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111 Commits

Author SHA1 Message Date
Prateek Machiraju
cfac22b4c0 [wpilib] Reset odometry in path following examples (#2859) 2020-11-14 12:01:45 -08:00
Prateek Machiraju
616405f7ae [wpilib] Fix DiffDriveSim pose reset and example (#2837) 
Calling the resetPosition method on an odometry instance expects encoder positions to be reset to zero.
 2020-11-11 22:37:14 -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
Austin Shalit
6e7c7374fd [build] Globally Exclude PMD.TooManyMethods (#2793) 
This was not a useful check, as every time we hit it, we simply excluded it.
 2020-10-22 20:53:48 -07:00
Prateek Machiraju
061432147d [wpilib] Clean up physics simulation class APIs (#2763) 2020-10-15 21:00:45 -07:00
sciencewhiz
9058fe803d [wpilib] Update docs link to stable (NFC) (#2772) 2020-10-07 21:57:50 -07:00
Prateek Machiraju
330b90e046 [wpilib] Enable ArmSubsystem in ArmBot example (#2752) 2020-10-01 20:03:50 -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
526f26685d [wpilib] Add methods to check game and enabled state together (#2661) 
This avoids users having to call both IsOperatorControl() and IsEnabled() to figure out if their robot is
enabled and in the teleop state. The expression above involves calling two methods that each have their
own lock.

These new methods should only involve locking one mutex, since only one call is made to HAL_GetControlWord().
 2020-08-29 13:32:19 -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
sciencewhiz
15819cc981 [command] Add SimulationPeriodic to templates (#2582) 2020-07-10 21:21:31 -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
e50dbe0c43 [wpilib] Add Gyro::GetRotation2d() (#2555) 2020-06-29 19:10:07 -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
Prateek Machiraju
f6df9217b6 Remove static import usage in SelectCommand example (#2442) 2020-03-22 16:32:20 -07:00
sciencewhiz
a226ad8509 Set a default option for Sendable Chooser in examples (#2361) 2020-02-15 09:54:12 -08:00
Prateek Machiraju
7797da78f5 Add missing methods to Timed and TimedSkeleton templates (#2306) 2020-01-24 20:01:23 -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
Dan Katzuv
3ce01b5ac2 Fix DriveSubsystem.getHeading Java documentation (#2282) 2020-01-23 16:46:53 -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
sciencewhiz
f14fe434a1 Add (Old) qualifier to old subsystem (#2211) 2019-12-31 23:00:35 -06:00
Oblarg
5b7dd186d2 Add templates for new commands for vscode plugin (#2016) 2019-12-29 15:02:49 -06:00
Oblarg
44bcf7fb4d Java examples: use non-static imports for constants (#2191) 2019-12-29 14:55:49 -06:00
Oblarg
67b59f2b31 Minor improvements/fixes to new command framework (#2186) 2019-12-23 01:09:25 -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
Thad House
67d2fed685 Add DutyCycleEncoder channel constructor (#2158) 
Avoids extra boilerplate at user level.
 2019-12-06 20:58:04 -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
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
Oblarg
6dcd2b0e2c Improve various subsystem APIs (#2130) 
Improves the APIs for various prebuilt subsystems (PIDSubsystem, TrapezoidProfileSubsystem, ProfiledPIDSubsystem). Addresses #2128, and also changes the rather cumbersome getSetpoint API to a more intuitive setSetpoint one. Updates examples to match.
 2019-11-25 21:46:47 -08:00
Oblarg
21e957ee42 Add DifferentialDrive voltage constraint (#2075) 2019-11-21 21:43:02 -08:00
Oblarg
e0bc97f66b Add ProfiledPIDSubsystem example (#2076) 2019-11-21 20:55:16 -08:00
CTT
a58dbec8aa Add holonomic follower examples (#2052) 2019-11-21 19:52:56 -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
Austin Shalit
c0e36df9d8 Standardize on PWMVictorSPX in examples (#2104) 2019-11-19 21:48:22 -08:00
Thad House
500c43fb84 Add examples for DMA, DutyCycle, DutyCycleEncoder and AddressableLED (#2100) 2019-11-18 22:12:17 -08:00
Prateek Machiraju
5891628112 Use DifferentialDriveWheelSpeeds in RamseteCommand ctor (#2091) 2019-11-18 22:11:05 -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
Tyler Veness
1b66ead49d Use standard constant for pi instead of 3.14 (#2084) 2019-11-15 17:33:18 -08:00
Prateek Machiraju
55a7f2b4ad Add template for old command-based style (#2031) 2019-11-10 23:20:33 -08:00
CTT
486fa9c696 Add XboxController examples for arcade and tank drive (#2058) 2019-11-10 22:53:17 -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