Using MrcLib on the robot is going to be the plan for the future, to
make things easier.
MrcLib is how sim is supported going forward. The desktop version of
mrclib can act as a robot server.
This is set up where the mrclib interface is in shared code. On robot,
that is the only backend used. On desktop, a default sim backend is
used. However, the sim plugin can switch that to the real robot backend,
so the robot code will exactly look like a real robot.
Right now, the `zipBaseName` variable in various publish.gradle files
contains the group ID and artifact ID for use by the combiner, however,
they are also duplicated in `artifactGroupId` and `baseArtifactId`,
leading to potential mistakes if they aren't updated together. This
fixes that by adding a new utility function `makeZipBaseName` to
automatically create the right name given a group ID and artifact ID.
This also fixes publishing for thirdparty subprojects, which didn't
update `zipBaseName`.
Closes#8018
- Adds the 2024-2025 and 2025-2026 FTC field image data
- Used a better naming scheme of `<year> F{R,T}C <gamename>`
* Also removed generic `field` verbiage from PNG file names
- JSON and PNG files moved into respective `frc` and `ftc` directories
- Rotated fields for the new red-left scheme
Signed-off-by: crueter <swurl@swurl.xyz>
This primarily fixes up the bazel publishing to match the gradle
publishing again, as some new libraries were added but not hooked up to
the maven publishing.
During the process, I noticed that the 3rd party libraries (googletest,
catch2, and imgui_suite) were still getting published on the old
`edu.wpi` namespace. I tried to clean up all the other references to
that that I could. Note: opencv and libssh are handled outside
`allwpilib` so they need to be updated separately.
I left "free speed" alone since that's the technical term for it. In
general, velocity is a vector quantity, and speed is a magnitude (i.e.,
a strictly positive value).
This PR also replaces the speed verbiage in MotorController with duty
cycle.
Fixes#8423.
User code:
- OpModeRobot used as the robot base class
- LinearOpMode and PeriodicOpMode are provided opmode base classes
- In Java, annotations can be used to automatically register opmode classes
Additional user code functionality:
- OpMode (string) is available in addition to the overall
auto/teleop/test robot mode
- OpMode does not indicate enable (enable/disable is still separate)
- The HAL API uses integer UIDs; these are exposed at the user API level
as well for faster checks
- User code creates opmodes on startup (these have name, category,
description, etc).
DS:
- DS will present opmode selection lists for auto and teleop for
match/practice. During a match, the DS will automatically activate the
selected opmode in the corresponding match period.
- For testing, an overall mode is selected (e.g. teleop/auto/test) and a
single opmode is selected
Future work:
- Command framework support/integration
- Python annotation support
- Unit tests (needs race-free DS sim updates)
- Porting of examples
Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
After replacing the remaining include guards with `#pragma once`, I was
able to merge all the wpiformat configs into one file in the repo root.
This should make the config easier to reason about and maintain in the
future.
This uses all the infrastructure we put together earlier to actually build and publish all the artifacts.
We might still want to adjust what is built by default to control CI times.
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
Co-authored-by: PJ Reiniger <pj.reiniger@gmail.com>
Co-authored-by: David Vo <auscompgeek@users.noreply.github.com>
libprotobuf is a very annoying dependency to deal with, and with the switch to nanopb for generated C++ code, libprotobuf is only used for dynamic decode in the GUI apps. libprotobuf has been swapped out with upb, a much smaller C-based library that supports reflection and can therefore do dynamic decode. This means we can remove the libprotobuf dependency and stop dealing with build issues because of it.
