This enables frc-docs to use RLIs for things that are currently in-line
code blocks, and ensures they compile, which is important with the 2027
breaking changes coming. They are kept separate from the examples to
ensure they don't polute the VSCode examples finder.
Adds the Encoder snippets used in the frc-docs Encoder article as the
first instance of this.
* Move units into API docs instead because suffixes make user code verbose and hard to read
* Rename trackWidth to trackwidth
* Make ultrasonic classes use meters instead of a mix of m, cm, mm, ft,
and inches
There are still some examples we'd like to remove here (eg Hatchbot
traditional) but this is a good start with not too many changes required
in frc-docs.
Java generics are too limited to do what we need. This refactors generic code previously in Unit and Measure into unit-specific classes that can have unit-safe math operations (notably, times and divide) that can return values in known units instead of a wildcarded Measure<?>.
Unit-specific measure implementations are automatically generated by ./wpiunits/generate_units.py, which generates generic interfaces and mutable and immutable implementations of those interfaces. These make up the bulk of the diff of this PR (approximately 9300 LOC).
This also adds units for angular and linear velocities, accelerations, and momenta; moment of inertia; and torque.
Add LEDReader and LEDWriter helper interfaces to facilitate composing simple patterns into more complex ones, e.g. LEDPattern.solid(Color.kBlue).breathe(Seconds.of(0.75)). Pattern composition relies on changing out the write behavior; for example, offsetBy increments the indexes to write to; while blink will switch between playing a base pattern and turning off all the LEDs.
Add a view class for splitting a single large buffer into smaller distinct sections, which is useful for dealing with long chained LED strips mounted on different parts of a robot. Views cannot be written directly to an LED strip (in fact, trying to do so won't even compile).
Adds some utility methods to the Color class for interpolating between two colors, and support color representations with 32-bit integers to avoid object allocations.
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
