Now, implicit narrowing conversions are only used with wpi::Now(). This
also fixes clang-tidy warnings about C-style casts. For example:
```
== clang-tidy /__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc ==
/__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc:95:18: warning: C-style casts are discouraged; use static_cast/const_cast/reinterpret_cast [google-readability-casting]
auto curTime = units::second_t(m_timer.Get());
^
```
In that case at least, the cast was removed entirely since Get() already
returns a units::second_t.
This shows more real world usage then hardcoding the setpoint and PID
gains. There were no current examples using Preferences. This will also
be used to update frc-docs article for Preferences.
Fixes#3827
Adds MotorController inversion for right side, removes inversion in
setVoltage methods.
Also fixes various XboxController negations (was inconsistent throughout examples).
- Remove duplicate motor port (2) from C++ SwerveBot/SwerveDrivePoseEstimator
Java has the correct motor ports.
- Fix duplicate port allocation in C++ RomiReference by correcting if/else check
Java logic was already correct, and confirms this change.
- Correct several comments that referenced elevator
- Changed noise to be 1 encoder tick instead of half a degree
- Changed gear ratio and PID value to be better tuned
- Updated bounds to be similar to a single jointed arm
* Replace Matrix<> with Vector<> where vectors are explicitly intended.
I found these via `rg "Eigen::Matrix<double, \w+, 1>"`.
* Pass all Eigen matrices by const reference. I found these via `rg
"\(Eigen"` on main (the initializer list constructors make more false
positives).
* Replace MakeMatrix() and operator<< usage with initializer list
constructors. I found these via `rg MakeMatrix` and `rg "<<"`
respectively.
* Deprecate MakeMatrix()
Having PCM as a singleton is a problem, as multiple things need to use it, and that gets really ugly. This changes PCM's to be a reference counted object, that can be passed around and constructed from multiple places.
In Java, this is using a map to hold a data store with a ref count, and allocating new objects any time a duplicate is requested.
In C++, this uses a trick constructor to store a PCM instance in the data store itself. This instance can then be passed to base objects using std::shared_ptr's aliasing constructor, which means constructing a solenoid from a PCM is not allocating after the 1st one.
This did require removing sendable from PCM. A compressor class was added back in to act as sendable for the PCM.
After this change is finished, the only change RobotBuilder and Team Code would require is passing a module type to solenoid constructors.
Co-authored-by: sciencewhiz <sciencewhiz@users.noreply.github.com>
- GenericHID is now concrete, and has only getRawAxis/Button(int) functionality
- getXxx() has been moved into Joystick as that's the only place where it makes sense
- Hand (and therefore getXxx(Hand)) has been removed, replaced by specific getLeft/RightXxx() methods in XboxController and the new PS4Controller class
- C++ ::Button:: and ::Axis:: enums have been converted to identically-namespaced static constexpr ints
This is a basic C++ example that demonstrates a simple differential drive implementation using “tank”-style controls through the DifferentialDrive class and an ordinary joystick.
