Also deprecate SpeedController in favor of motorcontrol.MotorController and
SpeedControllerGroup in favor of motorcontrol.MotorControllerGroup.
The MotorController interface is derived from the SpeedController interface
so that code such as SpeedController x = new VictorSP(1) continues to
compile (just with a warning).
SpeedControllerGroup and MotorControllerGroup are independent classes;
both implement the MotorController interface.
- Remove sim checkstyle suppression
- Add [[nodiscard]] to C++ register callback functions
- Add a couple of missing sim functions
Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
Co-authored-by: Starlight220 <yotamshlomi@gmail.com>
This also shifts the trajectory up and to the right so that the robot is
always visible in the Field GUI during traversal. Some drive constants
and trajectory constraints were also synced between the two languages.
Flip the TeleopArcadeDrive axis directions so that positive
values for x-axis speed result in the Romi driving forward (in the
direction of the Raspberry Pi USB ports).
Updated the RomiReference example to have autonomous example.
Updated RomiReference and both Romi templates to use Encoder.getDistance().
Removed motor inversion.
Also update Checkstyle to 8.38.
Google changed their style guide from the last time we imported it. This PR brings in those naming changes. The change they made is allowing single letter member, parameter, and local variable names. They also added a lambda naming scheme and I thought it would be good to bring that in too.
Pose and state estimators can filter latency-compensated global measurements and fuse them with state-space drivetrain model information to estimate robot position. They are drop-in replacements for the existing odometry classes.
Co-authored-by: Declan Freeman-Gleason <declanfreemangleason@gmail.com>
Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
Co-authored-by: Claudius Tewari <cttewari@gmail.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
This fixes an issue with some commands not correctly requiring their
subsytems. Furthermore, an execute() method was added to the
DriveDistance command to continuously update the voltage command.
This includes physics simulation support for arms/elevator models, as well as differential drivetrains.
Swerve might be added at a later date.
Co-authored-by: Claudius Tewari <cttewari@gmail.com>
Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
It was added as part of Bryson's rule described in
https://file.tavsys.net/control/controls-engineering-in-frc.pdf. It
doesn't really simplify usage though, and the same thing can be
replicated by multiplying the elements of Q by rho manually. It's easier
to do it that way, it's how 3512 has been doing controller debugging for
a while, and it's probably what other teams will do as well instead of
using the "more structured" way.
Removing these unhelpful overloads also simplifies the LQR interface.
