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Author SHA1 Message Date
T Grinch
3dee19a435 Added parity with C++ units. (#7965) 
* Added parity with C++ units.

* Update Units.java

* Update Units.java

* Formatting

* Fixed formatting

---------

Co-authored-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
 2025-05-10 21:04:17 -04:00
sciencewhiz
55a97f0c11 [examples] Add Analog Potentiometer Snippets (#7957) 2025-05-10 07:18:19 -07:00
Yuhao
b1f7e6d6f2 [cscore] Resolve macOS camera freeze with specific devices (#7960) 
Addresses an issue where certain USB cameras, specifically the ArduCam OV9281, would freeze when attempting to stream on macOS.

The previous logic started the AVCaptureSession (startRunning) before locking the device for configuration (lockForConfiguration). While this works for many cameras, it causes the OV9281 to become unresponsive.

Further investigation revealed:
- Moving startRunning to after unlockForConfiguration resulted in macOS overriding the custom format and frame rate settings applied within the lock.
- The reliable solution, inspired by findings shared in the community (e.g., Stack Overflow), is to lock the device, apply the configuration, start the session, and then unlock the device.

This commit reorders the operations within deviceStreamOn in UsbCameraImplObjc.mm to follow the sequence: lockForConfiguration -> apply settings -> startRunning -> unlockForConfiguration. This ensures the desired camera configuration is applied correctly without causing device freezes on problematic hardware like the OV9281.
 2025-05-07 19:57:03 -07:00
Gold856
ca3137b291 [build] Remove statically linked JNI artifacts (#7553) 2025-05-05 22:10:07 -07:00
Lucien Morey
e1da917270 [wpimath] Add dynamic size support for numerical jacobian computation (#7959) 2025-05-05 21:55:51 -07:00
sciencewhiz
b96264f042 [examples] Misc fixes for snippets (#7952) 2025-05-04 00:13:46 -07:00
sciencewhiz
a15152712f [examples] Add AnalogInput snippets (#7951) 2025-05-04 00:13:20 -07:00
Eric
17cae787e7 [commands] Mark CommandPtr class as [[nodiscard]] (#7803) 
This has the same effect but makes it so any user code returning CommandPtr can't discard a returned command.

