This reverts commit a79faace1b.
This change will be superseded in a non-breaking way by changing to static functions and deprecating GetInstance() entirely.
Also deprecate SpeedController in favor of motorcontrol.MotorController and
SpeedControllerGroup in favor of motorcontrol.MotorControllerGroup.
The MotorController interface is derived from the SpeedController interface
so that code such as SpeedController x = new VictorSP(1) continues to
compile (just with a warning).
SpeedControllerGroup and MotorControllerGroup are independent classes;
both implement the MotorController interface.
Improves consistency across all classes.
Affects Preferences, LiveWindow, and CameraServer.
Old commands Scheduler::GetInstance() was not updated as this is already
deprecated.
This makes code easier to read and more consistent between C++ and Java.
Also update clang-format settings to always add a line break (even if no braces are used).
The wpimath library is a new library designed to separate the reusable math functionality
from the common utility library (wpiutil) and the hardware-dependent library (wpilibc/j).
Package names / include file names were NOT changed to minimize breakage. In a future year
it would be good to revamp these for a more uniform user experience and to reduce the risk
of accidental naming conflicts.
While theoretically all of this functionality could be placed into wpiutil, several pieces
of this library (e.g. DARE) are very time-consuming to compile, so it's nice to avoid this
expense for users who only want cscore or ntcore. It also allows for easy future separation
of build tasks vs number of workers on memory-constrained machines.
This moves the following functionality from wpiutil into wpimath:
- Eigen
- ejml
- Drake
- DARE
- wpiutil.math package (Matrix etc)
- units
And the following functionality from wpilibc/j into wpimath:
- Geometry
- Kinematics
- Spline
- Trajectory
- LinearFilter
- MedianFilter
- Feed-forward controllers
This removes the name and subsystem from individual objects, and instead
puts this data into a new singleton class, SendableRegistry. Much of
LiveWindow has been refactored into SendableRegistry.
In C++, a new CRTP helper class, SendableHelper, has been added to provide
move and destruction functionality.
Shims for GetName, SetName, GetSubsystem, and SetSubsystem have been added
to Command and Subsystem (both old and new), and also to SendableHelper to
prevent code breakage.
This deprecates SendableBase in preparation for future removal.
If users are attempting to use the output range to limit the controller
action, they should use ProfiledPIDController instead. If they actually
intended to clamp the output, they should use std::clamp().
It breaks the unit system badly; the tolerance member variable has
different units depending on percent vs absolute. Absolute tolerance is
a lot more natural than percent tolerance anyway.
Teams that wish to use it asynchronously may still do so - they simply need to handle the thread safety themselves (it is not that difficult, and can be done more cleanly in the calling code anyway).
Originally, PIDController used PIDSource with its "PIDSourceType" to
determine whether a class should return position or velocity to the
controller. However, the supported languages have changed a lot over 10
years and now support lambdas. Instead of using PIDSource and PIDOutput,
users can pass in doubles to the Calculate() function synchronously.
This makes the controller much more flexible for team's needs as they no
longer have to make a separate PIDSource-inheriting class just to
provide a custom input.
The built-in feedforward was removed. Since PIDController is synchronous
now, they can add their own feedforward on top of what Calculate()
returns.
To facilitate running the controller asynchronously, there is a
PIDControllerRunner class that handles that. By separating the loop from
the control law, PIDController can now be composed with others and be
used to control a drivetrain (a multiple input, multiple output system
that requires summing the results from two controllers) much easier.
Also, motion profiling can be used to set the reference over time.
All the classes related to the old PIDController are now deprecated. The
new classes are in an experimental namespace to avoid name conflicts.
While this is a large change, I think it is a necessary one for growth.
The old PIDController design was created in a time when languages only
supported OOP, and we have more tools at our disposal now to solve
problems. This more versatile implementation can be used in more places
like as a replacement for Pathfinder's "EncoderFollower" class.
There has been hesitation to add lambda support to WPILib for a while
now out of concerns for requiring teams to learn more features of C++ or
Java. In my opinion, this change makes PIDController easier to use, not
harder. The concept of a function is a building block of OOP and should
be learned before classes. The ability to store functions as first-class
objects and invoke them just like variables is rather natural.
Note that PID constants for the new controller will be different from
the old one. The original controller didn't take the discretization
period into account. To fix this, teams should just have to divide their
Ki gain by 0.05 and multiply their Kd gain by 0.05 where 0.05 is the
original default period.
* Update MSVC arguments
* Fix json allocator
* Fix simulation diamond
* Bump gtest
* Remove empty varargs in unit tests
* Replace test case with test suite
* Remove deprecation warning in optional
* Remove need for NOMIXMAX to be defined in wpilib headers
HAL_GetFPGATime returns 0 if it starts with a non zero status.
Always use monotonic clock for CAN times, rather then trying to sync FPGA.
Change timeout from 50 ms to 100 ms.
- Build both debug and release binaries
- Append "d" to debug libraries in the style of opencv
- Split shared and static classifiers
- Add raspbian support
The old headers were moved into folders because doing so avoids polluting
the system include directories.
Folder names were also normalized to lowercase.
I don't have a good way to ensure this always works, so this is going to be a documentation issue.
But initializeHardwareConfiguration is now reentrant, so we can just have all tests call it.
During shared library loading, a different libLLVM can be pulled in, causing
llvm symbols from dependent libraries to resolve to that library instead of
this one. This has been seen in the wild with the Mesa OpenGL implementation
in JavaFX applications (see wpilibsuite/shuffleboard#361).
This is clearly a very breaking change. For some level of backwards
compatibility, a namespace alias from llvm to wpi is performed in the "llvm"
headers. Unfortunately, forward declarations of llvm classes will still break,
but compilers seem to generate clear error messages in those cases
("namespace alias 'llvm' not allowed here, assuming 'wpi'").
This change also moves all the wpiutil headers to a single "wpi" subdirectory
from the previously split "llvm", "support", "tcpsockets", and "udpsockets".
Shim headers will be added for backwards compatibility in a later commit.
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.
