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298 Commits

Author SHA1 Message Date
Tyler Veness
d88c71ffdc [wpiutil] Upgrade to fmt 10.2.1, add wpi::print (#6161) 
We now use a wrapper (wpi::print) to catch exceptions since we can't patch
std::print() to not throw when we ultimately migrate to it.

fmtlib and std format/print throw the same exceptions and always have. We previously patched fmt::print() to not throw a write failure exception, but we can't do that for std::print(); wpi::print() is the migration plan.
 2024-05-12 06:25:42 -07:00
Kaya
408980462f [commands] CommandScheduler: Provide function to print watchdog epochs (#6582) 2024-05-06 15:53:14 -07:00
Tim Winters
bad56bcbe8 [commands] Add StartRun command factory (#6572) 2024-05-03 12:40:13 -07:00
Tyler Veness
e172aa66f7 [wpimath] Java: add static instantiations of common rotations (#6563) 
C++ doesn't need this because it supports value types, which are much
cheaper to construct. constexpr is also available to make construction
zero-cost.
 2024-05-03 12:39:35 -07:00
Drew Williams
0afc35f336 [commands] Fix C++ SysIdRoutine crashing when passed nullptr or {} (#6508) 
Flattens parameter from a `std::optional<std::function<...>>` to just a `std::function<...>`.  This is a breaking change but a trivial one for teams to fix.
 2024-05-01 09:09:15 -07:00
Tyler Veness
5359112b15 [wpimath] Deprecate RamseteController (#6494) 
LTVUnicycleController is a drop-in replacement with better tuning knobs.

