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284 Commits

Author SHA1 Message Date
Tyler Veness
e64c20346d [examples] Remove unused private variables (#6403) 2024-02-28 19:58:15 -08:00
Joseph Eng
0ad6b3acb3 [apriltag] Add AprilTagFieldLayout.loadField() (#6377) 2024-02-17 21:12:59 -08:00
DeltaDizzy
da3abade83 [examples] Add angular subsystem to SysIdRoutine example (#6297) 
Co-authored-by: Tim Winters <twinters@wpi.edu>
 2024-02-10 10:44:57 -08:00
Ryan Blue
cb094e4ff6 [examples] Don't reset encoders when resetting odometry (#6329) 2024-01-31 13:18:07 -08:00
Joseph Eng
1016e95242 [examples] Fix memory leak in C++ controller command examples (#6306) 2024-01-27 23:49:41 -08:00
DeltaDizzy
53ebb6679e [examples] Move triggers to subsystem fields (#6318) 2024-01-27 23:47:06 -08:00
sciencewhiz
154d920e67 [examples] Limit error bit correction in April Tag examples (#6224) 
Values >3 are not supported. 64be6ab26a/apriltag.c (L261-L266)
 2024-01-13 23:03:58 -08:00
Tyler Veness
4a55d830e4 [wpilibcExamples] Remove redundant initializer (#6212) 2024-01-13 14:09:26 -08:00
Tyler Veness
67e8306819 gitattributes: Mark C++ source files as text (#6210) 
Some C++ files had been checked in with CRLF line endings.
This fixes those and also fixes future commits.
 2024-01-12 10:53:56 -08:00
Eli Barnett
707cb06105 [wpilib] Add SysIdRoutine logging utility and command factory (#6033) 
Co-authored-by: Drew Williams <williams.r.drew@gmail.com>
Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2024-01-05 11:50:23 -08:00
Tyler Veness
e7c9f27683 [wpilib] Add functional interface equivalents to MotorController (#6053) 
This does not deprecate any current functionality, but prepares the way for future deprecation.

The drive classes now accept void(double) functions, which makes them more flexible.

The C++ API ended up a bit more verbose, but the Java API is really concise with method references, which is >80% of our userbase. For example:

`DifferentialDrive drive = new DifferentialDrive(m_leftMotor::set, m_rightMotor::set);`

Lambdas can be passed to interoperate with vendor motor controller APIs that don't have e.g., set(double), so CTRE doesn't have to maintain their WPI_ classes anymore.

