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Author SHA1 Message Date
Peter Johnson
3d9152a461 [hal] Raise SIGKILL instead of calling abort() (#6427) 
We don't need to generate a core dump here if core dumps are enabled.
 2024-03-10 20:32:54 -07:00
Peter Johnson
fbd239d15e [sim] GUI: Use shift to enable docking features (#6429) 2024-03-10 20:29:20 -07:00
Tyler Veness
7cd4a75323 [sysid] Fix crash on negative feedforward gains (#6425) 
LinearSystemId's linear system factories throw on negative feedforward
gains, but SysId can compute the feedback gains just fine in that case.
Now we construct the system manually instead.

Fixes #6423.
 2024-03-10 17:43:02 -07:00
Tyler Veness
973bb55e66 [wpimath] LinearSystemId: Don't throw if Kv = 0 (#6424) 
That's just a system with no back-EMF.
 2024-03-10 08:11:18 -07:00
DeltaDizzy
7bd8c44570 [wpimath] Add structured data support for DifferentialDriveWheelPositions (#6412) 2024-03-09 10:09:02 -08:00
Peter Johnson
38c128fe6a Merge branch 'main' into development 2024-03-09 09:57:55 -08:00
Peter Johnson
18e57f7872 [wpilibj] Call abort() on Rio on caught Java exception (#6420) 
On Rio, we simply want to restart the robot program as quickly as possible,
and don't want to risk a hang somewhere that will keep that from happening.

The main downside of this is it won't wait for threads to finish (e.g. data logs won't get a final flush).
 2024-03-09 09:55:49 -08:00
Tyler Veness
ccb4cbed63 [sysid] Fix arm characterization crash (#6422) 
Fixes #6421.
 2024-03-09 09:54:37 -08:00
Thad House
c19ee8b0fe [wpiutil, hal] Crash on failure for SetupNowRio() and wpi::Now() when not configured (#6417) 
This is an unrecoverable condition, so always terminate.
 2024-03-08 00:26:53 -08:00
Tyler Veness
e64c20346d [examples] Remove unused private variables (#6403) 2024-02-28 19:58:15 -08:00
Peter Johnson
f1a1ffd7fc [wpiutil] Rate-limit FPGA error from Now() (#6394) 2024-02-25 11:25:46 -08:00
Peter Johnson
c27ddf5ef9 [ci] Windows cmake: update vcpkg version (#6397) 
We need fmtlib 10.2.1 to work around a compiler bug.

Also, reducing the number of jobs is no longer required with Actions runner upgrades.
 2024-02-24 18:55:10 -08:00
Dean Brettle
8b669330eb [sysid] Fix position feedback latency compensation (#6392) 2024-02-23 14:13:43 -08:00
Tyler Veness
ca6e307ea5 [ci] Upgrade wpiformat (#6395) 2024-02-23 14:12:28 -08:00
DeltaDizzy
607682b687 [wpiunits] Fix Distance class javadocs to state the correct dimension (NFC) (#6363) 2024-02-19 12:58:56 -08:00
Peter Johnson
4b94a64b06 [glass] Fix FMS game data display and editing (#6381) 
Also don't require Enter for editing game data or match time.
v2024.3.1 		2024-02-18 16:29:58 -08:00
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
Joseph Eng
0ad6b3acb3 [apriltag] Add AprilTagFieldLayout.loadField() (#6377) 2024-02-17 21:12:59 -08:00
Eli Barnett
02aed35c6e [sysid] Relax peak acceleration search (#6378) 2024-02-17 21:12:00 -08:00
Peter Johnson
a8a352ed8c [ntcore] Add hidden subscribe option (#6376) 
This allows creating subscribers that aren't communicated with the network.
 2024-02-17 00:40:14 -08:00
Peter Johnson
0cdab55e5b [ntcore] Don't send value update to client setting value (#6375) 2024-02-16 14:18:07 -08:00
Thad House
ba15844c28 [hal,wpiutil] Error out of HAL_Initialize if SetupRioNow fails (#6374) 2024-02-15 22:57:06 -08:00
shueja
6afff99640 [wpimath] ExponentialProfile: Return copy of input state (#6370) 
As State is mutable, this avoids accidental modification of the passed-in object by the caller modifying the return value.
 2024-02-15 16:32:51 -08:00
Tyler Veness
d4d0545dc1 [apriltag] Fix field length in 2024 JSON (#6373) 
Fixes #6371
 2024-02-15 10:42:03 -08:00
Thad House
9ed0631ec9 [cscore] Add BGRA support (#6365) 2024-02-12 23:42:17 -08:00
Thad House
fb947fe998 [cscore] Use Raw for CvSink and CvSource (#6364) 
Eventually we want to get to a point where we can remove OpenCV from the internals of cscore. The start to doing that is converting the existing CvSource and CvSink methods to RawFrame.

