
+void DCMotorSim::SetAngularVelocity(
+    units::radians_per_second_t angularVelocity) {
+  SetState(GetAngularPosition(), angularVelocity);
+}
+
 units::radian_t DCMotorSim::GetAngularPosition() const {
   return units::radian_t{GetOutput(0)};
 }
@@ -76,3 +85,15 @@ void DCMotorSim::SetInputVoltage(units::volt_t voltage) {
   SetInput(Vectord<1>{voltage.value()});
   ClampInput(frc::RobotController::GetBatteryVoltage().value());
 }
+
+const DCMotor& DCMotorSim::GetGearbox() const {
+  return m_gearbox;
+}
+
+double DCMotorSim::GetGearing() const {
+  return m_gearing;
+}
+
+units::kilogram_square_meter_t DCMotorSim::GetJ() const {
+  return m_j;
+}

wpilibc/src/main/native/include/frc/AddressableLED.h

@@ -19,10 +19,10 @@
 namespace frc {
 
 /**
- * A class for driving addressable LEDs, such as WS2812Bs and NeoPixels.
+ * A class for driving addressable LEDs, such as WS2812B, WS2815, and NeoPixels.
  *
- * By default, the timing supports WS2812B LEDs, but is configurable using
- * SetBitTiming()
+ * By default, the timing supports WS2812B and WS2815 LEDs, but is configurable
+ * using SetBitTiming()
  *
  * <p>Only 1 LED driver is currently supported by the roboRIO. However,
  * multiple LED strips can be connected in series and controlled from the
@@ -130,8 +130,8 @@ class AddressableLED {
   /**
    * Sets the bit timing.
    *
-   * <p>By default, the driver is set up to drive WS2812Bs, so nothing needs to
-   * be set for those.
+   * <p>By default, the driver is set up to drive WS2812B and WS2815, so nothing
+   * needs to be set for those.
    *
    * @param highTime0 high time for 0 bit (default 400ns)
    * @param lowTime0 low time for 0 bit (default 900ns)
@@ -146,7 +146,7 @@ class AddressableLED {
    * Sets the sync time.
    *
    * <p>The sync time is the time to hold output so LEDs enable. Default set for
-   * WS2812B.
+   * WS2812B and WS2815.
    *
    * @param syncTime the sync time (default 280us)
    */

wpilibc/src/main/native/include/frc/simulation/DCMotorSim.h

@@ -45,6 +45,20 @@ class DCMotorSim : public LinearSystemSim<2, 1, 2> {
   void SetState(units::radian_t angularPosition,
                 units::radians_per_second_t angularVelocity);
 
+  /**
+   * Sets the DC motor's angular position.
+   *
+   * @param angularPosition The new position in radians.
+   */
+  void SetAngle(units::radian_t angularPosition);
+
+  /**
+   * Sets the DC motor's angular velocity.
+   *
+   * @param angularVelocity The new velocity in radians per second.
+   */
+  void SetAngularVelocity(units::radians_per_second_t angularVelocity);
+
   /**
    * Returns the DC motor position.
    *
@@ -97,17 +111,17 @@ class DCMotorSim : public LinearSystemSim<2, 1, 2> {
   /**
    * Returns the gearbox.
    */
-  const DCMotor& Gearbox() const { return m_gearbox; }
+  const DCMotor& GetGearbox() const;
 
   /**
    * Returns the gearing;
    */
-  double Gearing() const { return m_gearing; }
+  double GetGearing() const;
 
   /**
    * Returns the moment of inertia
    */
-  units::kilogram_square_meter_t J() const { return m_j; }
+  units::kilogram_square_meter_t GetJ() const;
 
  private:
   DCMotor m_gearbox;