MotorControllerGroup was replaced with PWMMotorController.addFollower() for PWM motor controllers. Users of CAN motor controllers should use their vendor's follower functionality.
 2024-01-01 13:37:51 -08:00
sciencewhiz
495585b25d [examples] Update april tag family to 36h11 (#6126) 
Changes size to 6.5 inches per https://www.firstinspires.org/robotics/frc/blog/2023-technology-updates-past-present-future-and-beyond
Uses 7 error bit correction as recommended in PhotonVision docs.
 2023-12-31 22:46:31 -08:00
Tyler Veness
22a322c9f3 [wpimath] Report error on negative PID gains (#6055) 
Defaults PID gains to zero if any are invalid.
 2023-12-23 12:15:29 -08:00
ncorrea210
8798700cec [wpilibcExamples] Add inline specifier to constexpr constants (#6049) 2023-12-14 20:52:02 -08:00
Elliot Scher
39a0bf4b98 [examples] Call resetOdometry() when controller command is executed (#5905) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-12-06 22:14:54 -08:00
ncorrea210
d32c10487c [examples] Update C++ examples to use CommandPtr (#5988) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-12-03 21:39:29 -08:00
Elliot Scher
cc2cbeb04c [examples] Replace gyro rotation with poseEstimator rotation (#5900) 2023-11-10 15:12:54 -08:00
Peter Johnson
e69a9efeba [wpilibcExamples] Match array parameter bounds (#5880) 
Required by newer versions of clang.
 2023-11-04 23:55:13 -07:00
Tyler Veness
201a42a3cd [wpimath] Reorder TrapezoidProfile.calculate() arguments (#5874) 
ProfiledPIDController and ExponentialProfile use current, then goal.
This isn't a breaking change because this overload of calculate() is
new for 2024.
 2023-11-04 16:28:55 -07:00
Thad House
04dcd80adb [build] Publish unit tests for examples (#5838) 2023-10-27 16:57:38 -07:00
Jordan McMichael
ecb7cfa9ef [wpimath] Add Exponential motion profile (#5720) 2023-10-19 17:26:32 -07:00
kully
9a0aafd8ab [examples] Make swerve examples multiply desired module speeds by cosine of heading error (#5758) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-10-12 23:20:57 -07:00
Zhiquan Yeo
fb07b0da49 [examples] Add XRP C++ Examples and Templates (#5743) 2023-10-09 16:55:54 -07:00
Tyler Veness
07a0d22fe6 [build] Build examples in CMake CI (#5667) 2023-09-20 21:03:55 -07:00
Zhiquan Yeo
51dcb8b55a [examples] Make Romi/XRP Examples use appropriate vendordeps (#5665) 2023-09-18 19:42:10 -07:00
Joseph Eng
633c5a8a22 [commands] Add C++ Requirements struct (#5504) 2023-09-17 20:48:39 -07:00
Tyler Veness
4bac4dd0f4 [wpimath] Move PIDController from frc2 to frc namespace (#5640) 
The old PIDController class in the frc namespace was removed for the
2023 season.
 2023-09-15 19:57:31 -07:00
Ryan Blue
3b79cb6ed3 [commands] Revert SubsystemBase deprecation/removal (#5634) 2023-09-14 20:56:48 -07:00
Tyler Veness
a9ab08f48b [wpimath] Rename ChassisSpeeds.fromDiscreteSpeeds() to discretize() (#5616) 
This better reflects what's actually going on mathematically.
 2023-09-08 20:14:59 -07:00
m10653
e2c190487b [examples] Add flywheel bang-bang controller example (#4071) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-08-05 14:15:05 -07:00
Thad House
d83a6edc20 [wpilib] Update GetMatchTime docs and units (#5232) 2023-08-03 21:45:26 -07:00
Thad House
12dda24f06 [examples] Fix C robot template not correctly looping (#5474) 
- The event wouldn't reset, causing infinite looping
- Refresh ds data was missing
 2023-07-27 08:46:51 -07:00
Joseph Ruan
1938251436 [examples] Add Feedforward to ElevatorProfiledPid (#5300) 
Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
 2023-07-23 21:40:34 -07:00
Gold856
873c2a6c10 [examples] Update ElevatorTrapezoidProfile example (#5466) 2023-07-23 21:36:47 -07:00
Thad House
fc56f8049a [wpilib] DriverStation: Change alliance station to use optional (#5229) 
Many teams have issues trying to read the DS too early. By switching to an optional, we cause teams to check 2 things. Either 1) they explicitly check, and their code is correct, or 2) they just read .value() and their code reboots in a loop. However, because the DS will eventually connect, this 2nd case is ok, and should theoretically be undetectable on the field.
 2023-07-22 15:19:28 -07:00
Gold856
86e91e6724 [wpimath] Refactor TrapezoidProfile API (#5457) 2023-07-19 17:25:10 -07:00
Joseph Eng
657338715d [wpimath] Add ChassisSpeeds method to fix drifting during compound swerve drive maneuvers (#5425) 2023-07-18 21:19:55 -07:00
Tyler Veness
1af224c21b Add missing <functional> includes (#5459) 2023-07-18 21:18:32 -07:00
Sriman Achanta
335e7dd89d [wpilib] Simulation: Add ctor parameter to set starting state of mechanism sims (#5288) 
- Add a constructor parameter to configure the initial angle of the arm
- Also reorganizes cascading constructors for Java
 2023-07-18 13:00:27 -07:00
Jason
9b8d90b852 [examples] Convert the unitless joystick inputs to actual physical units (#5451) 
Taking the joystick inputs from -1 to 1, multiply them by the max speed (as defined in Constants.java) to get the target speed, rather than using the unitless raw joystick inputs.
 2023-07-17 17:18:34 -07:00
Ryan Blue
aaea85ff16 [commands] Merge CommandBase into Command and SubsystemBase into Subsystem (#5392) 
Moves all CommandBase functionality into Command and deprecates CommandBase for removal.
Moves all SubsystemBase functionality into Subsystem and deprecates SubsystemBase for removal.
Adds a function to CommandScheduler to remove all registered Subsystems.
 2023-07-13 22:12:01 -07:00
Ryan Blue
7a099cb02a [commands] Remove deprecated classes and functions (#5409) 
Removes:
- PerpetualCommand
- Command.perpetually()
- CommandGroupBase
- Command.IsGrouped() (C++ only)
- Command.SetGrouped() (C++ only)
- Command.withInterrupt()
- ProxyScheduleCommand
- Button
- InternalButton, JoystickButton, NetworkButton and POVButton now subclass Trigger
- Old style Trigger functions:
    - Trigger.whenActive
    - Trigger.whileActiveOnce
    - Trigger.whileActiveContinuous
    - Trigger.whenInactive
    - Trigger.toggleWhenActive
    - Trigger.cancelWhenActive
- CommandScheduler.clearButtons()
- CommandScheduler.addButtons() (Java only)
- Command supplier constructor of SelectCommand
 2023-07-10 09:56:18 -07:00
Peter Johnson
96145de7db [examples] Fix formatting (NFC) (#5420) 2023-07-04 07:14:06 -07:00
Starlight220
fffe6a7b9a [examples] Improve Pneumatics example coverage in Solenoid and RapidReactCmdBot examples (#4998) 2023-07-03 21:23:18 -07:00
Thad House
c1a01569b4 [wpilib][hal] PWM Raw using microseconds (#5283) 
Co-authored-by: Joe <sciencewhiz@users.noreply.github.com>
 2023-06-22 19:43:16 -07:00
Tyler Veness
5fac18ff4a Update formatting to clang-format 16 (#5370) 2023-05-31 22:10:53 -07:00
Tyler Veness
c9b612c986 [wpilibcExamples] Make C++ state-space elevator KF and LQR match Java (#5346) 2023-05-18 10:09:48 -07:00
Starlight220
a465f2d8f0 [examples] Shuffleboard: Correct parameter order (#5204) 2023-03-20 13:45:34 -07:00
sciencewhiz
4af84a1c12 Fix Typos (NFC) (#5137) 2023-02-26 15:06:37 -08:00
sciencewhiz
804e5ce236 [examples] MecanumDrive: Fix axis comment in C++ example (NFC) (#5096) 2023-02-13 22:18:23 -08:00