For CvSource, this is 100% a free operation. We can do everything the existing code could have done (with one small exception we can fairly easily fix).

For CvSink, by defaut this change would incur one extra copy, but no extra allocations. A set of direct methods were added to CvSink to add a method to avoid this extra copy.
 2024-02-12 22:33:03 -08:00
Joe Wildfong
6b6a55b72e [build] Fix tcpsockets header publishing (#6367) 2024-02-12 19:44:31 -08:00
fodfodfod
1e168f363e [wpimath] Feed forwards: Use correct 'k' value in error message (#6360) 2024-02-11 10:42:04 -08:00
DeltaDizzy
da3abade83 [examples] Add angular subsystem to SysIdRoutine example (#6297) 
Co-authored-by: Tim Winters <twinters@wpi.edu>
 2024-02-10 10:44:57 -08:00
Asa Paparo
62cba9a4d3 [wpimath] Add vector projection and geometry vector conversions (#6343) 2024-02-10 10:43:58 -08:00
N0tACyb0rg
3207795d0d [wpimath] Add lastValue() method to filters (#6351) 2024-02-10 10:43:23 -08:00
Joseph Eng
e506e09a06 [wpilibc] Const-qualify SendableChooser::GetSelected() (#6356) 2024-02-10 10:42:53 -08:00
Joseph Eng
163f7ee704 [wpilibc] SendableChooser: Remove unusable std::unique_ptr case (#6357) 2024-02-10 10:41:57 -08:00
Thad House
e9c744c456 [wpimath] Quaternion::Log(): Remove duplicate calls to norm() (#6358) 2024-02-10 10:41:19 -08:00
Kython89
300419c151 [wpilibc] SysIdRoutineLog: Initialize m_stateInitialized (#6359) 
This caused non-deterministic behavior as to if the `sysid-test-state-` will appear in the log.
 2024-02-10 10:40:38 -08:00
Tyler Veness
1db3936965 [wpimath] Remove unused include from RamseteController.cpp (#6346) 2024-02-05 22:43:50 -08:00
Tyler Veness
4f9d73783b [wpimath] Make units math functions constexpr (#6345) 2024-02-05 22:43:12 -08:00
Tyler Veness
3b2a2381b6 [ci] Upgrade to new macOS runner (#6328) 2024-02-04 10:38:23 -08:00
Ryan Blue
6cc7e52de7 [commands] TrapezoidProfileSubsystem: Fix incorrect ordering of parameters (#6338) 2024-02-01 20:24:43 -08:00
Sam Carlberg
d4533a8900 [wpilibj] AddressableLEDBuffer: Add methods for reading individual RGB values (#6333) 
This avoids the allocation/GC overhead of returning a Color8 value.

Also add an indexed iterator forEach to loop over the entire buffer.
 2024-02-01 14:01:53 -08:00
vichik
90bb6cfffa [wpiunits] Fix measure isNear function (#6313) 
Now the function allows comparison between negative numbers, positive numbers or both.
 2024-01-31 13:18:47 -08:00
Ryan Blue
cb094e4ff6 [examples] Don't reset encoders when resetting odometry (#6329) 2024-01-31 13:18:07 -08:00
Isaac Turner
60c6ed9812 [ci] Bump python, java and react script versions (#6325) 2024-01-31 13:17:41 -08:00
Tim Winters
ee15cc172a [commands] Reset timer in quasistatic SysIdRoutine test (#6322) 2024-01-27 23:51:00 -08:00
Joseph Eng
1016e95242 [examples] Fix memory leak in C++ controller command examples (#6306) 2024-01-27 23:49:41 -08:00
Sam Carlberg
19f1903959 [wpiunits] Add singularized aliases for built in units (#6323) 2024-01-27 23:47:59 -08:00
DeltaDizzy
53ebb6679e [examples] Move triggers to subsystem fields (#6318) 2024-01-27 23:47:06 -08:00
Tyler Veness
177132fa2a Replace C++ unit .to<double>() with .value() (#6317) 
The latter is shorter and is what we use everywhere else.
 2024-01-27 07:58:25 -08:00
Thad House
bbb230491a Force cpp files to be LF line endings (#6319) 
Just marking a file as text will cause git to override the local core.autocrlf setting, and assume you want it to be true, which isn't what you want.
 2024-01-26 23:20:51 -08:00
Tyler Veness
84ef71ace0 [wpimath] Make Rotation2d implicitly convert from any angle unit (#6316) 
Add unit category concepts to support this.
 2024-01-26 12:49:22 -08:00