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536 Commits

Author SHA1 Message Date
Tyler Veness
c159f91f06 [wpilib] Only read DS control word once in IterativeRobotBase (#3504) 2021-08-11 18:05:07 -07:00
Tyler Veness
5ac60f0a20 [wpilib] Remove IterativeRobotBase mode init prints (#3500) 
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.
 2021-08-05 23:54:50 -07:00
Tyler Veness
fb2ee8ec34 [wpilib] Add TimedRobot functions for running code on mode exit (#3499) 
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.
 2021-08-05 19:08:29 -07:00
sciencewhiz
b253246959 [wpilibj] Add units to parameter names (NFC) (#3497) 2021-08-05 18:04:20 -07:00
Thad House
1ac73a247e [hal] Rename PowerDistributionPanel to PowerDistribution (#3466) 
Makes HAL more generic for the PDP, to enable the Rev PDH in the future.
 2021-08-04 20:31:17 -07:00
Tyler Veness
3838cc4ec4 Use unicode characters in docs equations (#3487) 
javac and javadoc needed the encoding set to UTF-8.
 2021-07-29 22:42:43 -07:00
Tyler Veness
d7b8aa56dc [wpilibj] Rename DriverStation In[Mode] functions to follow style guide (#3488) 2021-07-26 07:29:54 -07:00
Tyler Veness
1daadb812f [wpimath] Implement Dormand-Prince integration method (#3476) 
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.
 2021-07-11 09:42:33 -05:00
Tyler Veness
c002e6f926 Run wpiformat (#3473) 
A recent PR had an earlier version of wpiformat ran on it with more
lenient rules.
 2021-07-09 20:49:13 -05:00
Thad House
c154e5262e [wpilib] Make solenoids exclusive use, PCM act like old sendable compressor (#3464) 2021-07-09 15:11:12 -07:00
Thad House
6ddef1cca6 [hal] JNI setDIO: use a boolean and not a short (#3469) 2021-07-08 23:42:31 -05:00
Tyler Veness
9d68d95825 Remove extra newlines after open curly braces (NFC) (#3471) 2021-07-08 23:41:30 -05:00
Tyler Veness
efa28125c6 [wpilibc] Add message to RobotBase on how to read stacktrace (#3444) 
Also make stacktrace info an error instead of a warning in both C++ and Java.
 2021-06-17 23:52:48 -07:00
Ryan Hirasaki
49c71f9f2d [wpilibj] Clarify robot quit message (#3364) 
Co-authored-by: David Vo <auscompgeek@users.noreply.github.com>
 2021-06-16 13:24:06 -07:00
Noam Zaks
791770cf6e [wpimath] Move controller from wpilibj to wpimath (#3439) 2021-06-16 07:45:51 -07:00
Peter Johnson
362066a9b7 [wpilib] Deprecate getInstance() in favor of static functions (#3440) 
Co-authored-by: Noam Zaks <imnoamzaks@gmail.com>
 2021-06-15 23:06:03 -07:00
Thad House
4a36f86c81 [hal] Add support for DMA to Java (#3158) 2021-06-14 19:56:42 -07:00
Peter Johnson
b417d961ec Split Sendable into NT and non-NT portions (#3432) 
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.
 2021-06-13 16:38:05 -07:00
Tyler Veness
4d9ff76433 Fix documentation warnings generated by JavaDoc (NFC) (#3428) 
Some C++ Doxygen comments were updated to reflect any wording changes.

See `rg "(@return|@param \w+) TODO" | less` for list of incomplete docs.
 2021-06-10 20:46:47 -07:00
Tyler Veness
099fde97d5 [wpilib] Improve PDP comments (NFC) (#3427) 
Also remove HAL doxygen comments from sources;
these functions already had more descriptive comments in their
corresponding headers.
 2021-06-10 00:02:51 -07:00
Tyler Veness
c1e128bd5a Disable frivolous PMD warnings and enable PMD in ntcore (#3419) 
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.
 2021-06-09 07:01:00 -07:00
Thad House
0e702eb799 [hal] Add a unified PCM object (#3331) 2021-06-05 22:36:39 -07:00
Tyler Veness
8aecda03ed [wpilib] Fix a documentation typo (#3408) 
"indicated" was misspelled.
 2021-06-05 13:35:03 -07:00
Thad House
5c817082a0 [wpilib] Remove InterruptableSensorBase and replace with interrupt classes (#2410) 2021-06-05 11:25:21 -07:00
Tyler Veness
01dc0249de [wpimath] Move SlewRateLimiter from wpilib to wpimath (#3399) 
Timer was replaced with wpi::Now() to avoid a dependency on other wpilib
classes.
 2021-05-31 10:35:54 -07:00
Tyler Veness
87384ea684 [wpilib] Fix PIDController continuous range error calculations (#3170) 
The inputs should all be errors, so the range should be symmetric.

