This provides a way to stop motor operation even if the DIO is disconnected.
Also change Set() to enable the PWM instead of having the constructor do it.
Provide an explicit Enable() call to re-enable after Disable() is called.
This is different from the other motor controllers (which automatically
re-enable when Set() is called) due to the dual-wiring of this motor
controller.
Motor safety results in disabling the motor only until the next Set() call.
I also found some inconsistencies in MecanumDrive and KilloughDrive and fixed
them.
Drive now uses the NED axes convention. Therefore, the positive X axis points
ahead, the positive Y axis points to the right, and the positive Z axis points
down.
Translation in X assumes forward is positive. Translation in Y assumes right is
positive. Rotation rate assumes clockwise is positive. Angles are measured
clockwise from the positive X axis.
Based on the angle origin convention, DrivePolar() for both Mecanum and Killough
needed the normalization removed, sine used to compute the Y component, and
cosine used to compute the X component.
The vector rotation done in DriveCartesian() needs to rotate by a negative angle
instead of positive to undo the robot's rotation. RobotDrive assumed a clockwise
angle and sensors returned counter-clockwise angles, which is why it used a
positive angle for rotation.
This avoids a direct byte buffer allocation on every read/write/transaction
on the byte[] variants.
Changes HAL I2C interfaces to use const for dataToSend.
This avoids a direct byte buffer allocation on every read/write/transaction
for the byte[] variants.
Also change spiGetAccumulatorOutput() to directly set the AccumulatorResult
object, avoiding a ByteBuffer allocation.
Changes HAL SPI interfaces to use const for dataToSend.
Fixes#733.
I also shuffled around the HID interfaces to be more intuitive, deprecated some
Joystick and XboxController member functions, and deprecated the JoystickBase
and GamepadBase classes.
Supersedes #89.
Sendable's "Name" is now ".name"
Sendable's "Subsystem" is now ".subsystem"
Command's "name" is now ".name"
Command's "isParented" is now ".isParented"
In C++, it's not legal to call a virtual function from within a constructor,
so the user override was never called (the base function is always called).
See https://isocpp.org/wiki/faq/strange-inheritance#calling-virtuals-from-ctors
While this is technically allowed in Java, also change Java for consistency.
