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111 Commits

Author SHA1 Message Date
Peter Johnson
baa6379267 [wpimath] Add usage reporting for state-space classes (#8453) 
- LinearQuadraticRegulator
- Kalman filters
- Pose estimators
- LinearSystemLoop

Fixes #2925.
 2025-12-06 09:17:02 -08:00
Nolan Barker
40ce42712f [wpimath] Fix coordinate frame docs in HolonomicDriveController (#7938) 2025-04-28 16:27:38 -07:00
Tyler Veness
c13b2f45c1 [wpimath] Update link to Ramsete controller derivation (#7887) 
The derivation was moved from the Controls Engineering in FRC book to a
separate paper.
 2025-03-30 16:25:08 -07:00
Tyler Veness
822457d45b [wpimath] Fix feedforward returning NaN when kᵥ = 0 (#7790) 2025-02-25 19:07:51 -08:00
Peter Johnson
7e6077c546 [wpimath] Fix up order and docs for Feedforward gain setters (#7788) 2025-02-13 23:20:08 -08:00
Jade
4d126b158c [wpimath] Add setters to Feedforward gains (#7784) 
Signed-off-by: Jade Turner <spacey-sooty@proton.me>
 2025-02-13 21:09:28 -08:00
sciencewhiz
203487a6aa [wpimath] improve LTVUnicycleController docs (NFC) (#7599) 
Document the states and inputs so it isn't necessary to look at the code
Fix max velocity throws doc
 2024-12-28 16:03:47 -06:00
Tyler Veness
882233bede [wpimath] Improve SimpleMotorFeedforward argument names and deprecation message (#7489) 
Also roll back SimpleMotorFeedforward unit API until 2027.
 2024-12-06 22:32:40 -08:00
Joseph Eng
59dbfc9c2d [wpimath] Improve C++ SimpleMotorFeedforward unit type support (#7440) 
Allow using non-base types
Allow using angles for serde
 2024-11-27 23:02:31 -08:00
sciencewhiz
0a3ccf93c6 [wpimath] Add BangBangController Usage Reporting (#7411) 2024-11-20 17:00:54 -08:00
Kavin Muralikrishnan
07345712dc [wpimath] Document default tolerances of PIDController (#7377) 2024-11-12 18:19:55 -05:00
Thad House
3cc541f261 Remove generated google protobuf support (#7371) 
It's not used anymore, and cleans up the build.
 2024-11-08 18:29:30 -08:00
Thad House
8b8b634f65 [wpiutil] Change C++ protobuf to nanopb (#7309) 
The Google C++ protobuf implementation has issues with dynamic linkage across DLL boundaries because it uses global variables.  It also has a compile-time dependency because the protoc version must exactly match the libprotobuf version.  Using nanopb with a customized generator fixes both of these issues.

Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>
 2024-11-07 22:42:50 -08:00
Tyler Veness
a66fa339dc [wpimath] Make controllers and some trajectory classes constexpr (#7343) 2024-11-07 14:02:11 -07:00
Tyler Veness
63e623d70b [wpimath] Fix case and order of HolonomicDriveController PID getters (#7342) 2024-11-05 09:50:17 -07:00
Tyler Veness
9f6f267f5c [wpimath] DARE: Use wpi::expected instead of exceptions (#7312) 2024-10-31 20:37:57 -07:00
Tyler Veness
defcc02806 [wpimath] Clean up LTV controller includes (#7313) 2024-10-29 23:03:17 -07:00
Tyler Veness
ee281ea448 [wpimath] Merge .inc files into headers (#7209) 
Splitting the files didn't help readability or save compilation time and
it confused contributors. Merging them is also in line with how C++
modules will be written.
 2024-10-14 16:08:10 -07:00
Nicholas Armstrong
4adfa8bf64 [wpimath] Fully discretized ElevatorFF and ArmFF (#7024) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2024-10-10 22:10:45 -07:00
Nicholas Armstrong
6281ec0810 [wpimath] PIDController: Update field and method names for error and errorDerivative (#7088) 2024-09-23 11:57:20 -06:00
Tyler Veness
d44b651558 [build] Make Protobuf optional in CMake build (#7061) 2024-09-12 23:44:19 -07:00
Gold856
b12b83aa89 Fix typos with cspell (#6972) 2024-08-17 07:44:34 -07:00
Joseph Eng
073192d513 [wpimath] Add remaining struct and protobuf implementations (#5953) 2024-07-29 07:55:44 -07:00
Joseph Eng
158fb23072 [wpiutil] Struct: Change from GetTypeString() to GetTypeName() (#6872) 
This makes it easier to define schemas when the type name is non-trivial (e.g., templated structs).

