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Author SHA1 Message Date
Peter Johnson
35aee1d78d [hal] Add ntcore to other libs in styleguide (NFC) (#7766) 2025-02-05 20:32:51 -08:00
DeltaDizzy
b3b515e1dd [sysid] Error on missing tests in loaded DataLog (#7747) 
* add exception

* detect missing tests

* throw in analyzer

* define tests setter

* change to std::map

* alignas fail

* make missingTests parameter const&

* const& impl

* use set and naive comparison

* use default comparison

* add <utility>

* Revert "alignas fail"

This reverts commit 5e97940f34.

* indent validtests

* format
 2025-02-04 18:12:00 -05:00
Joseph Eng
296986397b [wpimath] Document drift from desaturating discretized chassis speeds (NFC) (#7741) 2025-02-03 11:46:18 -07:00
DeltaDizzy
297f0d1b03 [wpiutil] Change kInvalidFile to macro (#7750) 
This is needed on Windows because accessing global variables across shared library boundaries doesn’t work.
 2025-01-30 20:01:35 -07:00
Thad House
ad29d45dfb [hal] Remove HAL_GetPort (#7754) 2025-01-30 19:59:34 -07:00
Thad House
6e704370b3 [hal, wpilib] Remove DigitalSource and AnalogTrigger (#7753) 2025-01-30 19:58:21 -07:00
Tyler Veness
7533b323d1 [upstream_utils] Upgrade to fmt 11.1.3 (#7629) 2025-01-30 13:35:33 -07:00
Sam Carlberg
18321e5551 [epilogue] Fix epilogue with package-info files (#7749) 2025-01-30 13:34:51 -07:00
Tyler Veness
b31fd17d05 [wpimath] Fix infinite loop in ArmFeedforward::Calculate(xₖ, vₖ, vₖ₊₁) (#7745) 
Small values of kₐ make the iterative solver ill-conditioned. This
change reverts to the constant-acceleration feedforward in that case. It
gives _very_ bad results (hence why we added the iterative solver in the
first place), but it's better than hanging.

```
TEST(ArmFeedforwardTest, CalculateIllConditioned) {
  constexpr auto Ks = 0.5_V;
  constexpr auto Kv = 20_V / 1_rad_per_s;
  constexpr auto Ka = 1e-2_V / 1_rad_per_s_sq;
  constexpr auto Kg = 0_V;
  frc::ArmFeedforward armFF{Ks, Kg, Kv, Ka};

  // Calculate(currentAngle, currentVelocity, nextAngle, dt)
  CalculateAndSimulate(armFF, 0_rad, 0_rad_per_s, 2_rad_per_s, 20_ms);
}
```
This produces 1 V and doesn't accelerate the system at all. Using
nextVelocity instead of currentVelocity in the feedforward outputs 41 V
and still only accelerates to 0.4 rad/s of the requested 2 rad/s.

I picked the kₐ cutoff by increasing kₐ until the iterative solver
started converging.

Fixes #7743.
 2025-01-30 13:33:39 -07:00
Thad House
48ce2dcc8d [hal, wpilib] Add initial systemcore counter implementation (#7723) 2025-01-28 09:58:34 -07:00
Thad House
b799b285b3 [hal, wpilib] Remove digital source from encoder (#7740) 2025-01-28 06:43:09 -07:00
PJ Reiniger
3b345fe218 [bazel] Add macros to build jni code and java tests (#7693) 2025-01-26 16:52:33 -08:00
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
adbe95e610 [wpilib] Remove Shuffleboard API (#7730) 2025-01-24 23:47:42 -08:00
Peter Johnson
01e71e73ce [build] developerRobot: Fix link order (#7732) 
ntcore now needs to be after hal.
 2025-01-24 23:47:09 -08:00
Gold856
b44a80c07a [build] cmake: Install wpimath nanopb headers (#7731) 2025-01-24 23:26:09 -08:00
Gold856
25d11524e8 [ci] Re-enable Artifactory cleaner cron job (#7721) 
The query now targets the local repo for extra safety.
 2025-01-23 21:46:13 -08:00
Thad House
5898cdd5c3 [hal, wpilib] Remove interrupt (#7724) 2025-01-23 21:45:18 -08:00
Thad House
e2b6beb28a [hal, wpilib] Remove DigitalGlitchFilter (#7725) 2025-01-23 21:44:18 -08:00
Peter Johnson
d86a2ec83b [ci] Fix labeler indentation (#7716) 2025-01-21 12:51:48 -07:00
sciencewhiz
0690d3d832 [ci] Update labeler for wpical and usage reporting (#7710) 2025-01-20 09:14:27 -07:00
Ryan Blue
304b98c0c9 [wpilibc] Alert: Fix first alert in group not publishing data (#7711) 2025-01-20 09:10:03 -07:00
Joseph Eng
72541c10e6 [wpilib, commands] Improve HID direction documentation (NFC) (#7672) 2025-01-19 20:34:07 -08:00
sciencewhiz
00445f4f27 [hal] Add Kitbot framework usage reporting (#7709) 
Used in FIRST's kitbot code
 2025-01-18 15:02:41 -08:00
Matthew Wozniak
8fc3767b30 [wpimath] Fix macro name typo (#7707) 2025-01-17 22:19:21 -08:00
Peter Johnson
5ab0409c15 [wpilib] ADIS164xx: report product ID on mismatch (#7706) 2025-01-17 18:14:20 -08:00
Thad House
5a6c895b87 [hal, wpilib] Remove built in accelerometer (#7702) 2025-01-17 14:06:09 -08:00
Thad House
1600e773f4 [hal, wpilib] Remove DMA (#7701) 2025-01-17 14:05:34 -08:00
Peter Johnson
4caa16e254 [wpilibj] ADIS16470: Allow product ID of 16470 (#7704) 
C++ allows either 16982 or 16470, do the same for Java.
 2025-01-17 13:53:20 -08:00
Thad House
f80874dd4b [hal, wpilib] Remove analog accumulator and analog gyro (#7697) 
The 2 high level classes were temporarily kept to keep the examples compiling. We will remove those when we have the interface into the built in IMU.
 2025-01-17 12:58:31 -08:00
Thad House
92f0a3c961 [hal, wpilib] Remove SPI support (#7678) 2025-01-17 00:22:29 -08:00
Sam Carlberg
e52f400687 [wpiunits] Add Measure.per overloads for all known unit types (#7699) 
Instead of only providing per(TimeUnit)

