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Author SHA1 Message Date
Ryan Blue
7cd30cffbc Ignore networktables.json (#5006) 2023-01-26 09:21:58 -08:00
DeltaDizzy
92aecab2ef [commands] Command controllers are not subclasses (NFC) (#5000) 2023-01-25 15:20:29 -08:00
Peter Johnson
8785bba080 [ntcore] Special-case default timestamps (#5003) 
Previously, a setDefault() on the server could override a client doing a
real set() if the time offset between client and server was negative,
resulting in a negative timestamp from the client.  This is a not
uncommon situation with robot code, as the robot code always starts at
time 0, so any clients that set values earlier (in real time) would have
negative timestamps.

Also improve special casing of 0 in the transmit side to make sure a
normal timestamp will never get sent as 0.
 2023-01-25 11:36:13 -08:00
Peter Johnson
9e5b7b8040 [ntcore] Handle topicsonly followed by value subscribe (#4991) 
Previously this wouldn't send the last value on the value subscribe if a
topics only subscription already existed.

Also start adding server implementation unit tests.
 2023-01-24 21:50:38 -08:00
Sriman Achanta
917906530a [wpilib] Add Timer::Restart() (#4963) 2023-01-23 14:50:46 -08:00
Tyler Veness
00aa66e4fd [wpimath] Remove extraneous assignments from DiscretizeAB() (#4967) 2023-01-23 09:46:12 -08:00
Starlight220
893320544a [examples] C++ RamseteCommand: Fix units (#4954) 
Also fix the memory leak in the command-based auto.
 2023-01-22 11:20:35 -08:00
Evan
b95d0e060d [wpilib] XboxController: Fix docs discrepancy (NFC) (#4993) 
Comments for leftTrigger said they attach to the right trigger of the controller.
 2023-01-21 22:09:55 -08:00
Peter Johnson
008232b43c [ntcore] Write empty persistent file if none found (#4996) 
This avoids the warning appearing on every startup when persistent
values aren't used.

Also add note to message saying it can be ignored if persistent values
aren't expected.
 2023-01-21 22:09:24 -08:00
Starlight220
522be348f4 [examples] Rewrite tags (NFC) (#4961) 2023-01-21 15:24:10 -08:00
Tyler Veness
d48a83dee2 [wpimath] Update Wikipedia links for quaternion to Euler angle conversion (NFC) (#4995) 2023-01-21 15:16:35 -08:00
Peter Johnson
504fa22143 [wpimath] Workaround intellisense Eigen issue (#4992) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-01-21 15:16:12 -08:00
Brady Schindler
b2b25bf09f [commands] Fix docs inconsistency for toggleOnFalse(Command) (NFC) (#4978) 2023-01-20 23:47:37 -08:00
Thad House
ce3dc4eb3b [hal] Properly use control word that is in sync with DS data (#4989) 2023-01-20 23:46:56 -08:00
Thad House
1ea48caa7d [wpilib] Fix C++ ADXRS450 and Java SPI gyro defs (#4988) 2023-01-20 13:25:13 -08:00
Thad House
fb101925a7 [build] Include wpimathjni in commands binaries (#4981) 2023-01-19 22:05:32 -08:00
Thad House
657951f6dd [starter] Add a process starter for use by the installer for launching tools (#4931) 2023-01-19 20:09:35 -08:00
Tyler Veness
a60ca9d71c [examples] Update AprilTag field load API usage (#4975) 2023-01-19 17:01:17 -08:00
Tyler Veness
f8a45f1558 [wpimath] Remove print statements from tests (#4977) 2023-01-19 17:00:35 -08:00
sciencewhiz
ecba8b99a8 [examples] Fix swapped arguments in MecanumControllerCommand example (#4976) 2023-01-18 21:25:49 -08:00
Berke Sinan Yetkin
e95e88fdf9 [examples] Add comment to drivedistanceoffboard example (#4877) 
Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
 2023-01-18 20:46:41 -08:00
CarloWoolsey
371d15dec3 [examples] Add Computer Vision Pose Estimation and Latency Compensation Example (#4901) 
This PR updates the existing differentialdriveposeestimator example to include computer vision pose estimation and latency compensation.

The example generates a simulated cameraToTarget transformation, which is then fed into ComputerVisionUtil.objectToRobotPose() to compute the robot's field-relative position exclusively from vision measurements. The vision measurements are applied through DifferentialDrivePoseEstimator.addVisionMeasurement().

