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6cb6903780fda1012452ccfd4a956fe5a061fc06
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42 Commits

Author SHA1 Message Date
Thad House
6cb6903780 [hal,wpilib] Remove a ton of things related to the FPGA (#7846) 
Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>
 2026-04-17 19:38:25 -07:00
Gold856
f96ded6909 Fix various typos (#8769) 2026-04-13 21:51:36 -07:00
Tyler Veness
b6849a8da3 [wpilib] Rename MotorController setDutyCycle() to setThrottle() (#8720) 
Fixes #8716.
 2026-04-09 22:28:01 -07:00
Thad House
e4ef8a2515 [wpilib] Wait for expansion hub connected for up to half a second during boot (#8715) 
Closes #8714
 2026-04-06 09:50:47 -06:00
Thad House
d74644283b [wpilibc] Fix GetUsbId on ExpansionHub in C++ (#8704) 2026-03-29 20:40:06 -07:00
Peter Johnson
1925cf0e1f [wpilib] Rename LEDPattern constants to all caps 2026-03-21 00:37:28 -07:00
Peter Johnson
d05d3b1c78 [wpilib] Remove PWM.Period enum 
Replace it with just numeric values.
 2026-03-21 00:37:28 -07:00
Peter Johnson
f2929af00f [wpilib] Rename ADXL345_I2C constants to all caps 2026-03-21 00:37:28 -07:00
Peter Johnson
ea32c247db [wpilib] Rename PneumaticsModuleType constants 2026-03-21 00:37:28 -07:00
Peter Johnson
d86a745328 [wpilib] Rename DoubleSolenoid.Value constants to all caps 2026-03-21 00:37:28 -07:00
Peter Johnson
3776f8a1ef [wpilib] Rename OnboardIMU constants to all caps 2026-03-21 00:37:28 -07:00
Peter Johnson
49065aa07f [wpilib] Rename CAN constants to all caps 2026-03-21 00:37:28 -07:00
Peter Johnson
b7122f0fda [hal] Rename HAL_kInvalidHandle to HAL_INVALID_HANDLE (#8698) 2026-03-21 00:34:46 -07:00
Peter Johnson
e5107e7e00 [wpiutil] Rename Color constants to all caps 2026-03-20 13:24:22 -06:00
Peter Johnson
aad08b9ad1 [hal] Rename SimDevice constants to all caps 
Also use enum class for SimDevice C++ wrapper.
 2026-03-15 22:38:09 -07:00
Peter Johnson
70f77a1f8e [hal,wpilib] Rename SerialPort constants to all caps 2026-03-15 22:38:09 -07:00
Peter Johnson
68ca74c129 [hal,wpilib] Rename REVPH compressor constants to all caps 2026-03-15 22:38:09 -07:00
Peter Johnson
c18f811ea7 [hal,wpilib] Rename PowerDistribution constants to all caps 2026-03-15 22:38:09 -07:00
Peter Johnson
261a0ebbd7 [hal,wpilib] Rename I2C constants to all caps 2026-03-15 22:38:09 -07:00
Peter Johnson
b68fbb1adc [hal,wpilib] Rename Encoder constants to all caps 2026-03-15 22:38:09 -07:00
Peter Johnson
e944ae9aca [hal,wpilib] Rename FPGA clock to monotonic clock (#8672) 
- Remove status return from HAL level (clock getting should never fail)
- Remove 32-bit timestamp expand function
- Make monotonic_clock.hpp (formerly fpga_clock.hpp) header-only and
move to root hal include directory
 2026-03-15 15:08:41 -07:00
Thad House
b2b111dc11 Rename FRC to WPILib (#8637) 2026-03-13 23:05:55 -07:00
Tyler Veness
9bd9656871 [wpimath] Replace Speeds with Velocities (#8479) 
I left "free speed" alone since that's the technical term for it. In
general, velocity is a vector quantity, and speed is a magnitude (i.e.,
a strictly positive value).

This PR also replaces the speed verbiage in MotorController with duty
cycle.

