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cbd08a1e117f5f395c028e0cd71f784119cf2358
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54 Commits

Author SHA1 Message Date
sciencewhiz
cbd08a1e11 Add tests for equivilance of RobotDrive and DifferentialDrive/MecanumDrive (#732) 
Add documentation for how to get same results as RobotDrive and improve
RobotDrive documentation
 2017-11-29 21:41:00 -08:00
sciencewhiz
e308dd28f3 Fix javadoc link in Solenoid.java (#789) 2017-11-29 21:33:29 -08:00
Tyler Veness
34c44b7ae9 Improved Drive docs and fix implementation bugs (#774) 
I also found some inconsistencies in MecanumDrive and KilloughDrive and fixed
them.

Drive now uses the NED axes convention. Therefore, the positive X axis points
ahead, the positive Y axis points to the right, and the positive Z axis points
down.

Translation in X assumes forward is positive. Translation in Y assumes right is
positive. Rotation rate assumes clockwise is positive. Angles are measured
clockwise from the positive X axis.

Based on the angle origin convention, DrivePolar() for both Mecanum and Killough
needed the normalization removed, sine used to compute the Y component, and
cosine used to compute the X component.

The vector rotation done in DriveCartesian() needs to rotate by a negative angle
instead of positive to undo the robot's rotation. RobotDrive assumed a clockwise
angle and sensors returned counter-clockwise angles, which is why it used a
positive angle for rotation.
 2017-11-26 18:36:51 -08:00
sciencewhiz
7a250a1b93 Implement PCM One Shot feature. Fixes artf4731 (#539) 2017-11-26 12:55:21 -08:00
Caleb Smith
a338ee8be0 Add PIDController Wrapping (#601) 2017-11-25 21:15:33 -08:00
Tyler Veness
5c659fdcdf Deprecated PIDController::SetTolerance() (#764) 
PIDController::SetPercentTolerance() behaves identically to it, so removing
SetTolerance() leaves one obvious way to do absolute or percent tolerance.
 2017-11-23 01:21:36 -08:00
Thad House
d36d72bd4f Fixes MotorSafetyHelper locking and race conditions (#762) 
Closes #760
 2017-11-23 00:36:57 -08:00
sciencewhiz
614093c0c4 Fix documentation for getMatchTime in Timer class to match DriverStation (#761) 2017-11-23 00:19:05 -08:00
Caleb Smith
0431cf97ff Cleanup PIDController (#597) 2017-11-22 18:56:35 -08:00
Tyler Veness
85157a56c3 CircularBuffer now uses an idiomatic interface in C++ and Java (#421) 2017-11-22 17:04:57 -08:00
Tyler Veness
05e581f409 Fixed crash in wpilibj SampleRobot (#753) 
robotInit() and HAL.observeUserProgramStarting() should be called in
startCompetition() rather than the constructor.

Fixes #752.
 2017-11-19 22:47:39 -08:00
Tyler Veness
259461aee9 Added PIDController::GetAvgError() back in (#749) 
It got removed during the LinearDigitalFilter change (#38) instead of deprecated
by mistake.
 2017-11-19 18:23:48 -08:00
Peter Johnson
d214b36786 Change HAL notifier to polling. (#627) 
This moves the thread code to the WPILib layer, fixing various potential
races and significantly simplifying the HAL implementation.
 2017-11-19 17:58:40 -08:00
Tyler Veness
4a07f0380f PIDController class now uses LinearDigitalFilter for filtering velocity instead of internal queue (#38) 2017-11-19 15:58:30 -08:00
Peter Johnson
a20474bfc7 Update sensors to not use direct byte buffers. 2017-11-17 09:36:57 -08:00
Peter Johnson
479d0beb5a SerialPort: Use byte[] instead of ByteBuffer in JNI. 2017-11-17 09:36:57 -08:00
Peter Johnson
b93aa176d6 AnalogInput: Remove byte buffer usage. 2017-11-17 09:36:57 -08:00
Peter Johnson
9021b37fd2 I2C: Provide byte[] JNI interfaces. 
This avoids a direct byte buffer allocation on every read/write/transaction
on the byte[] variants.

Changes HAL I2C interfaces to use const for dataToSend.
 2017-11-17 09:36:57 -08:00
Peter Johnson
6307d41002 SPI: Provide byte[] JNI interfaces. 
This avoids a direct byte buffer allocation on every read/write/transaction
for the byte[] variants.

Also change spiGetAccumulatorOutput() to directly set the AccumulatorResult
object, avoiding a ByteBuffer allocation.

Changes HAL SPI interfaces to use const for dataToSend.

Fixes #733.
 2017-11-17 09:36:57 -08:00
Thad House
dd7563376b Force load OpenCV and cscore libraries on program initialization (#716) 
Fixes bugs where Mat's are initialized before anything cscore was
called.
 2017-11-14 22:04:53 -08:00
Tyler Veness
14fcf3f2f0 Simplified PIDController integration logic (#645) 
A clamp() helper function was written based on C++17's std::clamp().
 2017-11-13 22:28:55 -08:00
Thad House
7bbd13d914 Adds match specific calls to Java and C++ (#720) 
Uses caching, matching the joystick calls.
 2017-11-09 19:59:29 -08:00
Tyler Veness
7efab4c43a Replaced ternary operators with if statements (#346) 
Instances of the ternary operator were replaced with if statements to make the code base more consistent.
 2017-11-08 23:44:03 -08:00
Peter Johnson
f3cd883c5c Add Nidec Brushless motor. (#705) 2017-11-08 23:40:01 -08:00
Tyler Veness
8b2e656bde Fixed Java velocity PID not calculating result when P = 0 (#717) 2017-11-08 21:28:09 -08:00
Thad House
f4dce9e608 Fixes receive size in Java I2C (#715) 
Allows underrun, which matches c++ behavior.