Signed-off-by: Eric Ward <ezeward4@gmail.com>
 2025-05-03 20:44:55 -07:00
Jade
02de5f710e [cscore] Fix memory leak in usbviewer example (#7922) 
Signed-off-by: Jade Turner <spacey-sooty@proton.me>
 2025-05-01 22:07:45 -07:00
sciencewhiz
e63899e63a [examples] Add snippets for Digital Input article (#7949) 2025-05-01 11:40:38 -06:00
Tyler Veness
ba37e7eb3c [wpimath] Fix warning false positive from GCC 15 (#7948) 
```
In file included from /usr/include/c++/15.1.1/functional:61,
                 from /home/tav/frc/wpilib/allwpilib/thirdparty/googletest/include/gtest/gtest-matchers.h:43,
                 from /home/tav/frc/wpilib/allwpilib/thirdparty/googletest/include/gtest/internal/gtest-death-test-internal.h:47,
                 from /home/tav/frc/wpilib/allwpilib/thirdparty/googletest/include/gtest/gtest-death-test.h:43,
                 from /home/tav/frc/wpilib/allwpilib/thirdparty/googletest/include/gtest/gtest.h:65,
                 from /home/tav/frc/wpilib/allwpilib/wpimath/src/test/native/cpp/controller/ControlAffinePlantInversionFeedforwardTest.cpp:7:
In copy constructor ‘std::function<_Res(_ArgTypes ...)>::function(const std::function<_Res(_ArgTypes ...)>&) [with _Res = Eigen::Matrix<double, 2, 1>; _ArgTypes = {const Eigen::Matrix<double, 2, 1, 0, 2, 1>&, const Eigen::Matrix<double, 1, 1, 0, 1, 1>&}]’,
    inlined from ‘frc::ControlAffinePlantInversionFeedforward<States, Inputs>::ControlAffinePlantInversionFeedforward(std::function<Eigen::Matrix<double, Size, 1, (Eigen::AutoAlign | (((Size == 1) && (1 != 1)) ? Eigen::RowMajor : (((1 == 1) && (Size != 1)) ? Eigen::ColMajor :  Eigen::ColMajor))), Size, 1>(const Eigen::Matrix<double, Size, 1, (Eigen::AutoAlign | (((Size == 1) && (1 != 1)) ? Eigen::RowMajor : (((1 == 1) && (Size != 1)) ? Eigen::ColMajor :  Eigen::ColMajor))), Size, 1>&, const Eigen::Matrix<double, Cols, 1, (Eigen::AutoAlign | (((Cols == 1) && (1 != 1)) ? Eigen::RowMajor : (((1 == 1) && (Cols != 1)) ? Eigen::ColMajor :  Eigen::ColMajor))), Cols, 1>&)>, units::time::second_t) [with int States = 2; int Inputs = 1]’ at /home/tav/frc/wpilib/allwpilib/wpimath/src/main/native/include/frc/controller/ControlAffinePlantInversionFeedforward.h:59:19,
    inlined from ‘virtual void frc::ControlAffinePlantInversionFeedforwardTest_Calculate_Test::TestBody()’ at /home/tav/frc/wpilib/allwpilib/wpimath/src/test/native/cpp/controller/ControlAffinePlantInversionFeedforwardTest.cpp:29:70:
/usr/include/c++/15.1.1/bits/std_function.h:393:17: error: ‘<anonymous>’ may be used uninitialized [-Werror=maybe-uninitialized]
  393 |             __x._M_manager(_M_functor, __x._M_functor, __clone_functor);
      |             ~~~~^~~~~~~~~~
/usr/include/c++/15.1.1/bits/std_function.h: In member function ‘virtual void frc::ControlAffinePlantInversionFeedforwardTest_Calculate_Test::TestBody()’:
/usr/include/c++/15.1.1/bits/std_function.h:269:7: note: by argument 2 of type ‘const std::_Any_data&’ to ‘static bool std::_Function_handler<_Res(_ArgTypes ...), _Functor>::_M_manager(std::_Any_data&, const std::_Any_data&, std::_Manager_operation) [with _Res = Eigen::Matrix<double, 2, 1>; _Functor = frc::ControlAffinePlantInversionFeedforwardTest_Calculate_Test::TestBody()::<lambda(auto:45&, auto:46&)>; _ArgTypes = {const Eigen::Matrix<double, 2, 1, 0, 2, 1>&, const Eigen::Matrix<double, 1, 1, 0, 1, 1>&}]’ declared here
  269 |       _M_manager(_Any_data& __dest, const _Any_data& __source,
      |       ^~~~~~~~~~
/home/tav/frc/wpilib/allwpilib/wpimath/src/test/native/cpp/controller/ControlAffinePlantInversionFeedforwardTest.cpp:29:70: note: ‘<anonymous>’ declared here
   29 |                                                                 20_ms};
      |                                                                      ^
In copy constructor ‘std::function<_Res(_ArgTypes ...)>::function(const std::function<_Res(_ArgTypes ...)>&) [with _Res = Eigen::Matrix<double, 2, 1>; _ArgTypes = {const Eigen::Matrix<double, 2, 1, 0, 2, 1>&}]’,
    inlined from ‘frc::ControlAffinePlantInversionFeedforward<States, Inputs>::ControlAffinePlantInversionFeedforward(std::function<Eigen::Matrix<double, Size, 1, (Eigen::AutoAlign | (((Size == 1) && (1 != 1)) ? Eigen::RowMajor : (((1 == 1) && (Size != 1)) ? Eigen::ColMajor :  Eigen::ColMajor))), Size, 1>(const Eigen::Matrix<double, Size, 1, (Eigen::AutoAlign | (((Size == 1) && (1 != 1)) ? Eigen::RowMajor : (((1 == 1) && (Size != 1)) ? Eigen::ColMajor :  Eigen::ColMajor))), Size, 1>&)>, frc::Matrixd<Rows, Cols>&, units::time::second_t) [with int States = 2; int Inputs = 1]’ at /home/tav/frc/wpilib/allwpilib/wpimath/src/main/native/include/frc/controller/ControlAffinePlantInversionFeedforward.h:79:11,
    inlined from ‘virtual void frc::ControlAffinePlantInversionFeedforwardTest_CalculateState_Test::TestBody()’ at /home/tav/frc/wpilib/allwpilib/wpimath/src/test/native/cpp/controller/ControlAffinePlantInversionFeedforwardTest.cpp:45:73:
/usr/include/c++/15.1.1/bits/std_function.h:393:17: error: ‘<anonymous>’ may be used uninitialized [-Werror=maybe-uninitialized]
  393 |             __x._M_manager(_M_functor, __x._M_functor, __clone_functor);
      |             ~~~~^~~~~~~~~~
/usr/include/c++/15.1.1/bits/std_function.h: In member function ‘virtual void frc::ControlAffinePlantInversionFeedforwardTest_CalculateState_Test::TestBody()’:
/usr/include/c++/15.1.1/bits/std_function.h:269:7: note: by argument 2 of type ‘const std::_Any_data&’ to ‘static bool std::_Function_handler<_Res(_ArgTypes ...), _Functor>::_M_manager(std::_Any_data&, const std::_Any_data&, std::_Manager_operation) [with _Res = Eigen::Matrix<double, 2, 1>; _Functor = frc::ControlAffinePlantInversionFeedforwardTest_CalculateState_Test::TestBody()::<lambda(auto:47&)>; _ArgTypes = {const Eigen::Matrix<double, 2, 1, 0, 2, 1>&}]’ declared here
  269 |       _M_manager(_Any_data& __dest, const _Any_data& __source,
      |       ^~~~~~~~~~
/home/tav/frc/wpilib/allwpilib/wpimath/src/test/native/cpp/controller/ControlAffinePlantInversionFeedforwardTest.cpp:45:73: note: ‘<anonymous>’ declared here
   45 |                                                                 B, 20_ms};
      |                                                                         ^
```
 2025-05-01 11:40:13 -06:00
Cory
7036bd509e [wpimath] Correct mil unit (#7950) 2025-05-01 11:28:02 -06:00
Yuhao
8fe3cfb325 [cscore] Add UVC Protocol Support for USB Camera Controls on macOS (#7926) 2025-04-30 08:02:59 -06:00
Jonah Snider
a4572a01b7 [wpiutil] Add nested struct schemas before parent schema (#7935) 
When adding struct schemas, the current logic is to add the parent/outer schema, and then add the schemas for any nested inner schemas.  This reverses that order to make it easier for tools to process.

