I started with the output of styleguide#217, then renamed a few classes
to fix compilation.
ntcore's StorageTest needed some manual renaming since it put the Test
word in the middle instead of at the end.
One limitation of wpiformat is test cases that were only named "Test"
were unmodified, and an error was generated. These test cases were
manually given more descriptive names:
* TimedRobotTest mode test cases had "Mode" appended to the name. Java
tests were renamed to match.
* UvAsyncTest and UvAsyncFunctionTest cases were given alternate names
Supersedes #2358 with updates and cleanups.
Closes#2482 and closes#2487 because we shouldn't support both
time-based and count-based debouncing approaches.
Co-authored-by: oblarg <emichaelbarnett@gmail.com>
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
Currently, we have functions like TeleopInit() for running code on mode
entry, but no such functions for running code on mode exit, and it's
cumbersome to add those in user code without making a custom robot
class. This PR adds exit functions to TimedRobot.
Some example use cases include DisabledExit() for operations when the
robot enables (whether that be into teleop, autonomous, or test) and
AutonomousExit() for disabling feedback controllers.
The non-NT portion has been moved to wpiutil.
The NT portion has been moved to ntcore (as NTSendable).
SendableBuilder similarly split and moved.
SendableRegistry moved to wpiutil.
In C++, SendableHelper also moved to wpiutil.
This enables use of Sendable from wpimath and also enables
moving several classes from wpilib to wpimath.
Some valid warnings like throwing NullPointerException or using a for
loop instead of System.arraycopy() were fixed.
Abstract classes marked with PMD.AbstractClassWithoutAbstractMethod were
made concrete because they already had protected constructors.
Fixes#1697.
Also deprecate SpeedController in favor of motorcontrol.MotorController and
SpeedControllerGroup in favor of motorcontrol.MotorControllerGroup.
The MotorController interface is derived from the SpeedController interface
so that code such as SpeedController x = new VictorSP(1) continues to
compile (just with a warning).
SpeedControllerGroup and MotorControllerGroup are independent classes;
both implement the MotorController interface.
frc::NormalizeAngle(), units::math::NormalizeAngle(), and
frc::GetModulusError() were replaced with frc::InputModulus() and
frc::AngleModulus().
They were placed in wpimath/src/main/native/include/frc/MathUtil.h for
C++ and wpimath/src/main/java/edu/wpi/first/wpiutil/math/MathUtil.java
for Java.
This makes AtSetpoint() return false after the setpoint is changed with
SetSetpoint().
Closes#2821.
Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
Currently, teams have to make a Notifier to run feedback controllers
more often than the TimedRobot loop period of 20ms (running TimedRobot
more often than this is not advised). This lets users add callbacks to
the main robot loop that run at a user-defined period. This allows
running feedback controllers more often, but does so synchronously with
TimedRobot so there aren't any thread safety issues.
To make the tests reliable, the synchronization in simulation Notifiers
had to be reworked. StepTiming() now waits for all Notifiers to reach
HAL_WaitForNotifierAlarm(), then steps the time, then lets any expired
Notifiers run.
While there, we made some variable names more descriptive and added more
comments.
There were three bugs:
1. The input range variables used in ProfiledPIDController::Calculate()
weren't being updated
2. The modulus error calculation was incorrect.
3. The setpoint wasn't being wrapped like the goal, so the invariant
that the error remains less than half the input range was violated.
(Thanks to @CptJJ for pointing this out and suggesting a fix.)
Old behavior is available via StepTimingAsync.
This makes it significantly easier to use simulation timing with notifiers.
Also update tests to use simulation framework. This also speeds up the
timing-dependent tests by using simulation timing. ResourceLock is used
in the Java tests to prevent parallel execution.
While we're here, tweak HAL Notifier implementation:
- Use wait_for instead of wait_until in WaitForNotifierAlarm
- Check for triggerTime = UINT64_MAX in UpdateNotifierAlarm
If the model is unstable, it will almost always diverge within 10
seconds, and the results are rather dramatic. We're also reducing the
threshold to 100 meters because the drivetrain is moving in a small
circle. The translation norm is also used for this reason; the X
component alone regularly crosses zero since the drivetrain moves in a
circle.
This includes physics simulation support for arms/elevator models, as well as differential drivetrains.
Swerve might be added at a later date.
Co-authored-by: Claudius Tewari <cttewari@gmail.com>
Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