Useful for making conversion factors easier, eg `Inches.of(10).per(Rotation)` vs `Inches.of(10).per(Rotation.one())`

Update VelocityUnit.one() and VelocityUnit.zero() to return Velocity objects instead of generic Measure<? extends VelocityUnit<D>>; VelocityUnit is final, so the wildcard generic is unnecessary, and this makes the generated `per` functions possible for this type
 2025-01-16 23:24:11 -08:00
Thad House
dc335ddedb [hal] Remove everything that references chipobject or VISA (#7698) 2025-01-16 23:21:40 -08:00
Thad House
ff1b2a205e [hal, wpilib] Remove analog output (#7696) 2025-01-16 23:20:44 -08:00
Thad House
5017393b3a [hal, wpilib] Remove relay (#7695) 2025-01-16 23:20:07 -08:00
Peter Johnson
d9f8fded09 Merge branch 'main' into 2027 2025-01-16 23:17:59 -08:00
PJ Reiniger
a9f3fc6b2c [bazel] Update toolchain to support systemcore (#7689) 2025-01-16 10:52:43 -07:00
Thad House
1cad4f64a4 [hal] Add high level way of getting systemserver NT instance (#7683) 2025-01-16 10:49:40 -07:00
Thad House
58cb395d76 [hal] Add systemcore duty cycle (#7682) 2025-01-15 12:57:31 -07:00
Thad House
24d6e87447 Remove CrossConn and Integration Tests (#7692) 2025-01-15 12:53:17 -07:00
Thad House
f81c42e700 [hal] Fix systemcore analog input scaling (#7691) 2025-01-15 12:52:57 -07:00
Thad House
fa71fb55a2 [wpilib] Remove I2C Warnings (#7677) 
SystemCore won't have the I2C issues.
 2025-01-14 12:31:47 -07:00
Thad House
45d7549ca9 [hal] Add systemcore analog input (#7681) 2025-01-14 12:30:44 -07:00
Thad House
afbaa43539 [wpiutil] Remove roboRIO-specific timestamp code (#7669) 2025-01-13 15:59:11 -07:00
David Racovan
a14545102f [wpimath] DifferentialDriveWheelPositions: tag as Proto/StructSerializable (#7622) 2025-01-13 14:52:40 -07:00
Tyler Veness
25e6549398 [wpimath] Fix various constexpr support bugs (#7676) 2025-01-13 14:44:55 -07:00
ハイドラント
cd92b07321 [wpimath] Add Pose2d and Pose3d rotateAround() (#7659) 2025-01-13 12:55:26 -07:00
Jason Daming
fc9e413ce1 [hal, wpilib] Add note about support for WS2815 (#7664) 2025-01-13 12:26:54 -07:00
Thad House
e41b33960a [rtns] Remove roboRIO team number setter (#7667) 
It won't be needed in 2027.
 2025-01-13 12:26:03 -07:00
Thad House
df77580a15 [hal] Remove athena hal folder (#7668) 
Also remove roborio bazel target.
 2025-01-13 12:25:28 -07:00