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.
This is the C++ version of #1682.
The old command framework is still available, but will be deprecated.
Due to name conflicts, the new framework is in the frc2 namespace.
Eventually (after the old command framework is removed in a future year)
it will be moved into the main frc namespace.
A templated hal::Handle class is used to wrap handles to make them move-only.
This eliminates a lot of boilerplate move constructor/assignment code
in the main WPILib classes. HAL_SPIPort and HAL_I2CPort are also wrapped.
The wrapper class does not implement destruction. This would require the
wrapper class to be handle-specific (rather than generic) and would result
in more code added than it removed, plus would add header dependencies on
more HAL headers. In addition, some HAL handle release functions are more
complex (e.g. have return values) and can't be easily mapped to a destructor.
Add unit-taking overloads to the following classes:
- IterativeRobotBase
- LinearFilter
- Notifier
- TimedRobot
- Timer (HasPeriodPassed only)
- frc2::PIDController
The corresponding non-units-taking functions have been deprecated.
The return value of TimedRobot::GetPeriod() was updated.
This is a breaking change, users should use to<double> to get the value in seconds.
Other return values, e.g. Timer::Get(), have NOT been updated due to much wider use.
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).
Instead of being called asynchronously by NetworkTables, they are now called by updateValues() synchronously with the main loop, just like the getters.
These classes introduce ways to represent poses and provide easy ways to transform, rotate, and translate poses across 2d space. This classes will be especially useful for a planned odometry and kinematics suite.
Furthermore, these classes can also be used to simply represent waypoints on a field, do superstructure motion planning, etc.
Using std::function<void()> directly makes it much clearer to the user
what kind of function Notifier expects. The Doxygen comments already say
what the function is used for, so the typedef just discards useful
information.
SampleRobot provides no benefits over RobotBase to advanced teams and
TimedRobot is recommended for everyone else.
A skeleton template for RobotBase was added.
std::scoped_lock was introduced in C++17 and is strictly better than
std::lock_guard as it supports locking any number of mutexes safely.
It's also easier to use than std::lock for locking multiple mutexes at
once.
Timer didn't have working move semantics because mutexes aren't
moveable, meaning the default implementations were ill-formed.
MotorSafety wasn't locking its mutex.
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.
This can be dangerous as it refers to a temporary, and GCC 9.0 warns about
its use. Instead add std::initializer_list overloads to common places it
was used in an initializer_list sense.
* Renamed LinearDigitalFilter to LinearFilter
* Filter base class removed since it wasn't useful
* C++: std::shared_ptr<> replaced with double parameter
* ErrorBase: Use magic static singleton for globals
* ErrorBase: Add testability features for global errors
* Make WPIError definitions inline functions
(This works around cross-DLL variable issues on Windows)
Fixes#1726.
* 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
The functions in Threads.h are in the frc namespace. `using namespace frc;` in
Threads.cpp doesn't put their implementations in the frc namespace, so linker
errors occur when attempting to use them in robot programs.
To fix this, one can either wrap them in a namespace block or prepend
`frc::` to the implementation's signature. Based on past discussion, I
opted for the namespace block.
* Fix C++ ShuffleboardComponent template type
* Fix `WithWidget(WidgetType&)`not being properly capitalized
* Fix data members across dll boundaries by using enum for built in types
Resetting the flag should only occur in Enable() and Reset().
IterativeRobotBase needs the flag to remain set to print epochs after
disabling the Watchdog.
