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203 Commits

Author SHA1 Message Date
Oblarg
d68d6674e8 [examples] Armbot: rename kCos to kG (#3975) 2022-01-31 00:16:26 -08:00
sciencewhiz
560094ad92 [examples] Correct Mecanum example axes (#3955) 2022-01-27 20:57:41 -08:00
modelmat
78d0bcf49d [templates] Add SimulationInit()/SimulationPeriodic() to robot templates (#3943) 2022-01-21 16:23:46 -08:00
Lenny Abbas
76c78e295b [examples] Reorder SwerveModules in SwerveControllerCommand example odometry update (#3934) 2022-01-21 11:04:43 -08:00
Lenny Abbas
5ba69e1af1 [examples] Updated type in Java SwerveModule (#3928) 
Changed turnOutput from var to double in SwerveModule. It doesn't make sense for driveOutput and turnOutput to have different types so they should both be doubles.
 2022-01-17 12:20:55 -08:00
modelmat
49455199e5 [examples] Use left/rightGroup.Get() for simulator inputs to fix inversions (#3908) 2022-01-14 23:54:20 -08:00
Starlight220
269cf03472 [examples] Add communication examples (e.g. arduino) (#2500) 
Co-authored-by: Andrew Dassonville <dassonville.andrew@gmail.com>
 2022-01-06 18:08:57 -08:00
Peter Johnson
0dca57e9ec [templates] romieducational: Invert drivetrain and disable motor safety (#3869) 2022-01-06 11:29:15 -08:00
Peter Johnson
05d66f862d [templates] Change the template ordering to put command based first (#3863) 
Previously it was a bit buried.
 2022-01-04 21:23:57 -08:00
Oblarg
b8d019cdb4 [wpilib] Rename NormalizeWheelSpeeds to DesaturateWheelSpeeds (#3791) 2021-12-30 18:30:08 -08:00
sciencewhiz
1e82595ffb [examples] Fix arcade inversions (#3841) 
Accounts for differences between ArcadeDrive and the methods used
in some other examples.
 2021-12-27 23:05:42 -08:00
sciencewhiz
dceb5364f4 [examples] Ensure right side motors are inverted (#3836) 
Fixes #3827
Adds MotorController inversion for right side, removes inversion in
setVoltage methods.

Also fixes various XboxController negations (was inconsistent throughout examples).
 2021-12-26 19:25:26 -08:00
Austin Shalit
84b15f0883 [templates] Add Java Romi Educational template (#3837) 
This is a combination of a Romi Gradle project and Educational robot (added in #3309)
 2021-12-26 15:46:22 -08:00
Dalton Smith
c0da9d2d35 [examples] Invert Right Motor in Romi Java examples (#3828) 2021-12-26 15:42:53 -08:00
sciencewhiz
1846114491 [examples] Update references from characterization to SysId (NFC) (#3782) 2021-12-11 21:25:43 -08:00
Jason Daming
1ac02d2f58 [examples] Fix drive Joystick axes in several examples (#3769) 2021-12-06 16:40:10 -08:00
Tyler Veness
3be0c1217a [wpilibcExamples] Make GearsBot use idiomatic C++ (#3711) 
Replace pointer constructor arguments with references, and const qualify
getters where possible.

Also remove redundant simulation P gain.

Fixes #1146.
 2021-11-09 20:11:50 -08:00
sciencewhiz
93799fbe9d [examples] Fix description of TrapezoidProfileSubsystem (#3699) 2021-11-01 00:08:53 -07:00
Prateek Machiraju
67df469c58 [examples] Remove old command-based templates and examples (#3263) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2021-10-13 19:17:58 -07:00
sciencewhiz
6da08b71dc [examples] Fix Intermediate Vision Java Example description (#3628) 
Copy from C++
 2021-10-11 22:55:33 -07:00
Tyler Veness
95dd20a151 [build] Enable spotbugs (#3601) 
Benign spotbugs warnings were suppressed, and all others were fixed. Bug
descriptions are documented here:
https://spotbugs.readthedocs.io/en/stable/bugDescriptions.html

Co-authored-by: Austin Shalit <austinshalit@gmail.com>
 2021-09-24 16:04:02 -07:00
Tyler Veness
f9e976467f [examples] Rename DriveTrain classes to Drivetrain (#3594) 
Drivetrain is one word, not two.
 2021-09-22 13:27:26 -07:00
sciencewhiz
50198ffcf1 [examples] Add Mechanism2d visualization to Elevator Sim (#3587) 2021-09-18 22:06:14 -07:00
sciencewhiz
a446c25598 [examples] Synchronize C++ and Java Mechanism2d examples (#3589) 
- Synchronize dimensions
- Make both joints different colors for clarity
 2021-09-18 22:05:35 -07:00
sciencewhiz
4f5e0c9f85 [examples] Update ArmSimulation example to use Mechanism2d (#3572) 
- Correct several comments that referenced elevator
- Changed noise to be 1 encoder tick instead of half a degree
- Changed gear ratio and PID value to be better tuned
- Updated bounds to be similar to a single jointed arm
 2021-09-17 22:55:31 -07:00
Thad House
60ede67abd [hal, wpilib] Switch PCM to be a single object that is allowed to be duplicated (#3475) 
Having PCM as a singleton is a problem, as multiple things need to use it, and that gets really ugly. This changes PCM's to be a reference counted object, that can be passed around and constructed from multiple places.