Fixes #8423.
 2026-03-06 14:19:15 -08:00
Peter Johnson
f08258f784 [wpiutil] Split C++ header files 2026-03-04 22:09:40 -07:00
Peter Johnson
a7f71c9434 [hal] Consistently use .hpp for C++ header content 
Some headers were renamed, but others were split.
 2026-03-04 22:09:40 -07:00
Thad House
af01a72725 [wpilib] Enable ExpansionHub motors and servos on any set (#8619) 
This more matches the existing FTC SDK. And removes the footgun of
needing to call set.
 2026-02-17 20:19:52 -08:00
Peter Johnson
af865f8020 Merge branch 'main' into 2027 2026-02-15 00:51:21 -08:00
Tyler Veness
7e1260b003 [wpilib] Replace unit .to<double>() with .value() (#8548) 
This is consistent with the rest of the library. I left instances alone
which intended a specific typecast.
 2026-01-12 19:10:10 -08:00
Tyler Veness
0349524f80 [wpilib] Remove MotorController::StopMotor() (#8483) 
It does the same thing as Disable() in practice, and MotorSafety has its
own StopMotor() function.
 2025-12-17 21:18:47 -08:00
Tyler Veness
f9ee67e85f [wpilib] Move motor controller .cpp files to mirror headers (#8484) 2025-12-15 10:54:11 -07:00
Peter Johnson
dacded37e5 [hal, wpilib] Add OpMode support (#7744) 
User code:
- OpModeRobot used as the robot base class
- LinearOpMode and PeriodicOpMode are provided opmode base classes
- In Java, annotations can be used to automatically register opmode classes

Additional user code functionality:
- OpMode (string) is available in addition to the overall
auto/teleop/test robot mode
- OpMode does not indicate enable (enable/disable is still separate)
- The HAL API uses integer UIDs; these are exposed at the user API level
as well for faster checks
- User code creates opmodes on startup (these have name, category,
description, etc).

DS:
- DS will present opmode selection lists for auto and teleop for
match/practice. During a match, the DS will automatically activate the
selected opmode in the corresponding match period.
- For testing, an overall mode is selected (e.g. teleop/auto/test) and a
single opmode is selected

Future work:
- Command framework support/integration
- Python annotation support
- Unit tests (needs race-free DS sim updates)
- Porting of examples

Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
 2025-12-12 20:25:57 -08:00
Peter Johnson
feea24251f [wpilib] Move ExpansionHub to hardware/expansionhub (#8440) 
These need to be moved out of the org.wpilib root for Java
modularization, and in general it's cleaner.
 2025-12-01 13:47:01 -07:00
Peter Johnson
42992953ed [wpiutil] Move Color and Color8Bit from wpilib to wpiutil (#8437) 
Removes one of the org.wpilib.util package conflicts for modularization.

Only a few minor tweaks were required to remove the wpimath dependency.
 2025-11-30 11:11:48 -08:00
Ryan Blue
a5ccd1795e [wpilibc] Fix PWM Sendable accepting pulse time in ms (#8400) 2025-11-18 17:14:21 -08:00
Tyler Veness
1705b2d61c Upgrade wpiformat and use clang-format's include sorting (#8350) 
This PR also uses the newly added -default-branch flag to generate the list of changed files with respect to the correct branch (2027).
 2025-11-11 18:05:12 -08:00
Peter Johnson
18efd1e534 Move robot base classes from opmode to framework (#8344) 
Having these in opmode will be confusing to users when opmodes are added.
 2025-11-08 15:08:38 -08:00
PJ Reiniger
2109161534 SCRIPT: wpiformat 2025-11-07 23:09:21 -08:00
PJ Reiniger
928ff20695 SCRIPT: FRC_ replacements 2025-11-07 23:09:21 -08:00
PJ Reiniger
9aca8e0fd6 SCRIPT namespace replacements 2025-11-07 23:09:21 -08:00
PJ Reiniger
1e7604f81c SCRIPT: wpiformat 2025-11-07 23:09:21 -08:00
PJ Reiniger
7c6efa41ae SCRIPT Run cc include replacements 2025-11-07 23:09:21 -08:00
PJ Reiniger
7ca1be9bae SCRIPT Move cc files 2025-11-07 23:09:21 -08:00