The updated example constructs an AprilTagFieldLayout from JSON. This requires a deploy directory, something which isn't currently supported in wpilibjExamples and wpilibcExamples.
 2023-01-18 20:46:05 -08:00
Peter Johnson
cb9b8938af [sim] Enable docking in the GUI (#4960) 2023-01-18 20:42:58 -08:00
Brennen Puth
3b084ecbe0 [apriltag] AprilTagFieldLayout: Improve API shape for loading builtin JSONs (#4949) 2023-01-18 20:42:39 -08:00
Matt
27ba096ea1 [wpilib] Fix MOI calculation error in SingleJointedArmSim (#4968) 
Previous calculation derivation mixed up length and distance to CG.
 2023-01-18 20:40:39 -08:00
Jordan McMichael
42c997a3c4 [wpimath] Fix Pose3d exponential and clean up Pose3d logarithm (#4970) 
Implementation based on this paper: https://ethaneade.org/lie.pdf
 2023-01-18 20:38:03 -08:00
Tyler Veness
5f1a025f27 [wpilibj] Fix typo in MecanumDrive docs (NFC) (#4969) 2023-01-18 13:47:27 -08:00
Tyler Veness
0ebf79b54c [wpimath] Fix typo in Pose3d::Exp() docs (NFC) (#4966) 2023-01-18 13:46:45 -08:00
Oliver W
a8c465f3fb [wpimath] HolonomicDriveController: Add getters for the controllers (#4948) 2023-01-16 08:33:15 -08:00
Starlight220
a7b1ab683d [wpilibc] Add unit test for fast deconstruction of GenericHID (#4953) 2023-01-16 08:28:06 -08:00
Starlight220
bd6479dc29 [build] Add Spotless for JSON (#4956) 2023-01-16 08:26:46 -08:00
Thad House
5cb0340a8c [hal, wpilib] Load joystick values upon code initialization (#4950) 
During HAL_Initialize, wait up to 100ms for a DS packet to be received. Then in RobotBase, right after calling HAL_Initialize, call each language's RefreshData function to force a high level DS update. If the DS is connected, will get joystick data. If there is no data, nothing different will happen, but in that case there's no joysticks anyway.
 2023-01-15 16:36:44 -08:00
sciencewhiz
ab0e8c37a7 [readme] Update build requirements (NFC) (#4947) 
Change to adoptium, and add Xcode min version
 2023-01-15 15:19:24 -08:00
Tyler Veness
b74ac1c645 [build] Add apriltag to C++ cmake example builds (#4944) 
This fixes compilation of the apriltag vision example on my machine.
 2023-01-13 23:24:14 -08:00
Doug Wegscheid
cf1a411acf [examples] Add example programs for AprilTags detection (#4932) 
Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
v2023.2.1 		2023-01-13 23:08:45 -08:00
sciencewhiz
1e05b21ab5 [wpimath] Fix PID atSetpoint to not return true prematurely (#4906) 
Wait until setpoint and measurement have been set.
 2023-01-13 22:26:30 -08:00
ohowe
e5a6197633 [wpimath] Fix SwerveDriveKinematics not initializing a new array each time (#4942) 
This is problematic if you call it twice before utilizing the result.
 2023-01-13 20:16:50 -08:00
Peter Johnson
039edcc23f [ntcore] Queue current value on subscriber creation (#4938) 
This fixes a potential race condition in code that only uses readQueue.
 2023-01-13 20:07:24 -08:00
Matt
f7f19207e0 [wpimath] Allow multiple vision measurements from same timestamp (#4917) 
Co-authored-by: Jordan McMichael <jlmcmchl@gmail.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-01-11 23:04:30 -08:00
Starlight220
befd12911c [commands] Delete UB-causing rvalue variants of CommandPtr methods (#4923) 
Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
 2023-01-11 22:53:04 -08:00
superpenguin612
34519de60a [commands] Fix spacing in command composition exception (#4924) 2023-01-11 11:46:33 -08:00
Ryan Blue
dc4355c031 [hal] Add handle constructor and name getters for sim devices (#4925) 2023-01-11 11:45:15 -08:00
Ryan Blue
53d8d33bca [hal, wpilibj] Add missing distance per pulse functions to EncoderSim (#4928) 
Also fix C++ and Java EncoderSim.setDistancePerPulse() not propagating value to SimEncoderData.
 2023-01-11 11:43:56 -08:00
bovlb
530ae40614 [apriltag] Explain what April tag poses represent (NFC) (#4930) 2023-01-11 11:42:30 -08:00
Starlight220
79f565191e [examples] DigitalCommunication, I2CCommunication: Add tests (#4865) 2023-01-08 16:33:53 -08:00
Starlight220
2cd9be413f [wpilib, examples] Cleanup PotentiometerPID, Ultrasonic, UltrasonicPID examples (#4893) 
Fix C++ Ultrasonic to return correct units.
 2023-01-08 16:33:07 -08:00
Matt
babb0c1fcf [apriltag] Add 2023 field layout JSON (#4912) 2023-01-08 16:30:45 -08:00
ohowe
330ba45f9c [wpimath] Fix swerve kinematics util classes equals function (#4907) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2023-01-08 16:29:35 -08:00
sciencewhiz
51272ef6b3 [fieldImages] Add 2023 field (#4915) 2023-01-08 16:28:25 -08:00
Starlight220
0d105ab771 [commands] Deduplicate command test utils (#4897) 2023-01-08 07:44:53 -08:00