I left "free speed" alone since that's the technical term for it. In
general, velocity is a vector quantity, and speed is a magnitude (i.e.,
a strictly positive value).
This PR also replaces the speed verbiage in MotorController with duty
cycle.
Fixes#8423.
User code:
- OpModeRobot used as the robot base class
- LinearOpMode and PeriodicOpMode are provided opmode base classes
- In Java, annotations can be used to automatically register opmode classes
Additional user code functionality:
- OpMode (string) is available in addition to the overall
auto/teleop/test robot mode
- OpMode does not indicate enable (enable/disable is still separate)
- The HAL API uses integer UIDs; these are exposed at the user API level
as well for faster checks
- User code creates opmodes on startup (these have name, category,
description, etc).
DS:
- DS will present opmode selection lists for auto and teleop for
match/practice. During a match, the DS will automatically activate the
selected opmode in the corresponding match period.
- For testing, an overall mode is selected (e.g. teleop/auto/test) and a
single opmode is selected
Future work:
- Command framework support/integration
- Python annotation support
- Unit tests (needs race-free DS sim updates)
- Porting of examples
Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
#8385 changed gamepad types to follow SDL_GamepadType, so 20 and 21
(previously `kHIDJoystick` and `kHIDGamepad`, respectively) are no
longer valid constants. This meant that after leaving the disconnected
state of the sim GUI, `GamepadType.getGamepadType()` would return null
(since it didn't match any constants). Since there aren't analogous
generic joystick and gamepad constants anymore, this PR changes
GlfwSystemJoystick and KeyboardJoystick to both unconditionally report
as kStandard.
This also updates the GenericHID.SetRumble doc comment to reflect the
two new types of rumble and changes some switch labeled statement groups
to use switch rules instead. If we want to keep on using switch labeled
statement groups (e.g. for consistency with C++, though
GenericHID::SetRumble currently uses if-else), then I could drop the
last change- I just made it since GenericHID.setRumble() previously used
switch rules and general switch rules are nice since there's no risk of
fall-through.
* Moved makeWhiteNoiseVector() to random.Normal.normal()
* Moved isControllable() and isDetectable() to system.LinearSystemUtil
* Renamed makeCostMatrix() to costMatrix() (Java)
* Renamed makeCovarianceMatrix() to covarianceMatrix() (Java)
* Renamed MakeCostMatrix() to CostMatrix() (C++)
* Renamed MakeCovMatrix() to CovarianceMatrix() (C++)
* Removed deprecated poseTo3dVector(), poseTo4dVector(), poseToVector()
* Removed clampInputMaxMagnitude()
* We don't use it, and Eigen has this functionality built in via `u =
u.array().min(u_max.array()).max(u_min.array());`
* Simplified implementation of desaturateInputVector()
Support joystick outputs, including Rumble and LEDs.
Also requires an update to Joystick descriptors, as that has also
changed in mrccomm to support showing what outputs are supported.
