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352 Commits

Author SHA1 Message Date
DeltaDizzy
da3abade83 [examples] Add angular subsystem to SysIdRoutine example (#6297) 
Co-authored-by: Tim Winters <twinters@wpi.edu>
 2024-02-10 10:44:57 -08:00
Ryan Blue
cb094e4ff6 [examples] Don't reset encoders when resetting odometry (#6329) 2024-01-31 13:18:07 -08:00
DeltaDizzy
53ebb6679e [examples] Move triggers to subsystem fields (#6318) 2024-01-27 23:47:06 -08:00
sciencewhiz
6da21c4943 [examples] Fix typo in AprilTag example (NFC) (#6230) 2024-01-14 20:51:52 -08:00
sciencewhiz
154d920e67 [examples] Limit error bit correction in April Tag examples (#6224) 
Values >3 are not supported. 64be6ab26a/apriltag.c (L261-L266)
 2024-01-13 23:03:58 -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
Tyler Veness
e7c9f27683 [wpilib] Add functional interface equivalents to MotorController (#6053) 
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.
 2024-01-01 13:37:51 -08:00
sciencewhiz
495585b25d [examples] Update april tag family to 36h11 (#6126) 
Changes size to 6.5 inches per https://www.firstinspires.org/robotics/frc/blog/2023-technology-updates-past-present-future-and-beyond
Uses 7 error bit correction as recommended in PhotonVision docs.
 2023-12-31 22:46:31 -08:00
Tyler Veness
22a322c9f3 [wpimath] Report error on negative PID gains (#6055) 
Defaults PID gains to zero if any are invalid.
 2023-12-23 12:15:29 -08:00
Elliot Scher
39a0bf4b98 [examples] Call resetOdometry() when controller command is executed (#5905) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-12-06 22:14:54 -08:00
PJ Reiniger
2676b77873 Fix compilation issues that occur when building with bazel (#6008) 2023-12-04 21:18:26 -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
Elliot Scher
cc2cbeb04c [examples] Replace gyro rotation with poseEstimator rotation (#5900) 2023-11-10 15:12:54 -08:00
Tyler Veness
201a42a3cd [wpimath] Reorder TrapezoidProfile.calculate() arguments (#5874) 
ProfiledPIDController and ExponentialProfile use current, then goal.
This isn't a breaking change because this overload of calculate() is
new for 2024.
 2023-11-04 16:28:55 -07:00
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
Thad House
04dcd80adb [build] Publish unit tests for examples (#5838) 2023-10-27 16:57:38 -07:00
Jordan McMichael
ecb7cfa9ef [wpimath] Add Exponential motion profile (#5720) 2023-10-19 17:26:32 -07:00
Tyler Veness
ed93889e17 [examples] Fix typo in TimesliceRobot example name (#5773) 2023-10-17 16:44:18 -07:00
kully
9a0aafd8ab [examples] Make swerve examples multiply desired module speeds by cosine of heading error (#5758) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-10-12 23:20:57 -07:00
Zhiquan Yeo
51dcb8b55a [examples] Make Romi/XRP Examples use appropriate vendordeps (#5665) 2023-09-18 19:42:10 -07:00
Tyler Veness
19a8850fb1 [examples] Add TimesliceRobot templates (#3683) 2023-09-15 20:42:21 -07:00
Ryan Blue
43a727e868 [apriltag] Make loadAprilTagFieldLayout throw an unchecked exception instead (#5629) 
This eliminates the need for users to wrap initialization of the fields in a try/catch.
 2023-09-15 14:25:21 -07:00
Ryan Blue
3b79cb6ed3 [commands] Revert SubsystemBase deprecation/removal (#5634) 2023-09-14 20:56:48 -07:00
Tyler Veness
a9ab08f48b [wpimath] Rename ChassisSpeeds.fromDiscreteSpeeds() to discretize() (#5616) 
This better reflects what's actually going on mathematically.
