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Author SHA1 Message Date
Peter Johnson
65a044f633 Fix HAL_CleanNotifier race. (#793) 
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.
 2017-11-30 20:45:40 -08:00
sciencewhiz
cbd08a1e11 Add tests for equivilance of RobotDrive and DifferentialDrive/MecanumDrive (#732) 
Add documentation for how to get same results as RobotDrive and improve
RobotDrive documentation
 2017-11-29 21:41:00 -08:00
sciencewhiz
e308dd28f3 Fix javadoc link in Solenoid.java (#789) 2017-11-29 21:33:29 -08:00
Thad House
fa0b4428e9 Runs DS enabled loop in process (#785) 
Solves mutex issues, and other issues with the existing teststand
software. And simplifies the unit test structure.
 2017-11-28 19:12:05 -08:00
Tyler Veness
26a36779a6 Performed cleanup of Timer's free functions (#776) 
* GetClock() is now officially deprecated since its comment already informally
  did so and the function just forwards to Timer::GetFPGATimestamp().
* The declaration of GetPPCTimestamp() is missing a definition and has been
  removed.
* std::this_thread::sleep_for() returns immediately when given a negative
  duration, so the check for that was removed from Wait().
 2017-11-27 21:59:00 -08:00
Tyler Veness
dfc0656e5c Fix wpilibj FilterOutputTest null pointer exception (#778) 2017-11-27 12:28:25 -08:00
Peter Johnson
0f3f5218ad Kill FRC_NetCommDaemon as well as robot programs. (#780) 
Also use flock on Jenkins side to prevent multiple simultaneous runs, instead of using teststand mutex.
 2017-11-27 12:24:46 -08:00
Tyler Veness
34c44b7ae9 Improved Drive docs and fix implementation bugs (#774) 
I also found some inconsistencies in MecanumDrive and KilloughDrive and fixed
them.

Drive now uses the NED axes convention. Therefore, the positive X axis points
ahead, the positive Y axis points to the right, and the positive Z axis points
down.

Translation in X assumes forward is positive. Translation in Y assumes right is
positive. Rotation rate assumes clockwise is positive. Angles are measured
clockwise from the positive X axis.

Based on the angle origin convention, DrivePolar() for both Mecanum and Killough
needed the normalization removed, sine used to compute the Y component, and
cosine used to compute the X component.

The vector rotation done in DriveCartesian() needs to rotate by a negative angle
instead of positive to undo the robot's rotation. RobotDrive assumed a clockwise
angle and sensors returned counter-clockwise angles, which is why it used a
positive angle for rotation.
 2017-11-26 18:36:51 -08:00
sciencewhiz
7a250a1b93 Implement PCM One Shot feature. Fixes artf4731 (#539) 2017-11-26 12:55:21 -08:00
Caleb Smith
a338ee8be0 Add PIDController Wrapping (#601) 2017-11-25 21:15:33 -08:00
sciencewhiz
c9d440f338 Fix Java Compressor test. Make limits same as C++. (#772) 2017-11-24 20:14:36 -08:00
Tyler Veness
a00b2449db Removed unused includes and replaced Ultrasonic's std::set with std::vector (#767) 2017-11-23 20:46:24 -08:00
Tyler Veness
5c659fdcdf Deprecated PIDController::SetTolerance() (#764) 
PIDController::SetPercentTolerance() behaves identically to it, so removing
SetTolerance() leaves one obvious way to do absolute or percent tolerance.
 2017-11-23 01:21:36 -08:00
Thad House
d36d72bd4f Fixes MotorSafetyHelper locking and race conditions (#762) 
Closes #760
 2017-11-23 00:36:57 -08:00
sciencewhiz
614093c0c4 Fix documentation for getMatchTime in Timer class to match DriverStation (#761) 2017-11-23 00:19:05 -08:00
PJ Reiniger
12c4418bda Added callbacks for CAN (#757) 
Added callback scheme for a pass through to something higher
level.  Since the ID is embedded into the arbitration ID, and some
devices can use different schemes whether it is plugged in through a
device or put into the daisy chain (pigeonImu), I made one "internal
data object" for max reusability.
 2017-11-22 19:48:32 -08:00
Caleb Smith
0431cf97ff Cleanup PIDController (#597) 2017-11-22 18:56:35 -08:00
Tyler Veness
ba879f4663 Cleaned up variable names for std::lock_guard and their associated mutexes (#759) 2017-11-22 17:10:21 -08:00
Tyler Veness
96de0b5b11 Variable name fixes (#758) 2017-11-22 17:06:57 -08:00
Tyler Veness
85157a56c3 CircularBuffer now uses an idiomatic interface in C++ and Java (#421) 2017-11-22 17:04:57 -08:00
Tyler Veness
029246ed28 Replaced extra constructors in LinearDigitalFilter with llvm::ArrayRef<> (#755) 
llvm::ArrayRef<> replaces both the std::initializer_list<> and std::vector<>
constructor overloads.
 2017-11-20 21:23:00 -08:00
sciencewhiz
6377ab774d Allow deprecated warnings for tests (#756) 2017-11-20 21:21:50 -08:00
Tyler Veness
05e581f409 Fixed crash in wpilibj SampleRobot (#753) 
robotInit() and HAL.observeUserProgramStarting() should be called in
startCompetition() rather than the constructor.

