Modified Java constructors to take a variable number of measurement std devs argument with checks in place to make sure the right amount (or none) are passed into the constructor. All changes passed down to classes utilizing LinearSystemSim.
Removed excess constructors
Removed Java and C++ CurrentDrawAmps method as it doesn't belong in a generic (non electrical) linear system. Kept a non override version in all derived electrical classes.
Also LinearSystemSim has now been made agnostic to electrical systems. Inputs don't have to be voltage. BatteryVoltage clamp function has been pushed down to electrical subclasses.
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
DataLog is now a base class, with DataLogBackgroundWriter being the
background thread version and DataLogWriter being a non-threaded version.
Also split the C header into a separate file to make it more wpiformat friendly.
C++ doesn't need this because it supports value types, which are much
cheaper to construct. constexpr is also available to make construction
zero-cost.
Uses getUsableSpace in Java, matching how C++ determines available space (C++ calls it available, but they mean the same thing.) This fixes a bug where logs wouldn't get deleted due to incorrect available space detection.
The DataLog thread now also checks if the state was marked as stopped after a call to StartLogFile.
On Rio, we simply want to restart the robot program as quickly as possible,
and don't want to risk a hang somewhere that will keep that from happening.
The main downside of this is it won't wait for threads to finish (e.g. data logs won't get a final flush).
This avoids needing add redundant JavaDocs to them, and better reflects
how we design our modern classes (the classes modified here were around
with minimal changes since 2008 or so).
This does not deprecate any current functionality, but prepares the way for future deprecation.
The drive classes now accept void(double) functions, which makes them more flexible.
The C++ API ended up a bit more verbose, but the Java API is really concise with method references, which is >80% of our userbase. For example:
`DifferentialDrive drive = new DifferentialDrive(m_leftMotor::set, m_rightMotor::set);`
Lambdas can be passed to interoperate with vendor motor controller APIs that don't have e.g., set(double), so CTRE doesn't have to maintain their WPI_ classes anymore.
MotorControllerGroup was replaced with PWMMotorController.addFollower() for PWM motor controllers. Users of CAN motor controllers should use their vendor's follower functionality.
