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693 Commits

Author SHA1 Message Date
Tyler Veness
e09293a15e [wpilibc] Transition C++ classes to units::second_t (#3396) 
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.
 2021-05-28 22:06:59 -07:00
Peter Johnson
4e2c3051be [wpilibc] Use std::string_view instead of Twine (#3380) 
Use fmtlib where needed for string formatting into std::string_view.
 2021-05-26 17:44:18 -07:00
Peter Johnson
50915cb7ed [wpilibc] MotorSafety::GetDescription(): Return std::string (#3390) 
This is only called in an error condition, so it's not necessary to over
optimize it.
 2021-05-26 07:25:32 -07:00
Tyler Veness
f4e2d26d58 [wpilibc] Move NullDeleter from frc/Base.h to wpi/NullDeleter.h (#3387) 
frc/Base.h was also deleted because it's now empty.
 2021-05-26 07:24:53 -07:00
Peter Johnson
cb0051ae60 [wpilibc] SimDeviceSim: use fmtlib (#3389) 
Also clean up several sim classes to use the channel constructor.
 2021-05-26 07:23:13 -07:00
Tyler Veness
a238cec12b [wpiutil] Deprecate wpi::math constants in favor of wpi::numbers (#3383) 
The constants were moved from std::math to std::numbers before
ratification in C++20.
 2021-05-26 00:09:36 -07:00
Tyler Veness
7e1b27554c [wpilibc] Use default copies and moves when possible (#3381) 
The removal of ErrorBase allowed the defaults to be used in more places.
 2021-05-25 20:54:39 -07:00
Peter Johnson
a04d1b4f97 [wpilibc] DriverStation: Remove ReportError and ReportWarning 
Change use cases to directly call FRC_ReportError.
 2021-05-25 10:04:32 -07:00
Peter Johnson
831c10bdfc [wpilibc] Errors: Use fmtlib 2021-05-25 10:04:32 -07:00
Peter Johnson
2385c2a430 [wpilibc] Remove Utility.h (#3376) 
Change last 2 uses of wpi_assert to throw error instead.
 2021-05-23 15:25:08 -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
Peter Johnson
3fe8fc75aa [wpilibc] Revert "Return reference from GetInstance" (#3342) 
This reverts commit a79faace1b.

This change will be superseded in a non-breaking way by changing to static functions and deprecating GetInstance() entirely.
 2021-05-09 18:16:07 -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
Thad House
3c08461685 [hal] Use last error reporting instead of PARAMETER_OUT_OF_RANGE (#3328) 
Makes the error messages much more specific to each error.
 2021-05-01 13:22:08 -07:00
Thad House
23d2326d1d [hal] Report previous allocation location for indexed resource duplicates (#3322) 2021-05-01 10:28:30 -07:00
Tyler Veness
65c148536d [wpilibc] Fix "control reaches end of non-void function" warning (#3324) 2021-05-01 07:05:21 -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
Thad House
5127380727 [hal] Add HAL_GetLastError to enable better error messages from HAL calls (#3320) 
This uses thread local storage so a full error string can be provided, not just an error code.
 2021-04-29 09:56:54 -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
8d961dfd25 [wpilibc] Remove ErrorBase (#3306) 
Replace with new exception-based error reporting, consistent with Java.
This also builds stacktraces into the reporting/exceptions.
 2021-04-18 20:35:29 -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
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
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
Peter Johnson
79267f9e60 [ntcore] Remove NetworkTable -> nt::NetworkTable shim 2021-04-08 22:35:28 -07:00
Starlight220
f57c188f2e [wpilib] Add AnalogEncoder(int) ctor (#3273) 2021-04-02 08:26:41 -07:00
Prateek Machiraju
8471c4fb26 [wpilib] FieldObject2d: Add setTrajectory() method (#3277) 2021-04-01 22:08:07 -07:00
Peter Johnson
c97acd18e7 [glass] Field2d enhancements (#3234) 
- Add raw support for pose lists > 255/3 in length
- Improve drag selection, especially with closely overlapping objects
- Drag selection of corner also highlights center of object with smaller circle
- Multiple styles (box, line, closed line, track)
- Configurable line and arrow settings (color, weight)
- Add tooltip for object name, index, x, y, rotation
- Context menu for pose edit/add/remove
- View/edit in feet or inches as well as meters
- Configurable object selectability

Implementation: use vector of Pose2d internally, use units
 2021-03-27 13:34:44 -07:00
Prateek Machiraju
ffb590bfcc [wpilib] Fix Compressor sendable properties (#3269) 2021-03-26 21:20:54 -07:00
Peter Johnson
a79faace1b [wpilibc] Return reference from GetInstance (#3247) 
Improves consistency across all classes.

Affects Preferences, LiveWindow, and CameraServer.

Old commands Scheduler::GetInstance() was not updated as this is already
deprecated.
 2021-03-21 11:13:49 -07:00
Peter Johnson
9550777b9d [wpilib] PWMSpeedController: Use PWM by composition (#3248) 
This cleans up the user experience by removing lower-level functions from the
interface.

Also remove MotorSafety from "raw" PWM.
 2021-03-21 11:12:49 -07:00
Peter Johnson
8afa596fdf [wpilib] Remove deprecated Sendable functions and SendableBase (#3210) 2021-03-19 13:41:11 -07:00
Tyler Veness
3cf44e0a53 [hal] Add function for changing HAL Notifier thread priority (#3218) 2021-02-28 22:05:26 -08:00
Starlight220
959611420b [wpilib] Require non-zero positive value for PIDController.period (#3175) 2021-02-16 18:07:29 -08:00
Starlight220
d241bc81ae [sim] Add DoubleSolenoidSim and SolenoidSim classes (#3177) 2021-02-16 18:03:57 -08:00
Tyler Veness
cb7f39afa1 [wpilibc] Add RobotController::GetBatteryVoltage() to C++ (#3179) 
This function already exists in Java.
 2021-02-16 18:03:25 -08:00
Starlight220
d447c7dc32 [sim] Add SimDeviceSim ctor overloads (#3134) 
Better parallelism with SimDevice.create(), so teams don't have to mess with concatenating the index/channel themselves.
 2021-02-12 22:17:13 -08:00
Zhiquan Yeo
69e8d0b65d [wpilib] Move RomiGyro into main wpilibc/j (#3143) 2021-02-12 22:14:29 -08:00
Prateek Machiraju
f82aa1d564 [wpilib] Fix HolonomicDriveController atReference() behavior (#3163) 
The atReference() method previously used the rotation error between the
desired trajectory state and the current pose. This was a bug because we
allow teams to use custom rotation setpoints and that wasn't being taken
into account.
 2021-02-12 22:11:57 -08:00
Matt
406d055f07 [wpilib] Fixup wouldHitLowerLimit in elevator and arm simulation classes. (#3076) 
Closes #3050.
 2021-01-14 00:28:00 -08:00
Peter Johnson
bc80c55353 [hal] Add SimValue reset() function (#3064) 
This enables correct behavior for resetting incremental sensor values like
encoder counts or gyro accumulated angle with WebSockets.
 2021-01-12 00:38:58 -08:00
Peter Johnson
9c3b51ca0f [wpilib] Document simulation APIs (#3079) 
- Remove sim checkstyle suppression
- Add [[nodiscard]] to C++ register callback functions
- Add a couple of missing sim functions

Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
Co-authored-by: Starlight220 <yotamshlomi@gmail.com>
 2021-01-11 21:55:45 -08:00
Dustin Spicuzza
64e72f7103 [wpilibc] Add missing function RoboRioSim::ResetData (#3073) 2021-01-10 22:50:25 -08:00