Fixes #711
 2017-11-07 18:43:23 -08:00
Sam Carlberg
237b2df82f Add .type metadata to preferences table (#701) 
Allows shuffleboard to automatically discover the type, instead of inflexibly hardcoding it
 2017-10-30 21:50:49 -07:00
Peter Johnson
a70687aaec Improve error reporting for the new TCP netconsole. (#700) 
Fixes #695.
 2017-10-30 21:50:14 -07:00
Tyler Veness
595b1df380 Fixed minimum number of joystick axes (#696) 2017-10-29 17:21:50 -07:00
Thad House
efc7770e9b Fixes NPE in DriverStation initialization (#694) 
Introduced by #626.
 2017-10-27 23:16:42 -07:00
Tyler Veness
21585f70a8 Added functions for detecting button press and release events (#626) 
I also shuffled around the HID interfaces to be more intuitive, deprecated some
Joystick and XboxController member functions, and deprecated the JoystickBase
and GamepadBase classes.

Supersedes #89.
 2017-10-27 21:45:56 -07:00
sciencewhiz
12e96c6f13 Add usage reporting to CameraServer (#682) 2017-10-27 00:45:54 -07:00
Austin Shalit
b65447b6f5 Fix spelling typos (#595) 2017-10-27 00:44:51 -07:00
Thad House
a1ea448406 Adds JNI call to get CANStatus (#677) 
Call already existed in the HAL.
 2017-10-21 15:32:05 -07:00
Tyler Veness
9dc1de1d09 Specified angle units for Vector2d rotate() function. (#679) 
Fixes #676.
 2017-10-21 15:29:39 -07:00
Austin Shalit
2fc60680f4 Remove RedundantModifiers (#578) 2017-10-17 21:47:55 -07:00
Austin Shalit
877a9eae1f Add SpeedControllerGroup (#362) 2017-10-16 19:54:36 -07:00
Sam Carlberg
f0cc623241 Change metadata format to dotfile, make certain entries metadata (#666) 
Sendable's "Name" is now ".name"
Sendable's "Subsystem" is now ".subsystem"
Command's "name" is now ".name"
Command's "isParented" is now ".isParented"
 2017-10-11 20:27:49 -07:00
Jacob Caporuscio
ba3a85d0cc Changes TalonSRX to PWMTalonSRX in wpilibj and wpilibc. (#656) 
Also brings the java kResourceType list up-to-date with the cpp list.
 2017-10-11 12:01:50 -07:00
Tyler Veness
19addb04cf Split RobotDrive class into a class for each drive type (#552) 
DiffDrive.CurvatureDrive (aka CheesyDrive) and KilloughDrive were also added.
This reorganization paves the way for SwerveDrive.
 2017-09-28 23:30:00 -07:00
pjreiniger
db4981f166 Java now asks the HAL if it is a simulation or not (#647) 2017-09-23 07:56:53 -07:00
sciencewhiz
423d8f6860 Add missing usage reporting. (#639) 
Compressor C++/Java
Servo C++
 2017-09-19 21:17:27 -07:00
Peter Johnson
34c18ef000 Remove getTable from wpilibj Sendable interface. 
This allows nearly all m_table member variables to be removed.
 2017-09-06 22:29:04 -07:00
Peter Johnson
4e80570c4c Update wpilibj to use new NetworkTables package and interfaces. 
This may be breaking to CANSpeedController implementations.
 2017-09-06 22:29:04 -07:00
Peter Johnson
91529cc435 Update NetworkTables for new API. 
This fixes breakages due to the JNI move.

Depends on: https://github.com/wpilibsuite/ntcore/pull/204
 2017-09-06 22:29:04 -07:00
Peter Johnson
ef3267833f Fix IterativeRobot/TimedRobot RobotInit(). (#633) 
In C++, it's not legal to call a virtual function from within a constructor,
so the user override was never called (the base function is always called).

See https://isocpp.org/wiki/faq/strange-inheritance#calling-virtuals-from-ctors

While this is technically allowed in Java, also change Java for consistency.
 2017-09-05 23:57:26 -07:00
sciencewhiz
a5ef50c9e7 Add documentation for PeriodMultiplier (#632) 2017-09-04 22:03:02 -07:00
sciencewhiz
6eee457898 Renable javadoc fail on error (#631) 
Remove reference check and fix HTML error
 2017-09-03 14:10:40 -07:00
sciencewhiz
2d78fdabb8 Fix recieve typo in JNI names. (#629) 
Fixes #594
 2017-09-01 22:48:33 -07:00
Tyler Veness
f151892db5 Contents of copyright line now has more standard ordering (#585) 2017-08-24 00:06:13 -05:00