Since there is no longer a requirement for Subsystems/Mechanisms to be
registered to the command scheduler via a register() call, Mechanism can
be changed to an interface instead to allow for more flexible
inheritance structures.
Specifically, this would allow compatibility with CTRE swerve (which
previously required implementing Subsystem so that it could extend
CTRE's base class).
This updates gamepad trigger naming from cardinal-style face buttons
(`northFace/southFace/eastFace/westFace` and
`NorthFace/SouthFace/EastFace/WestFace`) to directional naming
(`faceUp/faceDown/faceRight/faceLeft` and
`FaceUp/FaceDown/FaceRight/FaceLeft`) to match the requested API shape.
The change is applied across Java and C++ HID/command layers, along with
related examples and binding metadata.
- **API surface updates (Java)**
- Renamed trigger/event methods in:
- `wpilibj` `Gamepad`
- `commandsv2` `CommandGamepad`
- `commandsv3` `CommandGamepad`
- Mapping preserved:
- `southFace` → `faceDown`
- `eastFace` → `faceRight`
- `westFace` → `faceLeft`
- `northFace` → `faceUp`
- **API surface updates (C++)**
- Renamed trigger/event methods in:
- `wpilibc` `Gamepad`
- `commandsv2` `CommandGamepad`
- Mapping preserved:
- `SouthFace` → `FaceDown`
- `EastFace` → `FaceRight`
- `WestFace` → `FaceLeft`
- `NorthFace` → `FaceUp`
- **Python semiwrap updates**
- Updated `wpilibc/src/main/python/semiwrap/Gamepad.yml` method mappings
to the renamed C++ method names (`FaceDown/FaceRight/FaceLeft/FaceUp`).
- **Callsite migration**
- Updated Java examples/template code and C++ examples/template code to
use the new method names so samples remain aligned with the API rename.
- **Docs/comments alignment**
- Updated related Javadoc/reference text and example comments to use
directional terminology.
```java
// Before
driverController.southFace().onTrue(command);
driverController.eastFace().onTrue(command);
// After
driverController.faceDown().onTrue(command);
driverController.faceRight().onTrue(command);
```
```cpp
// Before
driverController.SouthFace().OnTrue(command);
driverController.EastFace().OnTrue(command);
// After
driverController.FaceDown().OnTrue(command);
driverController.FaceRight().OnTrue(command);
```
---------
Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com>
Co-authored-by: ThadHouse <7727148+ThadHouse@users.noreply.github.com>
This provides the ability to simulate parts of the Onboard IMU at the
HAL level. This allows team to use and simulate the IMU in code, and a
follow up PR could be made to the halsim_gui to add a new widget to view
and modify the data graphically.
Since the C++ IMU uses radians for angles that is what I did for the
simulator.
Partially deals with #8845
There were 3 cases failing before.
1. An OpModeRobot with no annotation.
2. An OpModeRobot with an annotation but a parameterless constructor.
3. An OpMode with a UserControls constructor
This PR solves both of these issues. The first one is solved by adding
the null check before setting the user controls instance. That one will
never have an opmode instance.
The second one is solved by falling back to a parameterless constructor
if one with a parameter is not found.
The 3rd one is solved by using the annotation type rather than the
instance for constructor lookup.
Also fixes ExpansionHubSample's missing annotations.
People generally have expressed a dislike for the Hungarian notation
used in member variables, especially in examples/templates, and our
styleguide shouldn't be forced on downstream consumers, so this removes
all Hungarian notation from the examples/templates.
There are _some_ benefits to Hungarian for private member variables
(like knowing what's a member vs. local in a PR review) so we'll keep
private member variables the same for now, but public variables should
no longer use Hungarian notation, since it looks much worse. A new PMD
XPath rule has been added to accomplish this goal. Some other
non-compliant variables were fixed for the new rule.
The "Utility" name better matches its intended generic use case and
avoids overloaded terminology with unit testing (e.g. the need to name
the opmode annotation `@TestOpMode`).
The driver station will also be updated to reflect this change.
Originally started with just swerve, but expanded to diff and mecanum
(docs only) for parity across the drivetrains. Return value checks are
applied when possible to make migration easier and to error loudly if
people forget.
