- Add InterpolatedTreeMap for Java from team 254's 2016 MIT licensed code
- Add InterpolatedMap for C++ from team 3512's code with @calcmogul (original author) permission
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
The Joseph form of the error covariance update equation is more
numerically stable when the Kalman gain isn't optimal. Numerical
instability and filter divergence can occur if the user goes long time
periods between updates and the error covariance becomes ill-conditioned
(the ratio between the largest and smallest eigenvalue gets too large).
The existing implementation will produce a cost of NaN if a tolerance of
infinity is entered, but the limit approaches zero. Being able to
specify that a state has no cost is useful, so this change adds support for
that.
This sets the workflow concurrency to 1 for all workflows. For PRs this means if you push an additional commit older jobs will be cancelled.
The documentation workflow already only runs on tags or merges to main. For this, we cancel previous runs if they are to the same destination (tag or main) but still prevent 2 jobs from running at once if they are spawned from different refs.
This creates a default log file that captures NT changes and
automatically renames the log file based on time and match info.
DriverStation joystick logging will be implemented by the DriverStation
class instead.
When trying to set the tolerance of a ProfiledPID, it fails if you don't give it a velocity value. It was missing a conversion from double to the appropiate unit.
SetPositionOffset was added. Been requested multiple times, and easy to implement.
The javadocs mentioned GetPositionInRotation. It has tripped up many people how to get the absolute position from the encoder (You currently have to have precreated the DutyCycle object). Add this method (as GetAbsolutePostition) to make this easier to do.
The checks for making sure a matching set of values was read was doing direct double comparisions. This worked ok in the DutyCycle case, but has problems in the analog case. Solve this by using an epsilon comparison.
And finally, scale AnalogEncoders analog input to 0-1 instead of 0-5. This was reported a few years ago, but the issue was missed. This caused the encoder to count from 0-5, then 1-6, then 2-7 etc. This is solved and now works correctly.
Closes#3188Closes#4046Closes#4051
And fixes the following issue on CD
https://www.chiefdelphi.com/t/wpilib-analogencoder-java/372649
If xSpeed == -0.0 and zRotation > 0, the algorithm assumes it's in the
third quadrant instead of the first since +0.0 == -0.0.
Also added tests for inverse kinematic functions, fixed some
MecanumDrive test bugs, and added Java MecanumDrive.driveCartesianIK()
and KilloughDrive.driveCartesianIK() overloads with defaulted gyro angle
that C++ already had.
Fixes#4022.
The real robot has match time set to -1.0 until it's enabled, and then
counts down. Disabling the robot sets the time to -1.0.
The sim GUI has been updated to add preset buttons for auto and teleop
match times. The enable match timing checkbox has been removed as it's
no longer required.
The DS socket plugin has also been fixed to properly initialize
matchTime to -1.0 and reset it to -1.0 on disable.