This is breaking for a) custom struct implementations and b) anything calling `wpi::Struct<T>::GetTypeString(info...)` in C++ directly. In both cases, it's a simple translation: For A, rename `GetTypeString()` to `GetTypeName()` and remove the struct: at the beginning, and for B, use `wpi::GetStructTypeString<T>(info...)` instead.
 2024-07-27 20:23:45 -07:00
Joseph Eng
e83a432731 [wpimath] Fix C++ feedforward constructors and add tests (#6873) 2024-07-27 16:28:59 -07:00
Brendan Raykoff
45f3e3a069 [wpimath] Add getAccumulatedError() to PIDController (#6813) 2024-07-20 23:17:13 -07:00
Joseph Eng
b4d42d8980 [wpimath] Make public final values in feedforwards private and add getters (#6851) 2024-07-20 07:01:56 -07:00
Nicholas Armstrong
30c7632ab8 [wpimath] Make SimpleMotorFeedforward only support discrete feedforward (#6647) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2024-07-16 17:23:11 -07:00
Tyler Veness
b8c2571638 [wpimath] Fix precondition violation messages in LQR and Kalman filters (#6731) 2024-06-21 20:55:01 -07:00
Carl Hauser
294c9946ae [wpimath] PIDController.setIntegratorRange documentation fix (#6489) 2024-05-24 11:49:00 -07:00
Ryan Blue
65f4505e3c [wpimath] Add constraints support to ProfiledPIDController Sendable implementation (#6354) 2024-05-24 10:39:56 -07:00
Tyler Veness
5359112b15 [wpimath] Deprecate RamseteController (#6494) 
LTVUnicycleController is a drop-in replacement with better tuning knobs.

The RamseteCommand examples were removed instead of retrofitted with
LTVUnicycleController because we're planning on removing the command
controller classes anyway, so it would be wasted effort. The
SimpleDifferentialDriveSimulation example shows direct
LTVUnicycleController usage.
 2024-04-29 22:01:42 -07:00
Nicholas Armstrong
1ec089c7f9 [wpimath] Add ArmFeedforward calculate() overload that takes current and next velocity instead of acceleration (#6540) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2024-04-28 12:01:08 -07:00
Tyler Veness
f29a7d2e50 [docs] Add missing JavaDocs (#6146) 2024-01-04 08:38:06 -08:00
Tyler Veness
ad0859a8c9 [docs] Add missing JavaDocs (#6125) 2024-01-01 22:56:23 -08:00
Tyler Veness
22a322c9f3 [wpimath] Report error on negative PID gains (#6055) 
Defaults PID gains to zero if any are invalid.
 2023-12-23 12:15:29 -08:00
ncorrea210
4e4a468d4d [wpimath] Make feedforward classes throw exceptions for negative Kv or Ka (#6084) 2023-12-23 08:12:46 -08:00
Joseph Eng
14c3ade155 [wpimath] Struct cleanup (#6011) 2023-12-04 22:40:18 -08:00
PJ Reiniger
bb05e20247 [wpimath] Add protobuf/struct for trivial types (#5935) 
This implements de/serialization for the types that aren't templated (SwerveDriveKinematics) in C++ or where there is no trivial way to go round-trip (Splines) for the messages.
 2023-11-21 10:14:06 -08:00
Tyler Veness
201a42a3cd [wpimath] Reorder TrapezoidProfile.calculate() arguments (#5874) 
ProfiledPIDController and ExponentialProfile use current, then goal.
This isn't a breaking change because this overload of calculate() is
new for 2024.
 2023-11-04 16:28:55 -07:00
Tyler Veness
6b53ef47cf [wpimath] Don't recreate TrapezoidProfile in ProfiledPIDController calculate() (#5863) 2023-11-03 15:21:58 -07:00
narmstro2020
faa1e665ba [wpimath] Add ElevatorFeedforward.calculate(currentV, nextV) overload (#5715) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-10-09 08:16:45 -07:00
Tyler Veness
4bac4dd0f4 [wpimath] Move PIDController from frc2 to frc namespace (#5640) 
The old PIDController class in the frc namespace was removed for the
2023 season.
 2023-09-15 19:57:31 -07:00
Tyler Veness
8e05983a4a [wpimath] Add math docs to plant inversion feedforward internals (NFC) (#5618) 2023-09-08 20:14:24 -07:00
Tyler Veness
8e2a7fd306 Include thirdparty libraries with angle brackets (#5578) 2023-08-28 15:13:34 -07:00
Tyler Veness
7889b35b67 [wpimath] Add RamseteController comparison to LTV controller docs (NFC) (#5559) 2023-08-24 00:04:54 -07:00
Tyler Veness
03764dfe93 [wpimath] Add static matrix support to DARE solver (#5536) 
Using static matrices where possible results in a 2x performance
improvement.
 2023-08-14 09:15:58 -07:00
Tyler Veness
21439b606c [wpimath] Disallow LTV controller max velocities above 15 m/s (#5495) 
15 m/s is about 50 ft/s, which is way above what FRC robots should be
able to achieve. This limit lets us catch user errors from bad unit
conversions immediately instead of the LUT generation in the LTV
controllers hanging for a really long time.

Fixes #5027.
 2023-08-02 23:37:49 -07:00
Tyler Veness
a01b6467d3 [wpimath] Link to docs on LQR and KF tolerances (#5486) 
Fixes #4151.
 2023-07-31 19:17:44 -07:00
Gold856
86e91e6724 [wpimath] Refactor TrapezoidProfile API (#5457) 2023-07-19 17:25:10 -07:00