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Author SHA1 Message Date
Prateek Machiraju
8e9290e86e [build] Add separate CMake setting for wpimath (#2885) 
This allows external CMake projects to only depend on wpimath instead of
having to build the entire library.
 2020-11-23 19:44:20 -08:00
Starlight220
7cf5bebf8e [wpilibj] Cache NT writes from DriverStation (#2780) 
This reduces malloc traffic.
 2020-11-21 14:35:43 -08:00
Prateek Machiraju
f7f9087fb5 [command] Fix timing issue in RamseteCommand (#2871) 
This issue only existed on the initial iteration. When timing is paused and stepped,
initialize() and execute() get called with the same timestamp the first time, which
would result in a divide by zero. All subsequent steps advance timing and only
call execute() so the time deltas are all set correctly.
 2020-11-21 10:03:01 -08:00
CoolSpy3
256e7904fd [wpilibj] SimDeviceSim: Fix sim value changed callback (#2880) 2020-11-20 21:02:23 -08:00
Tyler Veness
c8ea1b6c38 [wpilib] Add function to adjust LQR controller gain for pure time delay (#2878) 
There were three options for where to put this function:

1. A free function in LinearQuadraticRegulator.h. Returning a K matrix
   means the user can't use the LinearQuadraticRegulator in a loop
   anymore.
2. A default argument added to ctors in LinearQuadraticRegulator for a
   time delay (default of 0). This has the smallest API footprint from
   the user perspective, but it bloats the already substantial
   constructor overload set of LinearQuadraticRegulator.
3. A member function in LinearQuadraticRegulator that modifies the
   internal K. This would still have to take in a LinearSystem or (A, B)
   pair because the ctor doesn't store it. Storing it internally feels
   like paying for what we don't use most of the time.

I went with option 3.

I verified the tests's expected values in Python with
scipy.linalg.fractional_matrix_power().

Closes #2877.
 2020-11-20 15:28:00 -08:00
Peter Johnson
2816b06c05 [sim] HAL_GetControlWord: Fully zero output (#2873) 
This ensures the padding is zero'ed.  We already do this on Athena, we just didn't in sim.
 2020-11-20 15:11:11 -08:00
Tyler Veness
4c695ea088 Add toolchain installation instructions to README (#2875) 2020-11-19 13:09:09 -08:00
Starlight220
a14d51806d [wpimath] DCMotor: fix doc typo (NFC) (#2868) v2021.1.1-beta-2 2020-11-16 08:04:46 -08:00
Vasista Vovveti
0170977914 [build] CMake: build sim extensions as shared libs (#2866) 
This builds sim extensions as dylib's instead of so's on macOS.
 2020-11-15 22:50:30 -08:00
Vasista Vovveti
f61726b5ae [build] Fix cmake-config files (#2865) 
In the cmake config files, SELF_DIR was being overwritten and was therefore incorrect.

This also adds wpimath as a dependency to wpilibc.
 2020-11-15 22:38:55 -08:00
Kevin Jaget
fc27fdac57 [wpilibc] Cache NT values from driver station (#2768) 
This significantly reduces malloc traffic by avoiding NT data allocations.
 2020-11-15 10:48:54 -08:00
Peter Johnson
47c59859ee [sim] Make SimDevice callbacks synchronous (#2861) 
Asynchronous callbacks are more efficient but pose synchronization challenges;
other sim callbacks are synchronous but SimDevice ones were not.
 2020-11-14 21:04:51 -08:00
Peter Johnson
6e76ab9c09 [build] Turn on WITH_GUI for Windows cmake CI 2020-11-14 21:03:22 -08:00
Peter Johnson
5f78b76702 [build] Set GLFW_INSTALL to OFF 2020-11-14 21:03:22 -08:00
Peter Johnson
5e0808c848 [wpigui] Fix Windows cmake build 2020-11-14 21:03:22 -08:00
Peter Johnson
508f05a47e [imgui] Fix typo in Windows CMake target sources 2020-11-14 21:03:22 -08:00
Prateek Machiraju
66b57f0323 [wpimath] Copy child constraint in region constraints (#2831) 2020-11-14 12:03:26 -08:00
Prateek Machiraju
cfac22b4c0 [wpilib] Reset odometry in path following examples (#2859) 2020-11-14 12:01:45 -08:00
Prateek Machiraju
2ef67f20a7 [wpilib] Add way to silence joystick connection warnings (#2845) 
Warnings cannot be silenced when connected to FMS.
 2020-11-14 12:00:56 -08:00
Peter Johnson
7a73946ce1 [build] Update OpenCV to remove WITH_GTK (#2856) 
This avoids a false dependency on libgthread on Mac.
 2020-11-13 21:18:30 -08:00
Peter Johnson
6d22b5a3c6 [wpigui] Render during resize events (#2857) 
This fixes scaling and black window artifacts on Mac.
 2020-11-13 21:18:08 -08:00
Prateek Machiraju
50050a0e53 [wpilibc] Update C++ DiffDriveSim example to match Java (#2839) 2020-11-13 11:12:03 -08:00
Austin Shalit
de17422793 [wpilib] Add IsJoystickConnected method (#2847) 2020-11-13 11:11:10 -08:00
Starlight220
6b5e83ce1d [wpilibj] DrivetrainSim: Initialize m_u to default value (#2854) 
m_u wasn't being initialized, so if user called update() before setInputs() the program would crash with an NPE.
 2020-11-13 11:06:46 -08:00
CoolSpy3
17d75d8a3b [wpilibj] SimDeviceSim: Make register device callbacks static (#2835) 2020-11-11 22:39:18 -08:00
Prateek Machiraju
616405f7ae [wpilib] Fix DiffDriveSim pose reset and example (#2837) 
Calling the resetPosition method on an odometry instance expects encoder positions to be reset to zero.
 2020-11-11 22:37:14 -08:00
sciencewhiz
5c2dc043cd [wpilib] Update examples to export NewCommands (#2841) 
Update all examples to export NewCommands vendor dep except for pacgoat,
which still uses old commands.
 2020-11-11 22:36:18 -08:00
sciencewhiz
24a3c12f31 [wpilib] Fix names and descriptions of examples (#2846) 2020-11-11 22:35:28 -08:00
Prateek Machiraju
3e544282ff [hal] Use FPGA time in HAL_SendError (#2849) 2020-11-11 22:34:36 -08:00
Prateek Machiraju
3c85a40648 [sim] Use units for voltage and current in RoboRioSim (#2853) 2020-11-11 22:33:49 -08:00
Prateek Machiraju
ac3c336b98 [wpimath] Use units for LinearSystemId Kv and Ka (#2852) 2020-11-11 22:33:04 -08:00
Prateek Machiraju
f24f282442 [build] Disable Gazebo builds when -PmakeSim is not set (#2810) 2020-11-09 11:37:10 -05:00
Peter Johnson
0dfee4745c [wpiutil] netconsoleTee: Add option to specify port (#2840) 2020-11-08 19:54:57 -08:00
Peter Johnson
eb80f7a787 [wpilibc] SendableRegistry: Add range and null checks (#2830) 
If a Sendable like SendableChooser is destroyed and recreated, it leaves
a stale object in the Sendable registry. Using this object results in a
crash. This patch avoids using the stale object.

