* Makes the HAL provide a better error message for certain things.
* Makes Java error messages better
* Updates C++ errors.
* Moves handles header folder to HAL directory
* Switches HAL to fixed length signed integers, and adds our own HAL_Bool type
* Replaces HAL Floats with Doubles
Doubles are just as fast as floats with optimizations turned on, so
switches to all doubles. All made doubles for consistency.
* Prepends HAL/ to HAL include files. Also fixes some range errors
Cleaned up RobotBase, removed singleton list from SensorBase, and removed unused typedefs and NULL_TASK macro from HAL's Task.hpp. Making the robot class instance static fixed non-POD statics used by the instance during destruction from being destroyed first.
* Replaced include guards with #pragma once
* All source files now have exactly one newline appended
Some files had either two newlines at the end or none (which isn't POSIX compliant). This patch fixes that.
Subsections are alphabetized according to lexographic ordering. Also, HAL includes were moved from headers to source files where possible. This change may cause user code which uses HAL functionality and does not include the relevant HAL header (since it may have been provided by another WPILib header) to fail to compile.
Fixed API in the following classes:
- RobotDrive
- AnalogGyro
moved some files from Athena the shared that are independant of platform
Renamed Gyro to AnalogGyro
added smart pointer constructors to RobotDrive
Change-Id: If8a1bde5aed77fd60869d1993c302dd519bc8848
The current feed forward calculation is only useful for velocity PID controllers where F, the feed forward constant, is 1 over the maximum setpoint for the output. For motion profiles which use position PID controllers, the appropriate calculation for velocity and acceleration feed forwards is different. This change allows the user to provide their own feed forward implementation without having to rewrite the entire Calculate() function.
Both default feed forward calculations are velocity feed forwards. Suggestions for sensible feed forward constants are included in the inline comments.
Change-Id: Id175786f26bd342de52a1fae89595cbeba5dfc93
Years update, references to WIND_BASE were removed, and WPILib license was
moved to the root directory of the project.
If there was already a comment block, a year range through 2016 was created
using the first year in the comment. If there was no comment block, a block
with just the year 2016 was added.
Comments were not added to files from external sources (NI, CTRE).
Change-Id: Iff4f098ab908b90b8d929902dea903de2f596acc
This allows both greater than 72 minute (2^32 * 1 us) timeouts and also
gracefully handles notifiers across the FPGA time counter rollover.
Change-Id: Ibde0b903155f60b618b0ca4d5f8f6dd49f90b020
Also provide templated varags constructor for backwards compatibility and
ease of use.
Update PIDController to use new constructor, eliminating static function
CallCalculate().
Change-Id: Iaeae95aa5953f294f5debc5fc569ef6d4684f223
This removes redundant queue code from the C++ library.
The old queue code is still needed by simulation, and as the delta between
the simulation and athena headers has grown significantly, this splits the
header into two separate files.
Change-Id: Ia76b38337a25eb9d4890b3eb9bd76b1cbda7f285
Checking the status code in the macro before "context" is used avoids
significant overhead (string processing) in the common case when the code
is zero.
Change-Id: I69b8b220187ac1ab905cdf56dde5c4b6c61101b7
All the Error and assert calls were using const ::std::string & arguments.
When provided with a char*, the compiler was creating a temporary string
object to pass in. This was triggering mallocs everywhere, even in the
fast paths.
Change-Id: Ie0ad1f240334de677618086bddd64113c56aae6e
For the previous couple of months, the PID tests have been hanging.
The reason that the tests have been hanging lies with the Notifier,
not the PID controller. Basically, a deadlock was occuring during
Notifier destruction when the notifier destructor was called while
the notifier interrupt handler was being called. Because the low-level
interrupt manager waits for the interrupt handler to finish executing before
disabling itself, the notifier destructor would not exit until the
ProcessQueue function finished. However, at the same time, the handler
was attempting to lock the queueMutex before continuing; the Notifier
destructor had locked the queueMutex while wrapping things up, meaning
that the last run of the handler would not complete until the destructor
did, resulting in a deadlock.
In order to repair this, I reduced the scope of the lock on the queueMutex
in the destructor so that it only locks when absolutely necessary. This
should work now.
This bug was likely introduced over the summer when we updated to stl
mutexes and locks, which may have messed up the original lock structure.
This likely did not affect any teams, as it can only occur if you are actively
destroying every* Notifier object present and if the destructor happens to be
called while the handler is being run.
*Note: the component of the destructor causing issues only ran if the last
Notifier object is being destroyed.
Change-Id: I38ba4e60816a2a8d523e927c25378390a0755444
This is a major restructuring of the WPILib repository to simply build
procedures and remove the remnants of Maven from everything except the
eclipse plugins. Gradle files have been largely simplified or rewritten,
taking advantage of splitting up parts of the build into separate build
files for ease of reading.
The eclipse plugins are now in a separate project, as is ntcore. All
dependencies are resolved via Maven dependencies, with the
Jenkins-maintained WPILib repo. Project structures have also been
simplified: we no longer have separate subprojects inside wpilibc and
wpilibj. Where possible, these changes hav been done with git renames,
to make sure we still have full history for all repositories. Other
unrelated subprojects have also been broken out: OutlineViewer is now a
separate project.
Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
