- new CommandScheduler
- kinematics and odometry classes
- new PIDController
- ProfiledPIDController
- TrapezoidProfile (reported in Constraints class)
Also update instances.txt to match latest NI version.
One side effect is that a couple of classes are no longer constexpr.
It doesn't make sense to continue to provide a less accurate method of performing odometry
when a more accurate method using distances exists.
This also removes the need to pass DifferentialDriveKinematics to the constructor.
This kind of filter is extremely useful for signals that are susceptible to sudden
outliers - ultrasonics, 1-D LIDAR, and results from vision processing are all
good use-cases.
This also modifies the existing ultrasonic examples accordingly.
Improves the APIs for various prebuilt subsystems (PIDSubsystem, TrapezoidProfileSubsystem, ProfiledPIDSubsystem). Addresses #2128, and also changes the rather cumbersome getSetpoint API to a more intuitive setSetpoint one. Updates examples to match.
The odometry classes previously took in the robot angle as an argument, meaning that users had to take care of offsetting the gyro themselves to accurately report the robot angle. This change will make it so that users will not have to worry about resetting gyros and adding offsets themselves, as this will be handled by the odometry classes.
This is useful for both cleanly exiting from simulation and for unit testing
at a framework level.
This change required removing move constructor/assignment from IterativeRobot.
Add a voltage-compensated setVoltage method to SpeedController, which is sorely needed to help teams use feedforward-based controls effectively. Also uses correct units on the cpp side.
Also update relevant examples.
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.
Since there is a new version of GearsBot using the new command-based
API, the old GearsBot is just removed.
PR #1842 is being included to verify this PR is correct.
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.
