Tyler Veness
ac1705ae2b
[wpimath] Remove unit suffixes from variable names ( #7529 )
...
* Move units into API docs instead because suffixes make user code verbose and hard to read
* Rename trackWidth to trackwidth
* Make ultrasonic classes use meters instead of a mix of m, cm, mm, ft,
and inches
2025-02-10 08:23:04 -07:00
Peter Johnson
764ada9b66
[hal] Change usage reporting to string-based ( #7763 )
2025-02-07 13:37:23 -07:00
Peter Johnson
eee30c49e2
[wpilib] Remove LiveWindow ( #7733 )
...
This will be replaced by a different mechanism, but removing it eases
the initial implementation burden of a new Telemetry/Sendable framework.
2025-01-25 10:52:19 -08:00
Peter Johnson
d9f8fded09
Merge branch 'main' into 2027
2025-01-16 23:17:59 -08:00
David Racovan
a14545102f
[wpimath] DifferentialDriveWheelPositions: tag as Proto/StructSerializable ( #7622 )
2025-01-13 14:52:40 -07:00
ハイドラント
cd92b07321
[wpimath] Add Pose2d and Pose3d rotateAround() ( #7659 )
2025-01-13 12:55:26 -07:00
Tyler Veness
007526089e
[wpimath] Fix LinearSystemId return type and docs ( #7675 )
...
Fixes #7674 .
2025-01-13 12:22:53 -07:00
HarryXChen
e37c35746a
[wpimath] Implement Translation3d.RotateAround ( #7661 )
2025-01-09 20:31:34 -08:00
Tyler Veness
11a0c36737
[wpimath] Make Rotation2d member initialization order match declaration order ( #7632 )
2025-01-03 22:44:17 -08:00
Peter Johnson
a931a6554f
Merge branch 'main' into 2027
2024-12-29 18:22:39 -08:00
sciencewhiz
203487a6aa
[wpimath] improve LTVUnicycleController docs (NFC) ( #7599 )
...
Document the states and inputs so it isn't necessary to look at the code
Fix max velocity throws doc
2024-12-28 16:03:47 -06:00
Tyler Veness
df244cd198
[wpimath] Clean up arm and elevator feedforward APIs ( #7595 )
2024-12-27 08:12:14 -06:00
Peter Johnson
2a757eaeb5
Merge branch 'main' into 2027
2024-12-26 18:55:43 -08:00
Nicholas Armstrong
fe49cbe429
[wpimath] Remove Units class from Elevator and Arm Feedforwards ( #7570 )
2024-12-26 20:21:19 -06:00
Tyler Veness
02a0adc653
[wpimath] Add Rotation3d rotation vector getter ( #7564 )
...
The code churn in Java is just making the function order consistent
between languages.
2024-12-22 13:34:51 -08:00
Tyler Veness
03f0fc4dea
[wpimath] Use immutable member functions in ChassisSpeeds ( #7545 )
2024-12-15 16:09:34 -08:00
Peter Johnson
945d416d07
Merge branch 'main' into 2027
2024-12-14 10:45:32 -08:00
Peter Johnson
4bca79b9af
[wpimath] Revert "ChassisSpeeds fromRelative and discretize methods made instance methods ( #7115 )" ( #7549 )
...
This reverts commit a3b12b3bd9
2024-12-14 10:42:49 -08:00
Joseph Eng
4225b732fd
Remove unnecessary boxing ( #7539 )
...
* Remove unnecessary boxing
Also remove unnecessary warning suppression
* Use more idiomatic functional interfaces in NumericalIntegration
2024-12-12 19:18:40 -08:00
Wispy
cc41a0ed24
[wpilib] Replace MecanumDriveMotorVoltages with a functional interface ( #6760 )
2024-12-08 17:05:06 -08:00
Thad House
b6ae9e9cc9
Merge branch 'main' into 2027
2024-12-08 12:04:23 -08:00
Tyler Veness
220f4e1ba4
[wpimath] Remove RamseteController and RamseteCommand ( #7522 )
2024-12-07 23:38:35 -08:00
Tyler Veness
e08fdeba21
[wpimath] Rename FindNearestPoint() to Nearest() ( #7513 )
...
This is easier to type and follows the naming of Pose2d::Nearest().
Since Ellipse2d and Rectangle2d were added for the 2025 season, we don't
need to add deprecation notices.
2024-12-07 23:01:18 -08:00
Tyler Veness
4910436b10
[wpimath] Remove LUTs from LTV controllers ( #7521 )
...
The Raspberry Pi 5 is fast enough that we no longer need it.
