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134 Commits

Author SHA1 Message Date
Gold856
e0e774abde [commands, wpimath] Remove Mecanum/SwerveControllerCommand and HolonomicDriveController (#8119) 2025-07-31 23:05:42 -07:00
Peter Johnson
7142fb1f5f Merge branch 'main' into 2027 2025-07-08 19:54:03 -07:00
Gold856
26771e38fb [commands] Deprecate Command.schedule() (#7072) 
It's only syntactic sugar over the CommandScheduler's schedule method and creates a footgun because it’s too obvious to try to use in incorrect places.

Co-authored-by: Starlight220 <53231611+Starlight220@users.noreply.github.com>
 2025-07-02 13:46:59 -07:00
Joseph Eng
f55564729b [hal,wpilib,cmd] Update POVs to use enums (#7978) 2025-06-29 18:32:26 -07:00
Peter Johnson
6c16e846fa Merge branch 'main' into 2027 2025-05-29 21:41:50 -07:00
Eric
17cae787e7 [commands] Mark CommandPtr class as [[nodiscard]] (#7803) 
This has the same effect but makes it so any user code returning CommandPtr can't discard a returned command.

Signed-off-by: Eric Ward <ezeward4@gmail.com>
 2025-05-03 20:44:55 -07:00
Tyler Veness
ac1705ae2b [wpimath] Remove unit suffixes from variable names (#7529) 
* Move units into API docs instead because suffixes make user code verbose and hard to read
* Rename trackWidth to trackwidth
* Make ultrasonic classes use meters instead of a mix of m, cm, mm, ft,
  and inches
 2025-02-10 08:23:04 -07:00
ハイドラント
78b6d61e88 [commands] Use factories and decorators in Command tests (#7006) 2024-12-29 10:45:17 -06:00
Kaya
807dffed35 [commands] Fix C++ iterator invalidation bug (#7554) 
Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
Co-authored-by: Ryan Blue <13878527+rzblue@users.noreply.github.com>
 2024-12-20 00:32:24 -06:00
Daniel Chen
68285dae77 [commands] Add withDeadline modifier (#7299) 
Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
 2024-12-13 18:30:02 -07:00
Tyler Veness
a04c40f589 Replace std::make_pair with std::pair CTAD (#7405) 2024-11-17 20:29:23 -08:00
Ryan Blue
5f3cf517d3 [commands] C++: Allow CommandPtrs to be owned by the scheduler (#7310) 
Previously users would have to keep track of dynamically created CommandPtrs. This adds an ownership-taking version of schedule which places the command in a temporary store in the scheduler. The command will be freed when the command's lifecycle ends.
 2024-10-31 22:03:12 -07:00
Tyler Veness
554024767e Fix errors from new cpplint.py (#7105) 2024-09-20 17:43:39 -07:00
Sam Carlberg
a9b885070e [wpiunits] Java units API rewrite (#6958) 
Java generics are too limited to do what we need. This refactors generic code previously in Unit and Measure into unit-specific classes that can have unit-safe math operations (notably, times and divide) that can return values in known units instead of a wildcarded Measure<?>.

Unit-specific measure implementations are automatically generated by ./wpiunits/generate_units.py, which generates generic interfaces and mutable and immutable implementations of those interfaces. These make up the bulk of the diff of this PR (approximately 9300 LOC).

This also adds units for angular and linear velocities, accelerations, and momenta; moment of inertia; and torque.
 2024-09-07 10:59:29 -07:00
Tyler Veness
8e0d9ac805 Clean up unit UDL usage (#6961) 2024-08-14 10:44:00 -07:00
Wispy
5a1417aeb9 [commands] Add Trigger.onChange() test (#6849) 2024-07-27 16:29:22 -07:00
Gold856
b0cc84a9c7 [build] Upgrade to PMD 7.2.0 (#6718) 2024-06-08 22:08:23 -07:00
Joseph Eng
1828fdaaa4 [commands] Define order of parallel groups (#6602) 2024-06-01 12:01:15 -07:00
Joseph Eng
5c5e5af0c6 [commands] Add missing C++ decorators (#6599) 2024-05-24 13:14:15 -07:00
Tyler Veness
e172aa66f7 [wpimath] Java: add static instantiations of common rotations (#6563) 
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.
 2024-05-03 12:39:35 -07:00
Drew Williams
0afc35f336 [commands] Fix C++ SysIdRoutine crashing when passed nullptr or {} (#6508) 
Flattens parameter from a `std::optional<std::function<...>>` to just a `std::function<...>`.  This is a breaking change but a trivial one for teams to fix.
 2024-05-01 09:09:15 -07:00
Isaac Turner
67fe11f9cd [commands] Rename deadlineWith to deadlineFor (#6544) 
Deprecate deadlineWith for backwards compatibility.
 2024-04-28 12:02:29 -07:00
Isaac Turner
5edc652c05 [commands] Fix multiple C++ warnings (#6546) 2024-04-27 21:07:50 -07:00
Tyler Veness
5370f249a1 [build] Upgrade to wpiformat 2024.33 (#6449) 
This upgrades to clang-format and clang-tidy 18.1.1. This has the
constructor attribute formatting fix, so we can remove our
WPI_DEPRECATED macro.
 2024-03-18 23:11:20 -07:00
Thad House
63d9e945b8 [hal] HAL_RefreshDSData: Zero out control word on DS disconnect, use cache in sim (#6380) 2024-02-18 14:30:40 -08:00
Eli Barnett
707cb06105 [wpilib] Add SysIdRoutine logging utility and command factory (#6033) 
Co-authored-by: Drew Williams <williams.r.drew@gmail.com>
Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2024-01-05 11:50:23 -08:00
Joseph Eng
8aeee03626 [commands] Improve error message when composing commands twice in same composition (#6091) 
Also disallow deadline command from also appearing in other commands.
 2023-12-26 18:07:16 -08:00
Ryan Blue
ef1cb3f41e [commands] Fix compose-while-scheduled issue and test all compositions (#5581) 2023-12-23 12:12:13 -08:00
Tyler Veness
2bb1409b82 Clean up Java style (#5990) 
Also make equivalent changes in C++ where applicable.

