I also refactored Pose3d's conversion implementation to use the
Translation3d and Rotation3d conversions, thereby giving Translation3d
and Rotation3d test coverage. No changes were made to the expected
values of the Pose3d conversion tests.
The expected values of the Transform3d conversion tests were copied from
the Pose3d conversion tests without modification.
Checkstyle naming conventions were changed to allow most of what's in
wpimath. Naming rules were disabled completely in wpimath since almost
all suppressions are for math notation.
SPI Mode setting was very broken. MSB and LSB sets did not work (MSB is the only one supported)
and if LSB was set (which was the default) the ioct to set clock phase would fail. This
deprecates all the individual functions, the LSB/MSB functions, and adds an SPI mode selection
function. This is usually more understandable, and shows up in a lot more documentation
The controller gain matrix K should be computed from the solution to the
DARE, but this constructor does not do that. It effectively violates a
postcondition enforced by the other constructors by letting the user
throw in a controller gain matrix that didn't come from an LQR.
Removing this constructor is a breaking change, but it never should have
been included in the class in the first place. There's also no valid
reason to use it. I assume it was originally added for debugging the
class internals.
This constructor does not exist in C++.
Replace ⊤ with \u22a4, since Unicode references are supported
but HTML5 entities are not. Should be fixed if JDK is ever
moved forward.
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
until() was recently added as a more intuitive alias for this. At this point, keeping this decorator will just cause confusion, given the functionally-equivalent until() alias and the similarly-named getInterruptionBehavior/withInterruptBehavior
Force the status to be 0 (no error) upon initialization of the REV PneumaticHub.
This prevents a program crash in the case of a robot code restart with no CAN Bus present.
This causes setVoltage to be called on the lower level motor contollers,
which is benefical in cases when they are smart motor controllers.
Previously, the default implementation (using the bus voltage and
calling set()) was used in this case.
This does slightly pessimize the case when the lower level motor
controllers use the default setVoltage implementation, but given the
prevalence of smart motor controllers, this seems like an overall win.
The FPGA API takes microseconds directly, instead of a scaled value. Also add a new HAL level API to trigger multiple DIOs with the same pulse at once.
Added an Eigen::SparseMatrix formatter.
Also modified the Eigen::Matrix formatter to support Eigen::MatrixXd.
Eigen::MatrixXd sets both dimension template arguments to -1, so they
can't be used for iteration. rows() and cols() are now used instead.
rows() and cols() are constexpr for statically sized matrices, so
there's no performance loss there.
This is useful in some debugging scenarios. System.err is separately buffered, so when e.g. debugging test cases it doesn't interleave correctly with the C++ stdout/stderr logging. Even using flush() doesn't seem to help, I think because Gradle does its own buffering.