```
Running ./build/DAREBench
Run on (4 X 2400 MHz CPU s)
CPU Caches:
L1 Data 64 KiB (x4)
L1 Instruction 64 KiB (x4)
L2 Unified 512 KiB (x4)
L3 Unified 2048 KiB (x1)
Load Average: 0.47, 0.72, 0.45
***WARNING*** CPU scaling is enabled, the benchmark real time measurements may be noisy and will incur extra overhead.
-------------------------------------------------------------------------------
Benchmark Time CPU Iterations
-------------------------------------------------------------------------------
DARE_WPIMath_Dynamic 34.4 us 34.4 us 20315
DARE_WPIMath_NoPrecondChecks_Dynamic 21.7 us 21.7 us 32266
DARE_WPIMath_Static 15.2 us 15.2 us 45878
DARE_WPIMath_NoPrecondChecks_Static 7.84 us 7.84 us 89316
DARE_SLICOT 79.4 us 79.4 us 8789
DARE_Drake 34.9 us 34.9 us 20074
```
2024-12-07 23:00:15 -08:00
Tyler Veness
62a6a77bbf
[wpimath] Add affine transformation constructors and getters to geometry API ( #7509 )
...
Fixes #7429 .
2024-12-07 21:29:02 -08:00
Tyler Veness
c497e4ec22
[wpimath] Fix SimpleFeedforward overload set ( #7516 )
2024-12-07 20:32:16 -08:00
Tyler Veness
e222efaa01
[wpimath] Add affine transformation constructors and getters to geometry API ( #7430 )
...
Fixes #7429 .
2024-12-07 15:49:17 -08:00
Peter Johnson
52b33edcbd
Merge branch 'main' into 2027
2024-12-07 14:11:47 -08:00
Tyler Veness
882233bede
[wpimath] Improve SimpleMotorFeedforward argument names and deprecation message ( #7489 )
...
Also roll back SimpleMotorFeedforward unit API until 2027.
2024-12-06 22:32:40 -08:00
Tyler Veness
144e79a614
[wpimath] Remove Rotation2d value field ( #7490 )
...
It's not part of SO(2).
2024-12-06 21:00:09 -08:00
sciencewhiz
892e062316
[hal,wpilib,wpimath] Add Usage Reporting for Choreo and PathWeaver ( #7464 )
2024-11-30 20:33:09 -08:00
Tyler Veness
a0af0fd572
[wpimath] Remove redundant internal DARE function ( #7442 )
2024-11-28 21:24:13 -08:00
sciencewhiz
0a3ccf93c6
[wpimath] Add BangBangController Usage Reporting ( #7411 )
2024-11-20 17:00:54 -08:00
Sam Carlberg
ded7c87d63
[wpimath] Remove units from trapezoid profile classes ( #7276 )
2024-11-16 07:57:38 -08:00
Joseph Eng
2acf111f56
[wpimath] Add 3D odometry and pose estimation ( #7119 )
2024-11-16 07:56:14 -08:00
Kavin Muralikrishnan
07345712dc
[wpimath] Document default tolerances of PIDController ( #7377 )
2024-11-12 18:19:55 -05:00
Joseph Eng
425bf83036
[wpimath] Add 2D to 3D geometry constructors ( #7380 )
2024-11-12 18:18:37 -05:00
Peter Johnson
f40bd3593d
[wpilib,wpimath] Don't use mutable units for return values ( #7369 )
...
It only saves a single allocation and can cause confusing behavior on the
caller (user) side.
2024-11-08 18:29:51 -08:00
Tyler Veness
661bae568f
[wpimath] Add time-varying RKDP ( #7362 )
...
This makes the ground truth for the Taylor series AQ discretization more
accurate.
2024-11-07 23:46:52 -08:00
Tyler Veness
63e623d70b
[wpimath] Fix case and order of HolonomicDriveController PID getters ( #7342 )
2024-11-05 09:50:17 -07:00
Tyler Veness
dfd1084526
[wpimath] Replace pi with symbol in docs ( #7322 )
2024-11-01 17:16:18 -07:00
Tyler Veness
9f6f267f5c
[wpimath] DARE: Use wpi::expected instead of exceptions ( #7312 )
2024-10-31 20:37:57 -07:00
Nicholas Armstrong
a3b12b3bd9
[wpimath] ChassisSpeeds fromRelative and discretize methods made instance methods ( #7115 )
2024-10-22 17:23:17 -06:00
Tyler Veness
95b9bd880b
[wpimath] Make geometry classes constexpr ( #7222 )
2024-10-18 16:08:41 -07:00
Joseph Eng
2054d0f57e
[wpimath] Fix pose estimator reset methods ( #7225 )
2024-10-18 16:06:32 -07:00
Nicholas Armstrong
4adfa8bf64
[wpimath] Fully discretized ElevatorFF and ArmFF ( #7024 )
...
Co-authored-by: Tyler Veness <calcmogul@gmail.com >
2024-10-10 22:10:45 -07:00
Bryce Roethel
d97a749d84
[wpimath] SwerveDrivePoseEstimator: Fix stationary module emitting error when calculating angle in ToSwerveModuleStates ( #7175 )
2024-10-10 22:05:49 -07:00
Nicholas Armstrong
fe80d72fba
[wpimath] Add cosineScale method to SwerveModuleState and instance optimize ( #7114 )
2024-09-30 13:23:30 -06:00
Benjamin Hall
6b1e656659
[wpimath] Add DCMotor.getCurrent() overload accepting torque ( #7132 )
2024-09-28 09:33:15 -07:00
Nicholas Armstrong
6281ec0810
[wpimath] PIDController: Update field and method names for error and errorDerivative ( #7088 )
2024-09-23 11:57:20 -06:00
