The atReference() method previously used the rotation error between the
desired trajectory state and the current pose. This was a bug because we
allow teams to use custom rotation setpoints and that wasn't being taken
into account.
This was already removed from C++ in the offseason and replaced with
MathUtil.inputModulus(). We just neglected to do that for Java; it was
never intended to see a season release. Its implementation is incorrect
compared to inputModulus() as well.
See https://github.com/wpilibsuite/allwpilib/issues/3168 for discussion.
Because of Java's type system, it is actually literally impossible to check for this cast at runtime. So instead, the only option is to suppress it. Only suppressed for the specific function.
This fixes an issue with scaling on Retina displays where the frame
buffer size was double that of the window size, resulting in a content
scale factor of 2. This scale factor caused elements to appear too
large, even on the smallest zoom setting.
This change does not affect external monitors on macOS because the
reported content scale was 1 anyway.
The ranges and which value was specified as highest were incorrect on
some of them. On Linux, the range is 1 to 99 with 99 being highest.
From `man 7 sched`:
```
Processes scheduled under one of the real-time policies (SCHED_FIFO,
SCHED_RR) have a sched_priority value in the range 1 (low) to 99 (high).
```
Also clean up the relevant javadoc and doxygen comments.
Instead of "/SmartDashboard/name" they now default to "name (SmartDashboard)".
This allows for smaller windows while preserving the name without requiring
user customization.
The wpimath APIs use std::array, which doesn't do size checking. Passing
an array with the wrong size can result in uninitialized elements
instead of a compilation error.
This is a breaking change but is worthwhile to avoid hard-to-debug errors.
- 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>
This also shifts the trajectory up and to the right so that the robot is
always visible in the Field GUI during traversal. Some drive constants
and trajectory constraints were also synced between the two languages.