The RamseteCommand examples were removed instead of retrofitted with
LTVUnicycleController because we're planning on removing the command
controller classes anyway, so it would be wasted effort. The
SimpleDifferentialDriveSimulation example shows direct
LTVUnicycleController usage.
 2024-04-29 22:01:42 -07:00
DeltaDizzy
a9cfd0d0f9 [commands] Deprecate proxy supplier constructor (#6553) 2024-04-29 21:11:29 -07:00
Isaac Turner
0f8aa8aedf [commands] Remove CommandBase (#6545) 2024-04-28 12:04:51 -07:00
Isaac Turner
67fe11f9cd [commands] Rename deadlineWith to deadlineFor (#6544) 
Deprecate deadlineWith for backwards compatibility.
 2024-04-28 12:02:29 -07:00
DeltaDizzy
1e4a647918 [commands] Disambiguate ProxyCommand and DeferredCommand (#6324) 2024-04-27 22:41:04 -07:00
Isaac Turner
5edc652c05 [commands] Fix multiple C++ warnings (#6546) 2024-04-27 21:07:50 -07:00
Isaac Turner
d9eb3691d8 [commands] Remove deprecated TrapzoidProfileCommand api (#6547) 2024-04-27 21:07:23 -07:00
Jacob Hotz
dc4c63568a [commands] Add Trigger.onChange() (#6390) 2024-04-21 22:37:15 -07:00
Isaac Turner
d7dfa63ae9 [commands] WaitCommand: add Measure<Time> overload (#6386) 
Also add waitTime() factory.
 2024-04-21 22:34:52 -07:00
DeltaDizzy
7bc0380694 [commands] WrappedCommand: Call wrapped command initSendable (#6471) 2024-04-21 20:30:43 -07:00
Starlight220
98d2f45fa9 [commands] Fix double composition error truncation (#6501) 2024-04-21 20:28:04 -07:00
Peter Johnson
33f12f0e31 Revert "[commands] Cache button and POV triggers" 
Also revert the associated formatting commit.  This was an accidental merge.
This reverts commit ff929d4a5f.
This reverts commit 2392c9f278.
 2024-03-26 00:08:07 -07:00
Tyler Veness
2392c9f278 Run java format (#6462) 2024-03-22 09:50:28 -07:00
Peter Johnson
0dbdbb2aac Merge branch 'main' into development 2024-03-20 22:54:42 -07:00
Peter Johnson
ff929d4a5f [commands] Cache button and POV triggers 
This is a common footgun for teams.
 2024-03-20 22:52:12 -07:00
Tyler Veness
5370f249a1 [build] Upgrade to wpiformat 2024.33 (#6449) 
This upgrades to clang-format and clang-tidy 18.1.1. This has the
constructor attribute formatting fix, so we can remove our
WPI_DEPRECATED macro.
 2024-03-18 23:11:20 -07:00
person4268
0b13459469 [commands] Trigger: pass m_loop to new Trigger in composition functions (#6441) 2024-03-15 12:05:48 -07:00
Thad House
63d9e945b8 [hal] HAL_RefreshDSData: Zero out control word on DS disconnect, use cache in sim (#6380) 2024-02-18 14:30:40 -08:00
Ryan Blue
6cc7e52de7 [commands] TrapezoidProfileSubsystem: Fix incorrect ordering of parameters (#6338) 2024-02-01 20:24:43 -08:00
Tim Winters
ee15cc172a [commands] Reset timer in quasistatic SysIdRoutine test (#6322) 2024-01-27 23:51:00 -08:00
Isaac Turner
47652d7a3c [commands] Remove unused headers (#6300) 2024-01-23 21:27:24 -08:00
Asa Paparo
19c1556472 [commands] Fix SysIdRoutine naming (#6277) 
Previously, this used mechanism.m_subsystem.getName(), instead of mechanism.m_name, meaning differently named SysId routines from the same subsystem would clobber each other when logged.
 2024-01-20 22:10:19 -08:00
Tyler Veness
b482321c0d [commands] Replace SysId hash map with if statements (#6209) 
This is much more efficient.
 2024-01-12 12:36:59 -08:00
Tyler Veness
67e8306819 gitattributes: Mark C++ source files as text (#6210) 
Some C++ files had been checked in with CRLF line endings.
This fixes those and also fixes future commits.
 2024-01-12 10:53:56 -08:00
Eli Barnett
a2e4d0b15d [docs] Fix docs for SysID routine (#6164) 2024-01-05 22:05:09 -08:00
Tyler Veness
f94e3d81b9 [docs] Fix SysId routine JavaDoc warnings (#6159) 2024-01-05 16:03:52 -08:00
Tyler Veness
6bed82a18e [wpilibc] Clean up C++ SysId routine (#6160) 2024-01-05 15:22:52 -08:00
Eli Barnett
707cb06105 [wpilib] Add SysIdRoutine logging utility and command factory (#6033) 
Co-authored-by: Drew Williams <williams.r.drew@gmail.com>
Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2024-01-05 11:50:23 -08:00
Tyler Veness
f29a7d2e50 [docs] Add missing JavaDocs (#6146) 2024-01-04 08:38:06 -08:00
Tyler Veness
6e58db398d [commands] Make Java fields private (#6148) 
They were already private in C++ and probably shouldn't be exposed. This
also means we don't need to write redundant documentation for them.
 2024-01-04 00:57:52 -08:00
Tyler Veness
ad0859a8c9 [docs] Add missing JavaDocs (#6125) 2024-01-01 22:56:23 -08:00
Tyler Veness
e07de37e64 [commands] Mark ParallelDeadlineGroup.setDeadline() final (#6102) 
Suppress this-escape warning.
 2023-12-27 09:51:16 -06:00
Joseph Eng
8aeee03626 [commands] Improve error message when composing commands twice in same composition (#6091) 
Also disallow deadline command from also appearing in other commands.
 2023-12-26 18:07:16 -08:00
Joseph Eng
7aa9ad44b8 [commands] Deprecate C++ TransferOwnership() (#6095) 
It has been completely replaced with ToPtr().
 2023-12-26 15:14:34 -06:00
Ryan Blue
ef1cb3f41e [commands] Fix compose-while-scheduled issue and test all compositions (#5581) 2023-12-23 12:12:13 -08:00
NC GEARS FRC 1918
c1178d5add [wpilib] Add StadiaController and command wrapper (#6083) 2023-12-23 08:15:05 -08:00
ncorrea210
4e4a468d4d [wpimath] Make feedforward classes throw exceptions for negative Kv or Ka (#6084) 2023-12-23 08:12:46 -08:00
Eli Barnett
a004c9e05f [commands] SubsystemBase: allow setting name in constructor (#6052) 2023-12-16 11:05:53 -08:00
Tyler Veness
192a28af47 Fix JDK 21 warnings (#6028) 2023-12-09 21:45:02 -08:00
Starlight220
a770110438 [commands] CommandCompositionError: Include stacktrace of original composition (#5984) 2023-12-09 09:45:02 -08:00
Tyler Veness
2bb1409b82 Clean up Java style (#5990) 
Also make equivalent changes in C++ where applicable.

Co-authored-by: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
 2023-12-03 16:21:32 -08:00
Starlight220
5172ab8fd0 [commands] C++ CommandPtr: Prevent null initialization (#5991) 2023-12-02 16:45:04 -08:00
Ryan Blue
1144115da0 [commands] Add GetName to Subsystem, use in Scheduler tracer epochs (#5836) 2023-11-30 23:10:53 -08:00
DeltaDizzy
09f3ed6a5f [commands] Add static Trigger factories for robot mode changes (#5902) 2023-11-14 15:54:43 -08:00
Tyler Veness
c1a57e422a [commands] Clean up make_vector.h (#5917) 2023-11-12 20:23:34 -08:00