Tyler Veness
5ebe911933
[wpimath] Add DifferentialDriveAccelerationLimiter ( #4091 )
2022-04-24 07:21:40 -07:00
Tyler Veness
c8905ec29a
[wpimath] Remove ImplicitModelFollower dt argument ( #4119 )
...
The math works just fine without model discretization.
2022-03-29 11:29:06 -07:00
Tyler Veness
8d79dc8738
[wpimath] Add ImplicitModelFollower ( #4056 )
2022-03-20 00:36:12 -07:00
Tyler Veness
78108c2aba
[wpimath] Fix PIDController having incorrect error after calling SetSetpoint() ( #4070 )
2022-03-19 23:59:00 -07:00
Chirag Kaushik
f3a0b5c7d7
[wpimath] Fix Java SimpleMotorFeedforward Docs (NFC) ( #3926 )
2022-01-17 09:59:04 -08:00
Tyler Veness
db0fbb6448
[wpimath] Fix LQR matrix constructor overload for Q, R, and N ( #3884 )
...
It was using the continuous B matrix to compute the feedback gain
instead of the discrete B matrix.
Tests were added for the matrix constructor overloads.
2022-01-08 23:23:53 -08:00
Tyler Veness
7269a170fb
Upgrade maven deps to latest versions and fix new linter errors ( #3772 )
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This also makes the Gradle build work with JDK 17.
The extra JVM args in gradle.properties works around a bug with spotless
and JDK 17: https://github.com/diffplug/spotless/issues/834
PMD.CloseResource was ignored because it's almost always a false
positive, and there are many of them.
2021-12-09 12:20:08 -08:00
Tyler Veness
04957a6d30
[wpimath] Fix units of RamseteController's b and zeta ( #3757 )
...
Fixes #3755 .
2021-12-03 18:21:30 -08:00
Oblarg
da90c1cd2c
[wpilib] Add bang-bang controller ( #3676 )
...
Co-authored-by: Tyler Veness <calcmogul@gmail.com >
2021-11-23 20:34:46 -08:00
Tyler Veness
a939cd9c89
[wpimath] Print uncontrollable/unobservable models in LQR and KF ( #3694 )
...
IsDetectable() was added to make the code easier to read.
2021-10-29 00:03:02 -07:00
Tyler Veness
f9e976467f
[examples] Rename DriveTrain classes to Drivetrain ( #3594 )
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Drivetrain is one word, not two.
2021-09-22 13:27:26 -07:00
Tyler Veness
3838cc4ec4
Use unicode characters in docs equations ( #3487 )
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javac and javadoc needed the encoding set to UTF-8.
2021-07-29 22:42:43 -07:00
Tyler Veness
50af74c38f
[wpimath] Clean up NumericalIntegration and add Discretization tests ( #3489 )
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* Rename Butcher tableau sections in NumericalIntegration such that
top-left is c, top-right is A, and bottom-right is b
* Move edu.wpi.first.math.Discretization to
edu.wpi.first.math.system.Discretization
* Sort Java Discretization to match C++ function order
* Add tests for Java Discretization
* Required adding Runge-Kutta time-varying impl to tests
* Move C++ Runge-Kutta time-varying impl to tests only
* Users don't need it
2021-07-25 07:42:59 -07:00
Noam Zaks
791770cf6e
[wpimath] Move controller from wpilibj to wpimath ( #3439 )
2021-06-16 07:45:51 -07:00
Tyler Veness
4d9ff76433
Fix documentation warnings generated by JavaDoc (NFC) ( #3428 )
...
Some C++ Doxygen comments were updated to reflect any wording changes.
See `rg "(@return|@param \w+) TODO" | less` for list of incomplete docs.
2021-06-10 20:46:47 -07:00
Tyler Veness
e246b78846
[wpimath] Clean up member initialization in feedforward classes ( #3425 )
2021-06-09 23:59:31 -07:00
Tyler Veness
edd2f0232c
[wpimath] Add DARE solver for Q, R, and N with LQR ctor overloads
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This is useful for implementing implicit model following.
2021-06-06 16:45:12 -07:00
Tyler Veness
04dae799a2
[wpimath] Add SimpleMotorFeedforward::Calculate(velocity, nextVelocity) overload ( #3183 )
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This is often more convenient than using the overload with velocity and
acceleration.
Fixes #3160 .
2021-05-21 23:44:10 -07:00
Tyler Veness
8dd8d4d2d4
[wpimath] Fix redundant nested math package introduced by #3316 ( #3368 )
2021-05-21 22:29:52 -07:00
Noam Zaks
c8ff626fe2
[wpimath] Move Java classes to edu.wpi.first.math ( #3316 )
2021-05-01 08:53:30 -07:00
