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>
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.
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.
The default state for the DS in the simulated HAL is changed to disconnected.
The FMS view is now only editable in DS disconnected state.
This enables more robot and field-like testing of robot code, as the
alliance color and other parameters start in invalid states and are
only set when the DS connects.
This does not deprecate any current functionality, but prepares the way for future deprecation.
The drive classes now accept void(double) functions, which makes them more flexible.
The C++ API ended up a bit more verbose, but the Java API is really concise with method references, which is >80% of our userbase. For example:
`DifferentialDrive drive = new DifferentialDrive(m_leftMotor::set, m_rightMotor::set);`
Lambdas can be passed to interoperate with vendor motor controller APIs that don't have e.g., set(double), so CTRE doesn't have to maintain their WPI_ classes anymore.
MotorControllerGroup was replaced with PWMMotorController.addFollower() for PWM motor controllers. Users of CAN motor controllers should use their vendor's follower functionality.
The following source code changes were required:
* Whitespace changes from spotless
* PMD warning suppressions for utility class tests
* PMD warning rename from "BeanMembersShouldSerialize" to
"NonSerializableClass"
* Declared more class members as final
Many teams have issues trying to read the DS too early. By switching to an optional, we cause teams to check 2 things. Either 1) they explicitly check, and their code is correct, or 2) they just read .value() and their code reboots in a loop. However, because the DS will eventually connect, this 2nd case is ok, and should theoretically be undetectable on the field.
Accelerometer is hyper-specific to ADXL accelerometers, and Gyro is
less useful now that 3D IMUs are prevalent, and if those IMUs want to
support the Gyro interface, they also need to provide a way to set the
axis used for the Gyro interface, which is confusing. Higher-order
functions (e.g., lambdas) are a more flexible interface boundary than
interfaces, but they didn't exist when these interfaces were
created.
Setting one will set the others, like it does in real hardware.
Add tests for boundary conditions and conversions.
Update PWM sendable implementation to include all forms.
Fixes#5264Fixes#3606
The Color algorithm was tweaked to:
a) not produce incorrect values if the user happens to input a hue outside the [0, 180) range, and
b) more accurately convert the hue remainder from range 0-30 to 0-255. The current conversion vastly overshoots the multiplier (converts 0-30 to 0-270) and relies on clamping the value when constructing the Color object to produce a slightly incorrect result.
