Add an overload for the generateTrajectory method that accepts a DifferentialDriveKinematics instance instead of a list of constraints. This instance is used to automatically create a DifferentialDriveKinematicsConstraint behind the scenes, saving the user some verbosity.
The current index would be set to -1 by the execute method of ParallelRaceGroup,
and then an index out of bounds exception would be thrown by the end() method of
SequentialCommandGroup. This change bound checks the current command index as well
as only calls end at the end of parallel race group rather than during execute.
Default behavior is still to run the robot main loop in the main thread.
The ability to run the robot main loop in a separate thread and add a hook
for running a different function in the main thread is needed for simulation
GUI support on some platforms.
This removes the name and subsystem from individual objects, and instead
puts this data into a new singleton class, SendableRegistry. Much of
LiveWindow has been refactored into SendableRegistry.
In C++, a new CRTP helper class, SendableHelper, has been added to provide
move and destruction functionality.
Shims for GetName, SetName, GetSubsystem, and SetSubsystem have been added
to Command and Subsystem (both old and new), and also to SendableHelper to
prevent code breakage.
This deprecates SendableBase in preparation for future removal.
It only works with a specific sensor that isn't available anymore, the
class is a trivial wrapper around a Counter, and no one uses this class
according to FMS usage reporting.
If users are attempting to use the output range to limit the controller
action, they should use ProfiledPIDController instead. If they actually
intended to clamp the output, they should use std::clamp().
It breaks the unit system badly; the tolerance member variable has
different units depending on percent vs absolute. Absolute tolerance is
a lot more natural than percent tolerance anyway.
The old command framework is still available, but will be deprecated.
Due to name conflicts, the new framework is in the wpilibj2 package.
Eventually (after the old command framework is removed in a future year)
it will be moved into the main wpilibj package.
