setErrorData symbol was missing. However, its been deprecated at the
netcomm level for years, and wasn't exposed in wpilibj. And it would
have been crashing since forever, so safe to remove.
In roborio GCC 5.5, __FRC_ROBORIO__ has been added directly to the
compiler. So we can instead use that to detect if we are build for the
roborio, and in a much more reliable way.
Also adds function that can register all the callbacks at once.
Since all of the callbacks issue a string identifier, it makes it
possible and easy to have one function callback, and differentiate the
path to take based on the string. Hooking up all the callbacks at once
makes it easier for the simulator developer to know when something was
added to wpilib rather than looking at the commits.
LiveWindow.updateValues() is now called from IterativeRobotBase on every
loop iteration. Telemetry for all WPILib classes is enabled by default;
it can be disabled for specific classes using LiveWindow.disableTelemetry(),
or all telemetry can be disabled using LiveWindow.disableAllTelemetry().
This necessitated changing the hook methodology into other classes to
be more property-based rather than each class providing multiple functions.
This had the benefit of reducing boilerplate and increasing consistency.
- Remove NamedSendable, add name to Sendable.
- Provide SendableBase abstract class.
- Deprecate LiveWindow addSensor/addActuator interfaces.
- Add LiveWindow support to drive classes.
- Add addChild() helper functions to Subsystem.
- Fix inheritance hierarchy. Now only sensors inherit from SensorBase.
Other devices inherit from some combination of SendableBase, ErrorBase, or
nothing.
To make this work in PIDController.java, the use of synchronized had to be
replaced with ReentrantLock and try-catch blocks. The locking in
PIDController.java was made equivalent to PIDController.cpp and some existing
race conditions in PIDController.java were fixed in the process.
Fixes#30.
m_pidInput and m_pidOutput are considered constant after their construction.
Setting the input range, output range, tolerance, or continuous mode locks the
controller. m_error and m_result are held in temp variables and set at the end
of the calculation.
Getters of P, I, D, F, m_error, m_setpoint, m_result, and m_enabled lock the
critical section. P, I, D, F, and m_setpoint are retrieved at the beginning of
Calculate().
Fixes#40.
This provides a way to stop motor operation even if the DIO is disconnected.
Also change Set() to enable the PWM instead of having the constructor do it.
Provide an explicit Enable() call to re-enable after Disable() is called.
This is different from the other motor controllers (which automatically
re-enable when Set() is called) due to the dual-wiring of this motor
controller.
Motor safety results in disabling the motor only until the next Set() call.
This race was caused by holding a lock while calling into FRC_ChipObject,
which was waiting for the callback to exit before returning, and our
callback wanted to grab the same lock.
