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222669dc2c6e159ff2fc3adc8dbc15ce9e06dd11
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334 Commits

Author SHA1 Message Date
Matt
222669dc2c Fix trapezoidal profile PID controller setpoint bug (#2210) 
Co-Authored-By: Austin Shalit <austinshalit@gmail.com>
 2020-01-01 15:23:25 -08:00
Peter Johnson
abe25b795b TrajectoryUtil.toPathweaverJson: Create parent directories (#2214) 2020-01-01 13:35:04 -08:00
Prateek Machiraju
e874ba9313 Add Color classes for use with AddressableLED (#2127) 
Both floating point and 8-bit integer classes are included, as well as a wide selection of color constants.

Co-authored-by: Austin Shalit <austinshalit@gmail.com>
 2019-12-30 00:01:20 -06:00
Peter Johnson
8b4508ad53 Use default path for networktables.ini in simulation (#2205) 2019-12-29 18:55:02 -06:00
Oblarg
c7a1dfc0bc Add SlewRateLimiter class (#2192) 
This is extremely useful for implementing various "ramping" functions
(such as voltage ramps, setpoint ramps, etc). Usage is straightforward;
it behaves like all of our other filter classes. C++ version is unit-safe.
 2019-12-29 13:36:28 -06:00
Peter Johnson
6008671c30 Report WPILib version as part of usage reporting (#2199) 2019-12-26 22:34:10 -06:00
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
Thad House
bdc1cab013 Add support for configuring SPI Auto Stall Config (#2193) 2019-12-24 12:52:58 -06:00
Prateek Machiraju
3259cffc63 Add transform methods to Trajectory (#2187) 2019-12-23 13:16:30 -06:00
sciencewhiz
1ce24a7a2f Add 2020 speed controllers (#2188) 
Add CTRE TalonFX (PWMTalonFX)
Add Playing with Fusion Venom (PWMVenom)
 2019-12-22 13:51:43 -06:00
Prateek Machiraju
635882a9f7 Add getter for initial pose in Trajectory (#2180) 2019-12-21 06:57:39 -08:00
Prateek Machiraju
31b588d961 Fix ArmFeedforward Javadocs (#2176) 2019-12-15 14:34:18 -08:00
Prateek Machiraju
023c088290 Add toString() to relevant kinematics classes (#2160) 2019-12-09 21:35:43 -08:00
Claudius Tewari
daa81c64a7 Minor javadoc fix in SwerveDriveKinematicsConstraint (#2167) 2019-12-09 21:34:32 -08:00
Thad House
67d2fed685 Add DutyCycleEncoder channel constructor (#2158) 
Avoids extra boilerplate at user level.
 2019-12-06 20:58:04 -08:00
Tyler Veness
8c2ff94d70 Rename MathUtils to MathUtil for consistency with other util classes (#2155) 2019-12-04 20:39:12 -08:00
Matt
6c8f6cf479 Fix bug in cubic and quintic hermetic spline generation (#2139) 
Add documentation for spline derivatives and explicitly zero matrices.
 2019-12-01 21:29:52 -08:00
Prateek Machiraju
5b73c17f25 Remove encoder velocities methods in DifferentialDriveOdometry (#2147) 
It doesn't make sense to continue to provide a less accurate method of performing odometry
when a more accurate method using distances exists.

This also removes the need to pass DifferentialDriveKinematics to the constructor.
 2019-11-30 23:10:29 -08:00
Prateek Machiraju
2622c6c291 Add default values for b and zeta in RamseteController (#2145) 
Values b=2.0 and zeta=0.7 have been well-tested to produce desirable results.
 2019-11-29 21:16:01 -08:00
Austin Shalit
f66ae59992 Add HSV helpers to AddressableLED (#2135) 
Also change the setLED() method to setRGB() for consistency and clarity.

Add rainbow example to demonstrate HSV usage.
 2019-11-29 15:16:57 -08:00
Oblarg
5e97c81d80 Add MedianFilter class for moving-window median (#2136) 
This kind of filter is extremely useful for signals that are susceptible to sudden
outliers - ultrasonics, 1-D LIDAR, and results from vision processing are all
good use-cases.

This also modifies the existing ultrasonic examples accordingly.
 2019-11-29 15:13:40 -08:00
Peter Johnson
70102a60b7 SendableRegistry.foreachLiveWindow: Prevent concurrent modification (#2129) 
Copy the internal map values into an array before iterating.

In C++, change to recursive mutex as well.
 2019-11-25 21:47:06 -08:00
Thad House
3fcfc8ea72 Fix double disable segfaulting interrupts (#2132) 
Also fixes DigitalOutput not closing correctly.
 2019-11-25 21:43:58 -08:00
Oblarg
21e957ee42 Add DifferentialDrive voltage constraint (#2075) 2019-11-21 21:43:02 -08:00
CTT
a58dbec8aa Add holonomic follower examples (#2052) 2019-11-21 19:52:56 -08:00
Tyler Veness
ffa4b907c0 Fix C++ floating point literal formatting (#2114) 
Found formatting errors with this regex
"([^a-z0-9\.]\.[0-9]|[^a-z0-9\.][0-9]\.[^a-z0-9\.])" and ignored false
positives.