In Java, this is using a map to hold a data store with a ref count, and allocating new objects any time a duplicate is requested.

In C++, this uses a trick constructor to store a PCM instance in the data store itself. This instance can then be passed to base objects using std::shared_ptr's aliasing constructor, which means constructing a solenoid from a PCM is not allocating after the 1st one.

This did require removing sendable from PCM. A compressor class was added back in to act as sendable for the PCM.

After this change is finished, the only change RobotBuilder and Team Code would require is passing a module type to solenoid constructors.

Co-authored-by: sciencewhiz <sciencewhiz@users.noreply.github.com>
 2021-09-16 18:50:27 -07:00
Tyler Veness
aa3848b2c8 [wpimath] Move RobotDriveBase::ApplyDeadband() to MathUtil (#3529) 
It's a useful function outside of the drive classes.

For backwards compatibility, deprecate (rather than remove) RobotDriveBase.applyDeadband()
 2021-08-28 20:52:05 -07:00
Thad House
10cc8b89c4 [hal] [wpilib] Add initial support for the REV PDH (#3503) 2021-08-14 11:44:56 -07:00
Starlight220
031962608b [wpilib] Add PS4Controller, remove Hand from GenericHID/XboxController (#3345) 
- GenericHID is now concrete, and has only getRawAxis/Button(int) functionality
- getXxx() has been moved into Joystick as that's the only place where it makes sense
- Hand (and therefore getXxx(Hand)) has been removed, replaced by specific getLeft/RightXxx() methods in XboxController and the new PS4Controller class
- C++ ::Button:: and ::Axis:: enums have been converted to identically-namespaced static constexpr ints
 2021-08-14 10:00:46 -07:00
Tyler Veness
25f6f478a5 [wpilib] Rename DriverStation::IsOperatorControl() to IsTeleop() (#3505) 2021-08-11 23:04:43 -07:00
Thad House
1ac73a247e [hal] Rename PowerDistributionPanel to PowerDistribution (#3466) 
Makes HAL more generic for the PDP, to enable the Rev PDH in the future.
 2021-08-04 20:31:17 -07:00
liorsagy
4a944dc397 [examples] Consistently use 0 for controller port (#3496) 2021-07-31 20:39:50 -07:00
Tyler Veness
d7b8aa56dc [wpilibj] Rename DriverStation In[Mode] functions to follow style guide (#3488) 2021-07-26 07:29:54 -07:00
Tyler Veness
9d68d95825 Remove extra newlines after open curly braces (NFC) (#3471) 2021-07-08 23:41:30 -05:00
Noam Zaks
791770cf6e [wpimath] Move controller from wpilibj to wpimath (#3439) 2021-06-16 07:45:51 -07:00
Peter Johnson
362066a9b7 [wpilib] Deprecate getInstance() in favor of static functions (#3440) 
Co-authored-by: Noam Zaks <imnoamzaks@gmail.com>
 2021-06-15 23:06:03 -07:00
Thad House
4a36f86c81 [hal] Add support for DMA to Java (#3158) 2021-06-14 19:56:42 -07:00
Prateek Machiraju
b422665a3c [examples] Invert right side of drive subsystems (#3437) 
The right motors of a DifferentialDrive are no longer automatically
inverted (#3340) so it needs to be done explicitly.
 2021-06-13 15:43:16 -07:00
Tyler Veness
c1e128bd5a Disable frivolous PMD warnings and enable PMD in ntcore (#3419) 
Some valid warnings like throwing NullPointerException or using a for
loop instead of System.arraycopy() were fixed.

Abstract classes marked with PMD.AbstractClassWithoutAbstractMethod were
made concrete because they already had protected constructors.

Fixes #1697.
 2021-06-09 07:01:00 -07:00
Thad House
0e702eb799 [hal] Add a unified PCM object (#3331) 2021-06-05 22:36:39 -07:00
Tyler Veness
01dc0249de [wpimath] Move SlewRateLimiter from wpilib to wpimath (#3399) 
Timer was replaced with wpi::Now() to avoid a dependency on other wpilib
classes.
 2021-05-31 10:35:54 -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
0a0003c110 [wpilibjExamples] Fix name of Java swerve drive pose estimator example (#3382) 2021-05-25 20:55:24 -07:00
Tyler Veness
8dd8d4d2d4 [wpimath] Fix redundant nested math package introduced by #3316 (#3368) 2021-05-21 22:29:52 -07:00
Dalton Smith
49b06beedf [examples] Add Field2d to RamseteController example (#3371) 2021-05-21 22:28:29 -07:00
sciencewhiz
1873fbefba [examples] Fix Swerve and Mecanum examples (#3359) 
Fix encoder allocation and default command.
Fixes #3349
 2021-05-15 21:39:00 -07:00
sciencewhiz
80b479e502 [examples] Fix SwerveBot example to use unique encoder ports (#3358) 
Fixes #3089
 2021-05-15 14:15:18 -07:00
PJ Reiniger
1f7c9adeeb [wpilibjExamples] Fix pose estimator examples (#3356) 2021-05-14 11:10:47 -07:00
Peter Johnson
3cc2da3328 Merge branch '2022' 2021-05-09 14:15:40 -07:00
Noam Zaks
c8ff626fe2 [wpimath] Move Java classes to edu.wpi.first.math (#3316) 2021-05-01 08:53:30 -07:00