Java was missing the motor safety thread entirely
C++ accidentally used a manual reset event, causing the motor safety thread to spin.
C++ PWMMotorController would not feed the watch kitty.
Both languages would call feed() from the StopMotor call, causing some ping ponging.
This effectively replaces the Unscented Kalman Filter used for Pose Estimation with the Odometry model, and uses a recalculable Kalman gain matrix to update pose estimations whenever a vision measurement is added.
Notably, this change removes the need for the confusing generics used in Java, and the C++ implementation got quite a bit less complex as well.
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Checkstyle naming conventions were changed to allow most of what's in
wpimath. Naming rules were disabled completely in wpimath since almost
all suppressions are for math notation.
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.
UpdateEntries() and Flush() are called from methods that lock the mutex,
so locking it again will cause deadlocks. This also updates the Java
code to make MechanismObject2d::update synchronized like in the C++
version.
Some valid warnings like throwing NullPointerException or using a for
loop instead of System.arraycopy() were fixed.
Abstract classes marked with PMD.AbstractClassWithoutAbstractMethod were
made concrete because they already had protected constructors.
Fixes#1697.
- Remove sim checkstyle suppression
- Add [[nodiscard]] to C++ register callback functions
- Add a couple of missing sim functions
Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
Co-authored-by: Starlight220 <yotamshlomi@gmail.com>
Also update Checkstyle to 8.38.
Google changed their style guide from the last time we imported it. This PR brings in those naming changes. The change they made is allowing single letter member, parameter, and local variable names. They also added a lambda naming scheme and I thought it would be good to bring that in too.
* Move examples to allwpilib
* Add checkstyle config to examples project
* Ran wpiformat
* Run checkstyle on examples
* Change maximum line length for examples to 80 chars
This number was chosen based on testing of the number of characters shown by default in Eclipse done by @Kevin-OConnor: 51 chars by default on an E09 @ 1024x600 (which has the welcome window open on the right), 71 with welcome closed, 95 with the right-hand outline pane closed
* Add mavenCentral repository
* Rename subproject & error on deprecated API use
* Remove deprecated API usage
Now that our formatter is a Python package (wpiformat), the format.py shim for invoking it is no longer necessary. styleguide#29 should be merged before this patch.
include guard section now requires #pragma once, enumerators now exclusively use constant naming, and a mention of format.py was added to the "Formatting" section and CONTRIBUTING.md.
Also added scripts for EOF newline management and for removing trailing whitespace. configure.bat was rewritten to use CRLF line endings. Documentation for the existing scripts was also improved.
* Replaced include guards with #pragma once
* All source files now have exactly one newline appended
Some files had either two newlines at the end or none (which isn't POSIX compliant). This patch fixes that.