Matches C++ logic.
 2025-04-29 20:52:27 -07:00
Lucien Morey
f14af97dc7 [wpimath] Support dynamic matrix sizes in StateSpaceUtil (#7942) 2025-04-29 11:58:28 -06:00
Jade
631521a980 [thirdparty] Set IMGUI_DEFINE_MATH_OPERATORS (#7899) 
This avoids the need to define it early in the include order everywhere else.

Signed-off-by: Jade Turner <spacey-sooty@proton.me>
 2025-04-29 08:44:17 -06:00
sciencewhiz
c49fc29046 [examples] Add Limit Switch snippets (#7946) 2025-04-29 08:42:32 -06:00
Nolan Barker
40ce42712f [wpimath] Fix coordinate frame docs in HolonomicDriveController (#7938) 2025-04-28 16:27:38 -07:00
sciencewhiz
659710a79a [examples] Add remaining Encoder snippets (#7936) 2025-04-28 16:25:49 -07:00
David Vo
d059cbc157 [bazel] Hide wpinet implementation headers (#7941) 
The headers in wpinet/src/main/native/cpp/*.h aren't intended to be used by dependents, so they shouldn't get propagated.
 2025-04-28 16:46:22 -06:00
crueter
0695a4db89 [wpimath] Fix Debouncer type-changing behavior (#7870) 
Closes #7867

Properly resets the baseline upon switching the debounce type, and adds
a test for such.

Signed-off-by: swurl <swurl@swurl.xyz>
 2025-04-25 22:05:31 -07:00
me-it-is
3960045663 [wpimath] TrapezoidProfile: Fix null pointer when calling timeLeftUntil (#7894) 2025-04-25 21:58:05 -07:00
Tyler Veness
92010c175f Fix more emscripten compiler errors (#7895) 
I ran the CMake configure with:
```bash
emcmake cmake -B build-wasm -S . \
  -DCMAKE_BUILD_TYPE=Release \
  -DBUILD_SHARED_LIBS=OFF \
  -DWITH_SIMULATION_MODULES=OFF \
  -DWITH_PROTOBUF=OFF \
  -DWITH_GUI=OFF \
  -DWITH_CSCORE=OFF
```

* Turned off simulation modules because they require shared libraries
* Turned off GUI because glfw requires libssh
* Turned off cscore because it requires OpenCV

