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Merge branch 'main' into development

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This commit is contained in:
Peter Johnson
2024-03-16 11:06:44 -07:00
parent 38c128fe6a c10f7d91b7
commit fd4424eb89
28 changed files with 781 additions and 107 deletions
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3
wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelPositions.h
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@@ -49,3 +49,6 @@ struct WPILIB_DLLEXPORT DifferentialDriveWheelPositions {
}
};
} // namespace frc
#include "frc/kinematics/proto/DifferentialDriveWheelPositionsProto.h"
#include "frc/kinematics/struct/DifferentialDriveWheelPositionsStruct.h"

19
wpimath/src/main/native/include/frc/kinematics/proto/DifferentialDriveWheelPositionsProto.h Normal file
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@@ -0,0 +1,19 @@
// 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 <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include "frc/kinematics/DifferentialDriveWheelPositions.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::DifferentialDriveWheelPositions> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::DifferentialDriveWheelPositions Unpack(
const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::DifferentialDriveWheelPositions& value);
};

28
wpimath/src/main/native/include/frc/kinematics/struct/DifferentialDriveWheelPositionsStruct.h Normal file
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@@ -0,0 +1,28 @@
// 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 <wpi/SymbolExports.h>
#include <wpi/struct/Struct.h>
#include "frc/kinematics/DifferentialDriveWheelPositions.h"
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveWheelPositions> {
static constexpr std::string_view GetTypeString() {
return "struct:DifferentialDriveWheelPositions";
}
static constexpr size_t GetSize() { return 16; }
static constexpr std::string_view GetSchema() {
return "double left;double right";
}
static frc::DifferentialDriveWheelPositions Unpack(
std::span<const uint8_t> data);
static void Pack(std::span<uint8_t> data,
const frc::DifferentialDriveWheelPositions& value);
};
static_assert(wpi::StructSerializable<frc::DifferentialDriveWheelPositions>);

18
wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
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@@ -79,7 +79,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
*
* @param kV The velocity gain, in volts/(unit/sec).
* @param kA The acceleration gain, in volts/(unit/sec²).
* @throws std::domain_error if kV <= 0 or kA <= 0.
* @throws std::domain_error if kV < 0 or kA <= 0.
* @see <a
* href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
*/
@@ -89,8 +89,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
static LinearSystem<1, 1, 1> IdentifyVelocitySystem(
decltype(1_V / Velocity_t<Distance>(1)) kV,
decltype(1_V / Acceleration_t<Distance>(1)) kA) {
if (kV <= decltype(kV){0}) {
throw std::domain_error("Kv must be greater than zero.");
if (kV < decltype(kV){0}) {
throw std::domain_error("Kv must be greater than or equal to zero.");
}
if (kA <= decltype(kA){0}) {
throw std::domain_error("Ka must be greater than zero.");
@@ -122,7 +122,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
* @param kV The velocity gain, in volts/(unit/sec).
* @param kA The acceleration gain, in volts/(unit/sec²).
*
* @throws std::domain_error if kV <= 0 or kA <= 0.
* @throws std::domain_error if kV < 0 or kA <= 0.
* @see <a
* href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
*/
@@ -132,8 +132,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
static LinearSystem<2, 1, 1> IdentifyPositionSystem(
decltype(1_V / Velocity_t<Distance>(1)) kV,
decltype(1_V / Acceleration_t<Distance>(1)) kA) {
if (kV <= decltype(kV){0}) {
throw std::domain_error("Kv must be greater than zero.");
if (kV < decltype(kV){0}) {
throw std::domain_error("Kv must be greater than or equal to zero.");
}
if (kA <= decltype(kA){0}) {
throw std::domain_error("Ka must be greater than zero.");
@@ -251,7 +251,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
* @param kV The velocity gain, in volts/(unit/sec).
* @param kA The acceleration gain, in volts/(unit/sec²).
*
* @throws std::domain_error if kV <= 0 or kA <= 0.
* @throws std::domain_error if kV < 0 or kA <= 0.
*/
template <typename Distance>
requires std::same_as<units::meter, Distance> ||
@@ -259,8 +259,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
static LinearSystem<2, 1, 2> DCMotorSystem(
decltype(1_V / Velocity_t<Distance>(1)) kV,
decltype(1_V / Acceleration_t<Distance>(1)) kA) {
if (kV <= decltype(kV){0}) {
throw std::domain_error("Kv must be greater than zero.");
if (kV < decltype(kV){0}) {
throw std::domain_error("Kv must be greater than or equal to zero.");
}
if (kA <= decltype(kA){0}) {
throw std::domain_error("Ka must be greater than zero.");