Fixes #752.
 2017-11-19 22:47:39 -08:00
Peter Johnson
c73dd807e1 ErrorBase: Remove last use of sstream and iostream. (#750) 2017-11-19 20:16:42 -08:00
Tyler Veness
7a0dd9baa9 Add return-to-zero test for LinearDigitalFilter moving average (#751) 
Ensures LinearDigitalFilter moving average returns to zero after non-zero
values are inserted.

Tests for issue #642
 2017-11-19 20:16:09 -08:00
Tyler Veness
11f37683c3 Added constructor to PIDController that takes references instead of pointers (#745) 2017-11-19 19:06:00 -08:00
Tyler Veness
5af0c9c101 Replaced const variables with constexpr (#731) 2017-11-19 19:04:28 -08:00
Tyler Veness
259461aee9 Added PIDController::GetAvgError() back in (#749) 
It got removed during the LinearDigitalFilter change (#38) instead of deprecated
by mistake.
 2017-11-19 18:23:48 -08:00
Peter Johnson
d214b36786 Change HAL notifier to polling. (#627) 
This moves the thread code to the WPILib layer, fixing various potential
races and significantly simplifying the HAL implementation.
 2017-11-19 17:58:40 -08:00
Tyler Veness
4a07f0380f PIDController class now uses LinearDigitalFilter for filtering velocity instead of internal queue (#38) 2017-11-19 15:58:30 -08:00
Peter Johnson
7f46b50b21 Unify WPI_Now and HAL_GetFPGATime. (#743) 
Depends on wpilibsuite/wpiutil#56.
 2017-11-19 12:33:36 -08:00
PJ Reiniger
303c259b89 Simulate ADX* family of accelerometers and gyros (#688) 2017-11-18 12:31:51 -08:00
Thad House
cd1dbb1e3a Adds a const buffer listener (#742) 
Replaces need for const_cast in SPI and I2C functions
v2018.1.1-beta-3 		2017-11-17 10:01:49 -08:00
Peter Johnson
a20474bfc7 Update sensors to not use direct byte buffers. 2017-11-17 09:36:57 -08:00
Peter Johnson
479d0beb5a SerialPort: Use byte[] instead of ByteBuffer in JNI. 2017-11-17 09:36:57 -08:00
Peter Johnson
b93aa176d6 AnalogInput: Remove byte buffer usage. 2017-11-17 09:36:57 -08:00
Peter Johnson
9021b37fd2 I2C: Provide byte[] JNI interfaces. 
This avoids a direct byte buffer allocation on every read/write/transaction
on the byte[] variants.

Changes HAL I2C interfaces to use const for dataToSend.
 2017-11-17 09:36:57 -08:00
Peter Johnson
6307d41002 SPI: Provide byte[] JNI interfaces. 
This avoids a direct byte buffer allocation on every read/write/transaction
for the byte[] variants.

Also change spiGetAccumulatorOutput() to directly set the AccumulatorResult
object, avoiding a ByteBuffer allocation.

Changes HAL SPI interfaces to use const for dataToSend.

Fixes #733.
 2017-11-17 09:36:57 -08:00
Peter Johnson
df7c1389de Remove ni-libraries libi2c and libspi. 2017-11-16 23:01:28 -08:00
Peter Johnson
6accc31ee7 HAL: implement I2C and SPI directly instead of using i2clib and spilib. 
This reduces library dependencies, improves error handling, and makes
future enhancements easier.
 2017-11-16 23:01:28 -08:00
Thad House
f56ec10bcf Only return lower 32 bits of FPGA time (#741) 
Works around an NI bug in image 10.
 2017-11-16 20:52:50 -08:00
Tyler Veness
e5e6d6a193 Ran formatter based on styleguide#95 (#737) 2017-11-16 01:05:20 -08:00
Tyler Veness
c663d7cd16 Reflowed comments and removed commented out code (#735) 2017-11-16 00:33:51 -08:00
Tyler Veness
1e8d18b328 Upgrade Travis CI Python version to 3.5 (#740) 2017-11-16 00:19:16 -08:00
Peter Johnson
c2d95db3ab Fix PreferencesTest. (#739) 2017-11-15 23:56:17 -08:00
Thad House
dd7563376b Force load OpenCV and cscore libraries on program initialization (#716) 
Fixes bugs where Mat's are initialized before anything cscore was
called.
 2017-11-14 22:04:53 -08:00
Tyler Veness
14fcf3f2f0 Simplified PIDController integration logic (#645) 
A clamp() helper function was written based on C++17's std::clamp().
 2017-11-13 22:28:55 -08:00
Peter Johnson
020ee227d2 Move ctre headers to hal/src so they aren't user-visible. (#728) 
Also removes ctre_frames.h entirely since it's not used.

Fixes #683.
 2017-11-13 22:23:18 -08:00
Peter Johnson
4d559f3856 Use wpi::mutex instead of std::mutex. (#730) 
This uses a priority-aware mutex on Linux platforms.

Fixes #729.
 2017-11-13 09:51:48 -08:00
Thad House
35d68d2a34 Adds ability to simulate joysticks and event info (#727) 
Thanks @pjreiniger for the initiali implementation and work on this.
 2017-11-12 19:33:43 -08:00