I still get the following compiler errors:

```
/home/tav/frc/wpilib/allwpilib/wpinet/src/main/native/thirdparty/libuv/src/unix/linux.cpp:43:10: fatal error: 'sys/epoll.h' file not found
   43 | #include <sys/epoll.h>
      |          ^~~~~~~~~~~~~
```
```
/home/tav/frc/wpilib/allwpilib/wpinet/src/main/native/thirdparty/libuv/src/unix/stream.cpp:991:56: error: comparison of integers of different signs: 'unsigned long' and 'long' [-Werror,-Wsign-compare]
  991 |   for (cmsg = CMSG_FIRSTHDR(msg); cmsg != NULL; cmsg = CMSG_NXTHDR(msg, cmsg)) {
      |                                                        ^~~~~~~~~~~~~~~~~~~~~~
/home/tav/.cache/emscripten/sysroot/include/sys/socket.h:358:44: note: expanded from macro 'CMSG_NXTHDR'
  358 |         __CMSG_LEN(cmsg) + sizeof(struct cmsghdr) >= __MHDR_END(mhdr) - (unsigned char *)(cmsg) \
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ^  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
```
```
/home/tav/frc/wpilib/allwpilib/wpinet/src/main/native/thirdparty/libuv/src/unix/core.cpp:748:56: error: comparison of integers of different signs: 'unsigned long' and 'long' [-Werror,-Wsign-compare]
  748 |   for (cmsg = CMSG_FIRSTHDR(msg); cmsg != NULL; cmsg = CMSG_NXTHDR(msg, cmsg))
      |                                                        ^~~~~~~~~~~~~~~~~~~~~~
/home/tav/.cache/emscripten/sysroot/include/sys/socket.h:358:44: note: expanded from macro 'CMSG_NXTHDR'
  358 |         __CMSG_LEN(cmsg) + sizeof(struct cmsghdr) >= __MHDR_END(mhdr) - (unsigned char *)(cmsg) \
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ^  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
```
 2025-04-25 21:56:26 -07:00
sciencewhiz
90ee11a9e0 [examples] Add DutyCycleEncoder Snippets (#7930) 2025-04-25 21:47:53 -07:00
David Vo
828199befb [ci] Use Bazel fastbuild compilation mode on Windows (#7925) 2025-04-25 21:46:40 -07:00
David Vo
d04e15b957 [bazel] Avoid globally linking macOS SDK frameworks (#7927) 2025-04-25 10:37:42 -07:00
Joseph Eng
d98ad815b1 [wpimath] Adjust applyDeadband logic (#7816) 
Reduces nesting by returning when the value is within the deadband.

Adjusts the algorithm to handle large values of maxMagnitude naturally (instead of needing a separate check).

Reformats the math comments.
 2025-04-23 08:41:03 -06:00
Austin Schuh
1c35a3a5ff [bazel] Make bazel work outside // (#7918) 
The .bazelrc was doing a relative import, not an absolute one.

Signed-off-by: Austin Schuh <austin.linux@gmail.com>
 2025-04-23 08:31:43 -06:00
Gold856
b248663386 [ci] Upgrade sccache action (#7914) 2025-04-22 15:27:55 -06:00
Gold856
9c60da1319 [ci] Use sccache for RobotPy build (#7915) 
Also uses Artifactory to store the caches.
 2025-04-22 15:27:20 -06:00
sciencewhiz
21d921184a [examples] Add compilable code snippets (#7909) 
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.
 2025-04-22 15:26:26 -06:00
Yuhao
26e299115f [cscore] Fix USB video mode handling on macOS (#7904) 
* fix: UsbCameraImpl on macOS