Fixes #3168.
Fixes #3304.
 2021-05-21 23:52:30 -07:00
Tyler Veness
0768c39036 [wpilib] DifferentialDrive: Remove right side inversion (#3340) 
Also refactor drive inverse kinematics into separate functions.
This allows composing them with operations separate from the drive
class.
 2021-05-21 22:34:16 -07:00
Tyler Veness
8dd8d4d2d4 [wpimath] Fix redundant nested math package introduced by #3316 (#3368) 2021-05-21 22:29:52 -07:00
Peter Johnson
ff56d6861d [wpilibj] Fix SpeedController deprecated warnings (#3360) 
set() and other functions also need to be repeated on the MotorController
interface to avoid deprecation warnings from vscode.
 2021-05-16 19:13:54 -07:00
Peter Johnson
da590120c4 [wpilibj] Add MotorController.setVoltage default (#3347) 
This avoids a vscode deprecation warning.
 2021-05-11 19:53:55 -07:00
Peter Johnson
44ad67ca8c [wpilibj] Preferences: Add missing Deprecated annotation (#3343) 2021-05-09 18:20:42 -07:00
Peter Johnson
3cc2da3328 Merge branch '2022' 2021-05-09 14:15:40 -07:00
Noam Zaks
d6cfdd3bae [wpilib] Preferences: Deprecate Put* in favor of Set* (#3337) 
This naming is more consistent with other APIs.

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2021-05-06 08:25:37 -07:00
Tyler Veness
497b712f67 [wpilib] Make IterativeRobotBase::m_period private with getter 2021-05-04 13:41:36 -07:00
Tyler Veness
f00dfed7ac [wpilib] Remove IterativeRobot base class 
TimedRobot supersedes it (see commit 81498e6 for reasoning).
 2021-05-04 13:41:36 -07:00
Tyler Veness
5ef2b4fdc0 [wpilibj] Fix @deprecated warning for SerialPort constructor (#3329) 
The javadoc @deprecated tag didn't have corresponding @Deprecated
attribute.
 2021-05-01 13:20:53 -07:00
Noam Zaks
c8ff626fe2 [wpimath] Move Java classes to edu.wpi.first.math (#3316) 2021-05-01 08:53:30 -07:00
Noam Zaks
4e424d51f4 [wpilibj] DifferentialDrivetrainSim: Rename constants to match the style guide (#3312) 2021-05-01 07:09:23 -07:00
Starlight220
ff52f207cc [glass, wpilib] Rewrite Mechanism2d (#3281) 
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>
 2021-04-30 13:43:59 -07:00
Peter Johnson
05ebe93180 Merge branch 'main' into 2022 2021-04-19 18:45:31 -07:00
Prateek Machiraju
aaf24e2552 [wpilib] Fix initial heading behavior in HolonomicDriveController (#3290) 2021-04-18 21:00:11 -07:00
Peter Johnson
0abf6c9045 [wpilib] Move motor controllers to motorcontrol package (#3302) 
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.
 2021-04-17 11:27:16 -07:00
Peter Johnson
b7b178f49c [wpilib] Remove Potentiometer interface 2021-04-13 22:40:55 -07:00
Peter Johnson
687066af3d [wpilib] Remove GyroBase 2021-04-13 22:40:55 -07:00
Peter Johnson
6b168ab0c8 [wpilib] Remove PIDController, PIDOutput, PIDSource 
Move them to the old commands vendordep so that PIDCommand and PIDSubsystem
continue to work.

This also removes Filter and LinearDigitalFilter.
 2021-04-13 22:40:55 -07:00
Peter Johnson
3abe0b9d49 [cscore] Move java package to edu.wpi.first.cscore (#3294) 
This is more consistent with the other Java packages, and also is more
correct, as we own the first.wpi.edu domain but not the full wpi.edu domain.
 2021-04-10 11:42:41 -07:00
Peter Johnson
d7fabe81fe [wpilib] Remove RobotDrive (#3295) 
This has been deprecated for several years, and its functionality has been
completely superseded by other drive classes (DifferentialDrive et al).
 2021-04-10 10:28:32 -07:00
Peter Johnson
1dc81669c2 [wpilib] Remove GearTooth (#3293) 
This sensor has had zero usage for many years and was last in the KOP
over a decade ago.  There are much better rotation sensors available,
and it's no longer worth maintaining this class.
 2021-04-10 10:28:05 -07:00
Peter Johnson
01d0e12603 [wpilib] Revert move of RomiGyro into main wpilibc/j (#3296) 
This reverts commit 69e8d0b65d (#3143).

We haven't released a version with this yet, and plan to make a vendor
library instead.
 2021-04-10 10:27:44 -07:00
Starlight220
f57c188f2e [wpilib] Add AnalogEncoder(int) ctor (#3273) 2021-04-02 08:26:41 -07:00