They don't provide much utility for the end user. A print at the call to
HAL_ObserveUserProgramStarting() was added in their place so it's still
clear when constructors have finished running.
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.
Also refactored RKF45 implementation to match the new style, which is
easier to read.
The tests were switched from RKF45 to RKDP since it's more accurate.
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.
- Twine, StringRef, Format, and NativeFormatting have been removed
- Logging now uses fmtlib style formatting
- Nearly all uses of wpi::outs/errs have been replaced with fmt::print() or
std::puts()/std::fputs() (for unformatted strings).
- A wpi/fmt/raw_ostream.h header has been added to enable
fmt::print() with wpi::raw_ostream
Use ghc::filesystem as fill on older GCC (e.g. RoboRIO).
This can be removed once all GCC platforms have upgraded to 8.1 or later.
File open functionality has been retained from LLVM but moved to "fs" namespace
and tweaked for improved consistency with std::filesystem (e.g. error_code is
passed by reference instead of returned).
Also update WPILibC's Filesystem functions to return std::string.
A lot of these are breaking changes. frc::Timer was replaced with the
contents of frc2::Timer. The others were in-place argument changes or
removing deprecated non-unit overloads.
This reverts commit a79faace1b.
This change will be superseded in a non-breaking way by changing to static functions and deprecating GetInstance() entirely.
Substantially improves Mechanism2d by moving it to NetworkTables and adding
a robot API to create the mechanism elements, instead of requiring a JSON file.
Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
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.