---------
Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
1. Make the OpMode interface itself periodic; this means the only
differences between `OpMode` and `PeriodicOpMode` are the latter's
methods to add sideloaded periodic callbacks
2. Make OpModeRobot process callbacks in a similar fashion to TimedRobot
and
3. Add some lifecycle functions (discussed below)
4. Pull the callback priority queue from TimedRobot to a new class
called `PeriodicPriorityQueue` so that `TimedRobot` and `OpModeRobot`
have less duplication
5. Fix a typo in the DriverStationJNI class that causes a memory leak
when certain driver station sim calls
6. Port the C++ OpModeRobot tests to Java
`OpModeRobot` now possesses some `IterativeRobotBase`-stye lifecycle
functions; these functions
1. `robotPeriodic`
2. `simulationInit` and `simulationPeriodic`
3. `disabledInit`, `disabledPeriodic`, and `disabledExit`
(note that `simulationInit` and `disabledInit` may be renamed to match
wpilibsuite#8719)
`OpModeRobot` also now processes `OpMode` changes (by the Driver
Station) in its `loopFunc` method, similar to
`IterativeRobotBase.loopFunc` processing game mode changes; `loopFunc`
is, similarly to `TimedRobot`, provided as a default `Callback`
---------
Signed-off-by: Zach Harel <zach@zharel.me>
Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
Commands are no longer able to outlive their schedule-site's scope,
regardless of how they were scheduled (set as a default command, bound
to a trigger, or manually scheduled)
As a consequence, default commands need better tracking so the default
command setting can be released when their scope exits and the next-most
appropriate default command can be rescheduled (eg, an opmode sets a
default command, then the globally-scoped default is restored when the
opmode exits). Some complexity is required here to make it work well for
edge cases.
Like `schedule()`, `setDefaultCommand()` will immediately start the new
default command if called inside of another command to avoid 1-loop
delays. However, this does not apply when called by the _current_
default command, as it would result in attempting to cancel the default
command while it's mounted (which is impossible and would throw an
exception)
```java
class Robot extends OpModeRobot {
final Drive drive = new Drive();
final CommandXboxController controller = new CommandXboxController(1);
public Robot() {
// global default command, active unless overridden in an opmode or command
drive.setDefaultCommand(drive.stop());
// global trigger binding, always active
controller.rightBumper().onTrue(drive.setX());
}
}
@Teleop
class ExampleOpMode extends PeriodicOpMode {
public ExampleOpMode(Robot robot) {
// opmode-specific default command
robot.drive.setDefaultCommand(robot.drive.operatorControl(robot.controller));
// opmode-specific binding
robot.controller.leftBumper().whileTrue(robot.drive.stop());
// opmode-specific binding that takes precedence over the global binding
// because it happens last; it "wins out" over the `setX()` binding
robot.controller.rightBumper().onTrue(robot.drive.selfTest());
}
@Override
public void periodic() {
Scheduler.getDefault().run();
}
}
```
Move various "examples" into snippets. Several examples that were less
than a full mechanism or robot were moved to snippets. `arcadedrive` and
`tankdrive` were removed in favor of their Gamepad variants. `hidrumble`
was removed due to being too simple. `potentiometerpid` was removed
because of low utility. `gyromecanum` replaced `mecanumdrive` for
deduplication and because very few teams run holonomic drivetrains
without gyros.
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.
#8626 needs to switch to using reflection to load the robot class. Do
that with this PR so it's separate.
Also, remove the duplicated main files from the template, and instead
fixup vscode to handle this properly.
Easier then the last one that put everything in a sub namespace. By
prefixing the name less things break, and intellisense will be less
confusing to new users during the transition.
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>
* Moved makeWhiteNoiseVector() to random.Normal.normal()
* Moved isControllable() and isDetectable() to system.LinearSystemUtil
* Renamed makeCostMatrix() to costMatrix() (Java)
* Renamed makeCovarianceMatrix() to covarianceMatrix() (Java)
* Renamed MakeCostMatrix() to CostMatrix() (C++)
* Renamed MakeCovMatrix() to CovarianceMatrix() (C++)
* Removed deprecated poseTo3dVector(), poseTo4dVector(), poseToVector()
* Removed clampInputMaxMagnitude()
* We don't use it, and Eigen has this functionality built in via `u =
u.array().min(u_max.array()).max(u_min.array());`
* Simplified implementation of desaturateInputVector()