 2023-09-08 20:14:59 -07:00
Tyler Veness
96f7fa662e Upgrade Maven dependencies (#5553) 
The following source code changes were required:

* Whitespace changes from spotless
* PMD warning suppressions for utility class tests
* PMD warning rename from "BeanMembersShouldSerialize" to
  "NonSerializableClass"
* Declared more class members as final
 2023-08-18 19:18:33 -07:00
Zhiquan Yeo
86d7bbc4e4 [examples] Add Java Examples and Templates for the XRP (#5529) 2023-08-11 23:31:35 -07:00
m10653
e2c190487b [examples] Add flywheel bang-bang controller example (#4071) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-08-05 14:15:05 -07:00
Joseph Ruan
1938251436 [examples] Add Feedforward to ElevatorProfiledPid (#5300) 
Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
 2023-07-23 21:40:34 -07:00
Gold856
873c2a6c10 [examples] Update ElevatorTrapezoidProfile example (#5466) 2023-07-23 21:36:47 -07:00
Thad House
fc56f8049a [wpilib] DriverStation: Change alliance station to use optional (#5229) 
Many teams have issues trying to read the DS too early. By switching to an optional, we cause teams to check 2 things. Either 1) they explicitly check, and their code is correct, or 2) they just read .value() and their code reboots in a loop. However, because the DS will eventually connect, this 2nd case is ok, and should theoretically be undetectable on the field.
 2023-07-22 15:19:28 -07:00
Gold856
86e91e6724 [wpimath] Refactor TrapezoidProfile API (#5457) 2023-07-19 17:25:10 -07:00
Joseph Eng
657338715d [wpimath] Add ChassisSpeeds method to fix drifting during compound swerve drive maneuvers (#5425) 2023-07-18 21:19:55 -07:00
Sriman Achanta
335e7dd89d [wpilib] Simulation: Add ctor parameter to set starting state of mechanism sims (#5288) 
- Add a constructor parameter to configure the initial angle of the arm
- Also reorganizes cascading constructors for Java
 2023-07-18 13:00:27 -07:00
Tyler Veness
14f30752ab [wpilib] Deprecate Accelerometer and Gyro interfaces (#5445) 
Accelerometer is hyper-specific to ADXL accelerometers, and Gyro is
less useful now that 3D IMUs are prevalent, and if those IMUs want to
support the Gyro interface, they also need to provide a way to set the
axis used for the Gyro interface, which is confusing. Higher-order
functions (e.g., lambdas) are a more flexible interface boundary than
interfaces, but they didn't exist when these interfaces were
created.
 2023-07-18 12:52:43 -07:00
Jason
9b8d90b852 [examples] Convert the unitless joystick inputs to actual physical units (#5451) 
Taking the joystick inputs from -1 to 1, multiply them by the max speed (as defined in Constants.java) to get the target speed, rather than using the unitless raw joystick inputs.
 2023-07-17 17:18:34 -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
Starlight220
fffe6a7b9a [examples] Improve Pneumatics example coverage in Solenoid and RapidReactCmdBot examples (#4998) 2023-07-03 21:23:18 -07:00
Josiah Hamm
a63d06ff77 [examples] Add constants to java gearsbot example (#5248) 2023-04-28 20:56:14 -07:00
Starlight220
a465f2d8f0 [examples] Shuffleboard: Correct parameter order (#5204) 2023-03-20 13:45:34 -07:00
sciencewhiz
4af84a1c12 Fix Typos (NFC) (#5137) 2023-02-26 15:06:37 -08:00
Starlight220
49af88f2bb [examples] ArmSimulation: Fix flaky test (#5093) 2023-02-13 12:59:27 -08:00
Starlight220
43975ac7cc [examples] ArmSimulation, ElevatorSimulation: Extract mechanism to class (#5052) 2023-02-12 06:50:57 -08:00
Starlight220
5483464158 [examples, templates] Improve descriptions (NFC) (#5051) 2023-02-12 06:49:20 -08:00
Michael Leong
08a536291b [examples] Improvements to Elevator Simulation Example (#4937) 
Co-authored-by: Abhay Shukla <105139789+aboombadev@users.noreply.github.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
 2023-02-03 15:23:06 -08:00
Starlight220
2f96cae31a [examples] Hatchbots: Add telemetry (#5011) 2023-01-31 23:44:18 -08:00
Sriman Achanta
f75acd11ce [commands] Use Timer.restart() (#5023) 2023-01-29 07:21:07 -08:00
Starlight220
522be348f4 [examples] Rewrite tags (NFC) (#4961) 2023-01-21 15:24:10 -08:00
Tyler Veness
a60ca9d71c [examples] Update AprilTag field load API usage (#4975) 2023-01-19 17:01:17 -08:00
sciencewhiz
ecba8b99a8 [examples] Fix swapped arguments in MecanumControllerCommand example (#4976) 2023-01-18 21:25:49 -08:00
Berke Sinan Yetkin
e95e88fdf9 [examples] Add comment to drivedistanceoffboard example (#4877) 
Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
 2023-01-18 20:46:41 -08:00