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1fd09593cf47e868d48ee44b58e46fff0e08f9ce
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115 Commits

Author SHA1 Message Date
sciencewhiz
1fd09593cf [examples] Add missing TestInit method to GettingStarted Example (#3039) 2021-01-02 22:00:25 -08:00
Zhiquan Yeo
e45a0f6ce2 [examples] Add RomiGyro to the Romi Reference example (#3037) 2021-01-02 21:59:57 -08:00
Zhiquan Yeo
d73cf64e54 [examples] Update RomiReference to match motor directions (#3036) 
Flip the TeleopArcadeDrive axis directions so that positive
values for x-axis speed result in the Romi driving forward (in the
direction of the Raspberry Pi USB ports).
 2021-01-02 17:21:07 -08:00
Starlight220
e1620799c7 [examples] Add C++ RomiReference example (#2969) 
Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
Co-authored-by: sciencewhiz <sciencewhiz@users.noreply.github.com>
 2020-12-31 20:37:20 -08:00
Prateek Machiraju
8651aa73e8 [examples] Enable NT Flush in Field2d examples (#3013) 2020-12-30 16:12:15 -08:00
Peter Johnson
aee4603269 clang-tidy: modernize-pass-by-value 2020-12-29 14:26:19 -08:00
Peter Johnson
d11a3a6380 clang-tidy: modernize-use-override (NFC) 
Add NOLINT to CommandTestBase due to gmock not adding "override" keyword,
which causes warnings on clang.
 2020-12-29 14:26:19 -08:00
Peter Johnson
2aed432b4b Add braces to C++ single-line loops and conditionals (NFC) (#2973) 
This makes code easier to read and more consistent between C++ and Java.
Also update clang-format settings to always add a line break (even if no braces are used).
 2020-12-28 12:58:06 -08:00
Peter Johnson
8f1f64ffb6 Remove year from file copyright message (NFC) (#2972) 
Also update copyright to include "and other WPILib contributors" and clarify
license referral language to not be restricted to FIRST teams.
 2020-12-26 14:12:05 -08:00
Peter Johnson
2bc0a7795c [examples] Fix wpiformat warning about utility include (#2971) 2020-12-26 09:34:21 -08:00
Prateek Machiraju
4e34f05238 [examples] Use ADXRS450_GyroSim class in simulation example (#2964) 
This class did not exist when the original example was written. This
also changes the C++ example to use ADXRS450_Gyro for the sake of
consistency.
 2020-12-24 15:42:46 -08:00
sciencewhiz
699bbe21a4 [examples] Fix comments in Gearsbot to match implementation (NFC) (#2957) 2020-12-22 22:26:54 -08:00
Tyler Veness
4afb13f98b [examples] Replace M_PI with wpi::math::pi (#2938) 2020-12-17 00:15:02 -08:00
Prateek Machiraju
65219f3093 [examples] Update Field2d position in periodic() (#2928) 
This ensures that the robot position will be updated in dashboards like Glass when running on real hardware.
 2020-12-10 20:36:20 -08:00
Prateek Machiraju
558e37c412 [examples] Add simple differential drive simulation example (#2918) 
This provides an example of using the differential drive simulator without needing to use the command-based library.
 2020-12-07 22:32:42 -08:00
Matt
963ad5c255 [wpilib] Add noise to Differential Drive simulator (#2903) 
Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
 2020-12-04 18:46:50 -08:00
Prateek Machiraju
b3deda38c9 [examples] Zero motors on disabledInit() in sim physics examples (#2906) 
This ensures that mechanisms will stop moving if the robot is disabled while motors are in motion
 2020-12-04 17:34:16 -08:00
Peter Johnson
727940d847 [wpilib] Move Field2d to SmartDashboard 2020-12-04 00:36:55 -08:00
Declan Freeman-Gleason
bc8f338771 [wpilib] Add pose estimators (#2867) 
Pose and state estimators can filter latency-compensated global measurements and fuse them with state-space drivetrain model information to estimate robot position. They are drop-in replacements for the existing odometry classes.

Co-authored-by: Declan Freeman-Gleason <declanfreemangleason@gmail.com>
Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
Co-authored-by: Claudius Tewari <cttewari@gmail.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
 2020-11-28 14:35:35 -08:00
Prateek Machiraju
2056f0ce09 [wpilib] Fix bugs in Hatchbot examples (#2893) 
This fixes an issue with some commands not correctly requiring their
subsytems. Furthermore, an execute() method was added to the
DriveDistance command to continuously update the voltage command.
 2020-11-28 14:01:56 -08:00
Prateek Machiraju
cfac22b4c0 [wpilib] Reset odometry in path following examples (#2859) 2020-11-14 12:01:45 -08:00
Prateek Machiraju
50050a0e53 [wpilibc] Update C++ DiffDriveSim example to match Java (#2839) 2020-11-13 11:12:03 -08:00
sciencewhiz
5c2dc043cd [wpilib] Update examples to export NewCommands (#2841) 
Update all examples to export NewCommands vendor dep except for pacgoat,
which still uses old commands.
 2020-11-11 22:36:18 -08:00
sciencewhiz
24a3c12f31 [wpilib] Fix names and descriptions of examples (#2846) 2020-11-11 22:35:28 -08:00
Prateek Machiraju
3c85a40648 [sim] Use units for voltage and current in RoboRioSim (#2853) 2020-11-11 22:33:49 -08:00
Prateek Machiraju
ac3c336b98 [wpimath] Use units for LinearSystemId Kv and Ka (#2852) 2020-11-11 22:33:04 -08:00
Prateek Machiraju
061432147d [wpilib] Clean up physics simulation class APIs (#2763) 2020-10-15 21:00:45 -07:00
Matt
21d949daa8 [wpilibc] Add LinearSystemLoop C++ ctor to match Java (#2755) 
Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
 2020-10-02 17:37:26 -07:00
Prateek Machiraju
330b90e046 [wpilib] Enable ArmSubsystem in ArmBot example (#2752) 2020-10-01 20:03:50 -07:00
Tyler Veness
fc991cb59c [wpilib] Clean up simulation physics API (#2739) 
Some vestigial functions were never removed, and C++ single-jointed arm
sim was missing a flag for disabling gravity simulation. This is useful
for mechanisms like turrets.