Co-authored-by: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
 2023-12-03 16:21:32 -08:00
Starlight220
5172ab8fd0 [commands] C++ CommandPtr: Prevent null initialization (#5991) 2023-12-02 16:45:04 -08:00
DeltaDizzy
09f3ed6a5f [commands] Add static Trigger factories for robot mode changes (#5902) 2023-11-14 15:54:43 -08:00
Tyler Veness
c1a57e422a [commands] Clean up make_vector.h (#5917) 2023-11-12 20:23:34 -08:00
Ryan Blue
a4a8ad9c75 [commands] Make Java SelectCommand generic (#5849) 
This allows users to use any type of map and selector without needing to explicitly match
Map<Object, Command>
 2023-10-30 11:09:14 -07:00
Ryan Blue
c87f8fd538 [commands] Add DeferredCommand (#5566) 
Allows commands to be constructed at runtime without proxying.
 2023-10-26 19:16:33 -07:00
Gold856
ff1849052e [commands] Make command scheduling order consistent (#5470) 2023-10-09 23:52:26 -07:00
Ryan Blue
fef03a3ff5 [commands] Clean up C++ includes after Requirements was added (#5719) 2023-10-04 22:09:28 -07:00
Joseph Eng
633c5a8a22 [commands] Add C++ Requirements struct (#5504) 2023-09-17 20:48:39 -07:00
Joseph Eng
b265a68eea [commands] Add interruptor parameter to onCommandInterrupt callbacks (#5461) 2023-09-17 20:47:37 -07:00
Tyler Veness
4bac4dd0f4 [wpimath] Move PIDController from frc2 to frc namespace (#5640) 
The old PIDController class in the frc namespace was removed for the
2023 season.
 2023-09-15 19:57:31 -07:00
Ryan Blue
3b79cb6ed3 [commands] Revert SubsystemBase deprecation/removal (#5634) 2023-09-14 20:56:48 -07:00
Ryan Blue
36d514eae7 [commands] Refactor C++ ScheduleCommand to use SmallSet (#5568) 
Remove SetUtilities.h
 2023-08-29 13:16:15 -07:00
Tyler Veness
8e2a7fd306 Include thirdparty libraries with angle brackets (#5578) 2023-08-28 15:13:34 -07:00
Gold856
99b88be4f3 [wpilib] Reduce usage of NTSendable (#5434) 2023-07-23 21:34:49 -07:00
Tyler Veness
1af224c21b Add missing <functional> includes (#5459) 2023-07-18 21:18:32 -07:00
Ryan Blue
aaea85ff16 [commands] Merge CommandBase into Command and SubsystemBase into Subsystem (#5392) 
Moves all CommandBase functionality into Command and deprecates CommandBase for removal.
Moves all SubsystemBase functionality into Subsystem and deprecates SubsystemBase for removal.
Adds a function to CommandScheduler to remove all registered Subsystems.
 2023-07-13 22:12:01 -07:00
Ryan Blue
7a099cb02a [commands] Remove deprecated classes and functions (#5409) 
Removes:
- PerpetualCommand
- Command.perpetually()
- CommandGroupBase
- Command.IsGrouped() (C++ only)
- Command.SetGrouped() (C++ only)
- Command.withInterrupt()
- ProxyScheduleCommand
- Button
- InternalButton, JoystickButton, NetworkButton and POVButton now subclass Trigger
- Old style Trigger functions:
    - Trigger.whenActive
    - Trigger.whileActiveOnce
    - Trigger.whileActiveContinuous
    - Trigger.whenInactive
    - Trigger.toggleWhenActive
    - Trigger.cancelWhenActive
- CommandScheduler.clearButtons()
- CommandScheduler.addButtons() (Java only)
- Command supplier constructor of SelectCommand
 2023-07-10 09:56:18 -07:00
Starlight220
c4fc21838f [commands] Add ConditionalCommand getInterruptionBehavior (#5161) 2023-06-23 08:21:05 -07:00
Starlight220
89fc51f0d4 Add tests for SendableChooser and Command Sendable functionality (#5179) 2023-06-23 08:18:38 -07:00
Ryan Blue
ebae341a91 [commands] Add test for subsystem registration and periodic (#5408) 2023-06-20 20:29:59 -07:00
Tyler Veness
5d3a133f9f Remove spaces in NOLINT comments (#5407) 
clang-tidy ignores the category filter if there's a space. wpiformat now
ignores categories it doesn't understand, so we can remove the spaces.
 2023-06-20 20:29:23 -07:00