Java generics are too limited to do what we need. This refactors generic code previously in Unit and Measure into unit-specific classes that can have unit-safe math operations (notably, times and divide) that can return values in known units instead of a wildcarded Measure<?>.
Unit-specific measure implementations are automatically generated by ./wpiunits/generate_units.py, which generates generic interfaces and mutable and immutable implementations of those interfaces. These make up the bulk of the diff of this PR (approximately 9300 LOC).
This also adds units for angular and linear velocities, accelerations, and momenta; moment of inertia; and torque.
Fixes error when >3 are constructed- in java, m_filterAllocated[index] would be evaluated before the bounds check and throw IndexOutOfBounds, in c++ a vague assertion error would be thrown.
Makes DoAdd static in c++
Makes the error message when HAL_SetFilterSelect fails consistent with java
That behavior has not been present since PR #4158 was merged more than 2 years ago and imo should not be added back because it was surprising and not consistent with the most common use case of registering a callback permanently.
If one of the *Init() functions takes several multiples of the nominal
loop time, the callbacks after that will run, then increment their
expiration time by the nominal loop time. Since the new expiration time
is still in the past, this will cause the callback to get repeatedly run
in quick succession until its expiration time catches up with the
current time.
This change keeps incrementing the expiration time until it's in the
future, which will avoid repeated runs. This doesn't delay other
callbacks, so they'll get a chance to run once before their expiration
times are corrected.
The other option is correcting all the expiration times at once, which
would starve the other callbacks even longer so that the callback
scheduling returns to a regular cadence sooner. The problem with this
approach is if a previous callback overruns the start of the next
callback, the next callback could potentially never get a chance to run.
Add LEDReader and LEDWriter helper interfaces to facilitate composing simple patterns into more complex ones, e.g. LEDPattern.solid(Color.kBlue).breathe(Seconds.of(0.75)). Pattern composition relies on changing out the write behavior; for example, offsetBy increments the indexes to write to; while blink will switch between playing a base pattern and turning off all the LEDs.
Add a view class for splitting a single large buffer into smaller distinct sections, which is useful for dealing with long chained LED strips mounted on different parts of a robot. Views cannot be written directly to an LED strip (in fact, trying to do so won't even compile).
Adds some utility methods to the Color class for interpolating between two colors, and support color representations with 32-bit integers to avoid object allocations.
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Uses enhanced instanceof (and simplify equals methods)
Uses switch expressions and arrow labels
Seal and finalize some Shuffleboard classes
Co-authored-by: Sam Carlberg <sam@slfc.dev>
This is to allow 3rd party sim providers (eg vendors) to subclass this class so that the register methods of their sim classes can return CallbackStores like the builtin sims.
Although it was already possible to create such a subclass but passing dummy parameters to one of the other constructors, this eliminates the need to pass such dummy parameters and makes it clearer that subclassing is allowed.
This is a cleanup of the FlywheelSim class with a few added features.
- One FlywheelSim constructor that takes a plant, DCMotor, and a optional number of measurementStdDevs. The documentation now states how to construct the plant either through LinearSystemId.createFlywheelSystem or identifyVelocitySystem.
- The gearbox, gearing and moment of Inertia (J) are now private final fields. The gearing is determined from the plant in the constructor as well as the moment of inertia. There are getter methods that allow the flywheelSim to return the gearbox, gearing, and moment of inertia.
- The getCurrentDrawAmps function now uses m_x instead of getAngularVelocityRadPerSec in accordance with more accuracy and matches the patter in other sims.
- Added getter methods for the InputVoltage, angularAcceleration and torque
- (Java only) A third getter method for returning the AngularVelocity of the flywheel using a MutableMeasure as a backing field that is set when getAngularVelocity is called. This summarily returns the angularVelocity as just a Measure object. This allows the user of this class to handle unit conversions with less numerical manipulation. Alterations in C++ for this feature were not needed.
Modified Java constructors to take a variable number of measurement std devs argument with checks in place to make sure the right amount (or none) are passed into the constructor. All changes passed down to classes utilizing LinearSystemSim.
Removed excess constructors
Removed Java and C++ CurrentDrawAmps method as it doesn't belong in a generic (non electrical) linear system. Kept a non override version in all derived electrical classes.
Also LinearSystemSim has now been made agnostic to electrical systems. Inputs don't have to be voltage. BatteryVoltage clamp function has been pushed down to electrical subclasses.
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
DataLog is now a base class, with DataLogBackgroundWriter being the
background thread version and DataLogWriter being a non-threaded version.
Also split the C header into a separate file to make it more wpiformat friendly.