Fixes #2738.
 2020-09-27 00:13:59 -07:00
Matt
b61f08d3fa [wpilib] Add physics simulation support with state-space (#2615) 
This includes physics simulation support for arms/elevator models, as well as differential drivetrains.

Swerve might be added at a later date.

Co-authored-by: Claudius Tewari <cttewari@gmail.com>
Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2020-09-20 09:39:52 -07:00
Tyler Veness
35790a8990 [wpimath] Remove rho overload from LinearQuadraticRegulator constructors (#2687) 
It was added as part of Bryson's rule described in
https://file.tavsys.net/control/controls-engineering-in-frc.pdf. It
doesn't really simplify usage though, and the same thing can be
replicated by multiplying the elements of Q by rho manually. It's easier
to do it that way, it's how 3512 has been doing controller debugging for
a while, and it's probably what other teams will do as well instead of
using the "more structured" way.

Removing these unhelpful overloads also simplifies the LQR interface.
 2020-09-03 20:53:17 -07:00
sciencewhiz
3e41d92c18 [wpilib] Use misspell to fix spelling errors (NFC) (#2674) 2020-08-31 00:33:11 -07:00
Prateek Machiraju
ee6a814576 [wpilib] Enable continuous input on theta controller in swerve examples (#2651) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2020-08-24 19:28:20 -07:00
Matt
3b283ab9aa [wpimath] Add core State-space classes (#2614) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: Claudius Tewari <cttewari@gmail.com>
Co-authored-by: Declan Freeman-Gleason <declanfreemangleason@gmail.com>
 2020-08-14 23:40:33 -07:00
Prateek Machiraju
a1d2d40ad3 [wpilib] Add RamseteController examples (#2553) 
This is different from the RamseteCommand examples in that they don't use the command-based library.
 2020-07-03 21:59:42 -07:00
Tyler Veness
d30d1088da [wpiutil] Split units.h into separate headers for each unit (#2551) 
Closes #2508.

Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
 2020-06-29 22:25:09 -07:00
Tyler Veness
e50dbe0c43 [wpilib] Add Gyro::GetRotation2d() (#2555) 2020-06-29 19:10:07 -07:00
Tyler Veness
22c0e2813a [build] Upgrade CI to clang-format 10.0 (#1961) 
MacOS no longer ships 6.0, and Arch Linux's mesa GPU drivers are no longer compatible with LLVM 6.0.
 2020-06-27 20:39:00 -07:00
sciencewhiz
dfb130270a [wpilib] Use inclusive language where practical (#2533) 
Co-authored-by: Austin Shalit <austinshalit@gmail.com>
 2020-06-19 23:06:34 -07:00
sciencewhiz
a226ad8509 Set a default option for Sendable Chooser in examples (#2361) 2020-02-15 09:54:12 -08:00
Oblarg
0ab81d768f Add feed-forward and slew rate limiting to advanced drive examples (#2301) 2020-01-23 18:07:38 -08:00
Oblarg
1cee5ccb93 Feed RobotDrive watchdog in RamseteCommand example (#2298) 2020-01-23 17:41:45 -08:00
sciencewhiz
ac8177e10d Fix GearsBot log methods not being called periodically (#2280) 
Add logging for C++ Wrist and Claw
 2020-01-17 20:18:15 -08:00
sciencewhiz
ce1ac17dfb Remove experimental from new command example descriptions (#2226) 2020-01-04 19:57:31 -08:00
Peter Johnson
7b952d599d Add usage reporting for many new things (#2184) 
- new CommandScheduler
- kinematics and odometry classes
- new PIDController
- ProfiledPIDController
- TrapezoidProfile (reported in Constraints class)

Also update instances.txt to match latest NI version.

One side effect is that a couple of classes are no longer constexpr.
 2019-12-25 00:42:14 -06:00
Peter Johnson
93cdf68694 Add Constants.cpp for MecanumControllerCommand example (#2196) 2019-12-24 16:19:02 -06:00
Oblarg
ea4d1a39e1 Update characterization values to match real robot (#2183) 
This is in preparation for an end-to-end trajectory tutorial example.

Co-Authored-By: Dalton Smith <gamefollower26@gmail.com>
 2019-12-20 13:46:13 -08:00
sciencewhiz
b468c51251 Change AddressableLED example to use consistent PWM port (#2168) 2019-12-11 15:39:36 -08:00
Oblarg
ccdd0fbdb2 Add TrapezoidProfile external PID examples (#2131) 2019-12-07 13:37:54 -08:00