* fix: add back logs
 2025-04-21 09:27:42 -07:00
Wispy
07192285f6 [wpiunits] Add InchesPerSecondPerSecond (#7905) 2025-04-17 19:00:14 -07:00
Tyler Veness
ed94e3af3e [ci] Upgrade sccache action (#7911) 2025-04-17 18:59:10 -07:00
Tyler Veness
3cd282d9b0 [ci] Upgrade to wpiformat 2025.33 (#7902) 2025-04-12 20:29:09 -07:00
Tyler Veness
49b4b064cf [docs] Update readme to say Xcode is required (#7892) 
The command line tools are insufficient.
 2025-04-08 08:11:15 -06:00
Tyler Veness
bd78215b43 [glass] Fix compilation error with protobuf 30.1 (#7890) 
```
/home/tav/frc/wpilib/allwpilib/glass/src/libnt/native/cpp/NetworkTables.cpp: In function ‘void UpdateProtobufValueSource(glass::NetworkTablesModel&, glass::NetworkTablesModel::ValueSource*, const google::protobuf::Message&, std::string_view, int64_t)’:
/home/tav/frc/wpilib/allwpilib/glass/src/libnt/native/cpp/NetworkTables.cpp:363:27: error: no match for ‘operator+’ (operand types are ‘const char [7]’ and ‘google::protobuf::internal::DescriptorStringView’ {aka ‘std::basic_string_view<char>’})
  363 |   out->typeStr = "proto:" + desc->full_name();
      |                  ~~~~~~~~ ^ ~~~~~~~~~~~~~~~~~
      |                  |                         |
      |                  const char [7]            google::protobuf::internal::DescriptorStringView {aka std::basic_string_view<char>}
```
 2025-04-07 07:31:31 -06:00
Tyler Veness
c13b2f45c1 [wpimath] Update link to Ramsete controller derivation (#7887) 
The derivation was moved from the Controls Engineering in FRC book to a
separate paper.
 2025-03-30 16:25:08 -07:00
Jonah Snider
ea986427aa [wpiutil] Add Kaitai Struct definition for data log format (#7882) 
Adds a Kaitai Struct definition for the WPILOG format. This can be used to generate code to read/write data log files without needing to build out a parser/serializer by hand. Or just an additional resource for readers to help understand the WPILOG format.
 2025-03-27 16:51:13 -06:00
jpokornyiii
dcd397e007 [xrp] Update XRP for new SparkFun RP2350 Board (#7880) 
Enables servos 3 and 4 usage on the new XRP board.
 2025-03-26 08:50:09 -06:00
Jack Cammarata
1efaaefd78 [wpimath] Fix UnscentedKalmanFilter and improve math docs (#7850) 
Throughout the code the state sqrt covariance S and innovation covariance Sy are maintained as upper triangular cholesky factors of those covariance matrices. The original paper defines P=S*S', so S should be lower triangular. The functions in the paper reflect this. In the code implementation, the sqrt covariance matrices are upper triangular, but the algorithm expects them to be lower triangular.

This bug was likely missed because the incorrect version of the filter is able to converge for some systems where all the states are observed, and the test case is set up such that all states are observed.

To fix the bug, a couple things needed to be changed:
all instances of rankUpdate() needed to be changed to use the lower triangular cholesky factor,
In the unscented transform, when S is found via QR decomposition, we need to take the transpose because R is upper triangular,
P() and SetP() functions need to be modified to be P=S*S' instead of P=S'*S, and P.llt().matrixL() instead of P.llt().matrixU() respectively.

Each part of the algorithm has also had the comments changed to clarify exactly which equation from the paper it implements.

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
v2025.3.2 		2025-03-14 10:05:15 -07:00
Tyler Veness
71b6e8ec58 [wpiutil] Avoid including execinfo.h for Emscripten target (#7854) 2025-03-06 23:15:22 -08:00
Tyler Veness
1a835fec01 [wpimath] Fix singularities in Ellipse2d::Nearest() (#7851) 
The problem was ill-conditioned if either semiaxis had zero length.
 2025-03-04 18:52:17 -08:00
crueter
0ad595c33c [wpimath] Add Debouncer type and time setters (#7839) 
Signed-off-by: swurl <swurl@swurl.xyz>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2025-03-03 17:21:38 -07:00
Thad House
93bf6c70ba [build] Remove sources from ceres-cpp (#7844) 2025-03-02 10:46:50 -08:00
arbessette
a7ae22d764 [docs] Update code of conduct (#7833) 2025-02-27 11:02:13 -08:00
Tyler Veness
822457d45b [wpimath] Fix feedforward returning NaN when kᵥ = 0 (#7790) 2025-02-25 19:07:51 -08:00
Adrien Bourdeaux
75321f1d84 [wpimath] Add Translation2d/Translation3d slew rate limiter (#7806) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
 2025-02-25 19:06:00 -08:00
Tyler Veness
cd6fee7fea [sysid] Refactor feedback analysis (#7827) 2025-02-25 19:05:05 -08:00
Tyler Veness
517344fe80 [wpimath] Fix another infinite loop in ArmFeedforward (#7823) 2025-02-25 19:04:31 -08:00