Fixes #2112.
 2019-11-20 21:48:15 -08:00
Austin Shalit
5f85457a97 Add usage reporting for AddressableLED (#2108) 2019-11-20 20:13:39 -08:00
Austin Shalit
4ebae17123 Enforce leading/trailing zeros in Java numeric constants (#2105) 
Enforce that integer literals must not have leading zeros and that floating point literals must have leading or trailing zeros in Java.
 2019-11-20 20:13:15 -08:00
Thad House
5443fdabc1 Directly construct PWM port from HAL, avoid wpilib PWM object (#2106) 2019-11-20 14:48:14 -08:00
Austin Shalit
c0e36df9d8 Standardize on PWMVictorSPX in examples (#2104) 2019-11-19 21:48:22 -08:00
Prateek Machiraju
45201d15fc Add encoder distance overload to DifferentialDriveOdometry (#2096) 
Also force encoders to be reset to zero on pose reset.
 2019-11-19 09:56:34 -08:00
Thad House
500c43fb84 Add examples for DMA, DutyCycle, DutyCycleEncoder and AddressableLED (#2100) 2019-11-18 22:12:17 -08:00
Thad House
8ed2059074 Add AddressableLED (#2092) 2019-11-17 16:39:38 -08:00
Prateek Machiraju
841ef91c0f Use gyro angle instead of robot angle for odometry (#2081) 
The odometry classes previously took in the robot angle as an argument, meaning that users had to take care of offsetting the gyro themselves to accurately report the robot angle. This change will make it so that users will not have to worry about resetting gyros and adding offsets themselves, as this will be handled by the odometry classes.
 2019-11-15 17:34:10 -08:00
Thad House
8280b7e3af Add DutyCycleEncoder and AnalogEncoder (#2040) 2019-11-14 22:51:33 -08:00
CTT
565e1f3e79 Fix spelling in MecanumDriveOdometry docs (#2072) 2019-11-11 23:25:09 -08:00
Peter Johnson
3e049e02f0 Add name to HAL Notifier 2019-11-11 22:03:29 -08:00
sciencewhiz
d748c67a54 Generate docs for command libraries and fix doclint enable (#2071) 2019-11-11 21:38:04 -08:00
Oblarg
e3dd1c5d77 Fix small bug in SplineHelper (#2061) 
Also add comments for clamped cubic solution.
 2019-11-10 22:52:24 -08:00
Oblarg
7dc7c71b58 Add feedforward components (#2045) 
Add helper classes for computing feedforwards with parameters supplied by the characterization tool.
 2019-11-09 20:16:42 -08:00
sciencewhiz
94843adb8f Standardize documentation of Speed Controllers bounds (#2043) 
Some were in constructor docs, some in init function docs, and some
inline in code. Move them all to class docs.
 2019-11-09 09:14:53 -08:00
Thad House
ff39a96cee Make DigitalOutput a DigitalSource (#2054) 
It's perfectly safe to use as a DigitalSource, and can enable some cool tricks.
 2019-11-07 20:03:43 -08:00
Peter Johnson
7508aada93 Add ability to end startCompetition() main loop (#2032) 
This is useful for both cleanly exiting from simulation and for unit testing
at a framework level.

This change required removing move constructor/assignment from IterativeRobot.
 2019-11-05 21:33:09 -08:00
carbotaniuman
ed30d5d40e Add JSON support for Trajectories (#2025) 2019-11-02 11:35:03 -07:00
Thad House
1d695a1660 Add FPGA Duty Cycle support (#1987) 2019-11-01 23:41:30 -07:00
Thad House
509819d83f Split the two command implementations into separate libraries (#2012) 
This will allow us at the user code side to determine to include old commands, new commands or both.
 2019-11-01 21:58:54 -07:00
Oblarg
c5186d8159 Clean up PIDCommand (#2010) 
PIDCommand uses a function based (callback) model, so functions designed for use in derived classes are of limited utility.
 2019-11-01 13:11:55 -07:00
Oblarg
9ebd23d61e Add setVoltage method to SpeedController (#1997) 
Add a voltage-compensated setVoltage method to SpeedController, which is sorely needed to help teams use feedforward-based controls effectively. Also uses correct units on the cpp side.

Also update relevant examples.
 2019-11-01 09:32:40 -07:00
Prateek Machiraju
f6e311ef86 Fix SplineHelper bug (#2018) 
Add unit test to check interior waypoints
 2019-11-01 09:28:11 -07:00
Oblarg
f33bd9f050 Fix NPE in RamseteCommand (#2019) 2019-11-01 09:26:48 -07:00