We should remove stale objects from the global registry upon object
destruction, but this fixes the crashing issue for now.

Closes #2818.

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
v2021.1.1-beta-1 		2020-11-02 18:12:40 -08:00
Peter Johnson
68fed2a1a6 [build] Update NativeUtils to 2021.0.4 (#2828) 
This pulls in the 2021 versions of thirdparty libs.
 2020-11-02 16:33:30 -08:00
sciencewhiz
10d118a8d0 Fix C++ gradle in OtherVersions.md (#2826) 2020-11-01 20:44:39 -08:00
Peter Johnson
e021c33191 [wpilib] Set AnalogPotentiometer dashboard type (#2825) 
There's not a specific dashboard type for potentiometers, so use analog input.
 2020-11-01 20:44:04 -08:00
cpapplefamily
7b7548196a [wpilib] AnalogPotentiometer: provide scaled value to Dashboard (#2824) 
Previously this sent just the raw analog value; the scaled value is likely what users expect.

Co-authored-by: Corey Applegate <coreya@centralmcgowan.com>
 2020-10-31 22:27:05 -07:00
Prateek Machiraju
e019c735e1 [build] Update compiler to 2021 (#2823) 2020-10-31 22:24:04 -07:00
sciencewhiz
c253f2c7e2 Update Readme to match current practice (NFC) (#2820) 
- Add link to code of conduct
- Update clang version used to 10 to match CI
- Update pull request format to match current practice
- Change Azure references to Actions
 2020-10-30 17:28:20 -07:00
Claudius Tewari
0ce9133b55 [wpimath] Address issues with LinearSystemLoop reset() and matrix initialization (#2819) 
This address some problems with the LinearSystemLoop class that were discovered through testing.

The initial state estimate of the observer was set to the provided initial state rather than zero as previously, a non zero initial state passed into reset() would lead to a discrepancy between the current state estimate and the actual system state.
 2020-10-29 18:10:48 -07:00
Prateek Machiraju
6ac9683a32 [build] Fix Gradle flags for CI documentation job (#2817) 2020-10-26 19:05:31 -07:00
Prateek Machiraju
1d7739d8da [build] Build with -PreleaseMode on tag push (#2816) v2021.1.1-alpha-1 2020-10-26 09:20:10 -07:00
Peter Johnson
1de2a6d85c [build] Fix release versioning (#2815) 
The way GitHub actions checks out tags checks them out as non-annotated.
 2020-10-26 09:13:04 -07:00
Austin Shalit
0a723a50dc [build] Use fetch-depth: 0 to get all history (#2812) 2020-10-25 19:56:52 -07:00
Prateek Machiraju
34b91318f4 [build] Add Developer ID signing workflow (#2779) 2020-10-25 19:41:45 -07:00
Peter Johnson
b11a7114a5 [build] Bump thirdparty-opencv to 3.4.7-4 (#2811) 2020-10-25 17:40:18 -07:00
Tyler Veness
2ca5e1c8d6 Update requirements in README to include full VS install and JDK (#2808) 2020-10-25 10:44:25 -07:00
Tyler Veness
7ae8c7b247 [sim] Use DutyCycleEncoder FPGA index for sim device number (#2803) 
The source channel doesn't necessarily correspond with the HALSIM device
index.
 2020-10-24 20:18:58 -07:00
Austin Shalit
1e17e40868 [build] Add a javaFormat Gradle task (#2805) 
This task allows developers to run all of the Java code quality tools at once.
 2020-10-24 20:18:19 -07:00