During HAL_Initialize, wait up to 100ms for a DS packet to be received. Then in RobotBase, right after calling HAL_Initialize, call each language's RefreshData function to force a high level DS update. If the DS is connected, will get joystick data. If there is no data, nothing different will happen, but in that case there's no joysticks anyway.
Java was missing the motor safety thread entirely
C++ accidentally used a manual reset event, causing the motor safety thread to spin.
C++ PWMMotorController would not feed the watch kitty.
Both languages would call feed() from the StopMotor call, causing some ping ponging.
Reverts "[wpimath] Constrain Rotation2d range to -pi to pi (#4611)"
This reverts commit d1d458db2b.
This broke multiple teams code in beta. It is also easier to limit the angle externally, then reconstruct a larger angle that got limited. This additionally adds comments to clarify the behavior and retains tests that were added in the reverted commit, and fixes a javadoc comment angle reference.
For PWM motor controllers, this is going to be the fastest way to stop the motor,
as disabling the PWM output will have a small delay due to the motor controller
needing to detect the missing signal.
Note Set(0) is not a safe approach for CAN motor controllers, which may have closed
loop operation, non-% output set() calls, etc.
The Color algorithm was tweaked to:
a) not produce incorrect values if the user happens to input a hue outside the [0, 180) range, and
b) more accurately convert the hue remainder from range 0-30 to 0-255. The current conversion vastly overshoots the multiplier (converts 0-30 to 0-270) and relies on clamping the value when constructing the Color object to produce a slightly incorrect result.
Trigger was refactored to use BooleanEvent when it was introduced in #4104.
This reverts to the original implementation until edge-based BooleanEvents can be fixed.
This leaves the file format as a list, but internally will transform the collection of tags into a map on de/serialization. The serialization will probably happen once on startup, but the tag lookup can happen 100s of times a second. This honestly probably doesn't make too much of a performance hit since N is small, but this is a simple O(n) -> O(1) change for lookups.
This is an API for looking up a Pose3d from a tag id, and includes functionality to load that map from a JSON file.
This also adds JSON support to Pose3d, Rotation3d. Translation3d, and Quaternion.
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: AMereBagatelle <themerebagatelle@gmail.com>
