The FTC DS had a deadband. Additionally, the FRC one had an implicit
deadband due to the only 8 bit resolution. We need a deadband by default
now with the high resolution gamepads.
This updates gamepad trigger naming from cardinal-style face buttons
(`northFace/southFace/eastFace/westFace` and
`NorthFace/SouthFace/EastFace/WestFace`) to directional naming
(`faceUp/faceDown/faceRight/faceLeft` and
`FaceUp/FaceDown/FaceRight/FaceLeft`) to match the requested API shape.
The change is applied across Java and C++ HID/command layers, along with
related examples and binding metadata.
- **API surface updates (Java)**
- Renamed trigger/event methods in:
- `wpilibj` `Gamepad`
- `commandsv2` `CommandGamepad`
- `commandsv3` `CommandGamepad`
- Mapping preserved:
- `southFace` → `faceDown`
- `eastFace` → `faceRight`
- `westFace` → `faceLeft`
- `northFace` → `faceUp`
- **API surface updates (C++)**
- Renamed trigger/event methods in:
- `wpilibc` `Gamepad`
- `commandsv2` `CommandGamepad`
- Mapping preserved:
- `SouthFace` → `FaceDown`
- `EastFace` → `FaceRight`
- `WestFace` → `FaceLeft`
- `NorthFace` → `FaceUp`
- **Python semiwrap updates**
- Updated `wpilibc/src/main/python/semiwrap/Gamepad.yml` method mappings
to the renamed C++ method names (`FaceDown/FaceRight/FaceLeft/FaceUp`).
- **Callsite migration**
- Updated Java examples/template code and C++ examples/template code to
use the new method names so samples remain aligned with the API rename.
- **Docs/comments alignment**
- Updated related Javadoc/reference text and example comments to use
directional terminology.
```java
// Before
driverController.southFace().onTrue(command);
driverController.eastFace().onTrue(command);
// After
driverController.faceDown().onTrue(command);
driverController.faceRight().onTrue(command);
```
```cpp
// Before
driverController.SouthFace().OnTrue(command);
driverController.EastFace().OnTrue(command);
// After
driverController.FaceDown().OnTrue(command);
driverController.FaceRight().OnTrue(command);
```
---------
Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com>
Co-authored-by: ThadHouse <7727148+ThadHouse@users.noreply.github.com>
The initial build file generation for robotpy projects was relatively
naive and purpose built to get `allwpilib` compiling, without supporting
all the available features.
This modifies the generation scripts to be able to support multiple
embedded libraries, which will be necessary for #8858, since `mrclib.so`
will need to be bundled along with the hal libraries. In addition some
cleanup was done to get the wheels looking more like what is in pypi.
This lets us remove the unmaintained StackWalker library and its hacky
upstream_utils script.
@Gold856 reported that StackWalker gives blank stacktraces:
https://discord.com/channels/176186766946992128/368993897495527424/1261940029287301150.
They also reported an earlier version of this PR giving the following
stacktrace instead:
```
D:\allwpilib\developerRobot\src\main\native\cpp\Robot.cpp(18): developerRobotCpp!Robot::RobotInit+0xB6
D:\allwpilib\wpilibc\src\main\native\cpp\TimedRobot.cpp(22): wpilibcd!frc::TimedRobot::StartCompetition+0x4F
D:\allwpilib\wpilibc\src\main\native\include\frc\RobotBase.h(36): developerRobotCpp!frc::impl::RunRobot<Robot>+0xC8
D:\allwpilib\wpilibc\src\main\native\include\frc\RobotBase.h(106): developerRobotCpp!frc::StartRobot<Robot>+0x17E
D:\allwpilib\developerRobot\src\main\native\cpp\Robot.cpp(60): developerRobotCpp!main+0xB
D:\a\_work\1\s\src\vctools\crt\vcstartup\src\startup\exe_common.inl(79): developerRobotCpp!invoke_main+0x39
D:\a\_work\1\s\src\vctools\crt\vcstartup\src\startup\exe_common.inl(288): developerRobotCpp!__scrt_common_main_seh+0x132
D:\a\_work\1\s\src\vctools\crt\vcstartup\src\startup\exe_common.inl(331): developerRobotCpp!__scrt_common_main+0xE
D:\a\_work\1\s\src\vctools\crt\vcstartup\src\startup\exe_main.cpp(17): developerRobotCpp!mainCRTStartup+0xE
KERNEL32!BaseThreadInitThunk+0x1D
ntdll!RtlUserThreadStart+0x28
```
People generally have expressed a dislike for the Hungarian notation
used in member variables, especially in examples/templates, and our
styleguide shouldn't be forced on downstream consumers, so this removes
all Hungarian notation from the examples/templates.
There are _some_ benefits to Hungarian for private member variables
(like knowing what's a member vs. local in a PR review) so we'll keep
private member variables the same for now, but public variables should
no longer use Hungarian notation, since it looks much worse. A new PMD
XPath rule has been added to accomplish this goal. Some other
non-compliant variables were fixed for the new rule.
The "Utility" name better matches its intended generic use case and
avoids overloaded terminology with unit testing (e.g. the need to name
the opmode annotation `@TestOpMode`).
The driver station will also be updated to reflect this change.
Easier then the last one that put everything in a sub namespace. By
prefixing the name less things break, and intellisense will be less
confusing to new users during the transition.
Resync with `mostrobotpy`
This mostly involves the big "ignore almost everything in the HAL
project" and some fixups for the Addressable LED classes.
Required two small hand fixes to get it building over here with bazel,
and with more compiler warnings on.
I also manually zeroed out the `repo_url` field in the toml files to
avoid unnecessary churn whenever it goes from a release build to a
development build. I already did this with `version` field in there, and
will do a follow up PR that updates the copybara script to do it
automatically.
---------
Co-authored-by: Default email <default@default.com>
Looks like a build failure got lost in the landing order of python
commands and the big opmode change. This makes it compile again, based
on the java / C++ changes from the opmode PR.
User code:
- OpModeRobot used as the robot base class
- LinearOpMode and PeriodicOpMode are provided opmode base classes
- In Java, annotations can be used to automatically register opmode classes
Additional user code functionality:
- OpMode (string) is available in addition to the overall
auto/teleop/test robot mode
- OpMode does not indicate enable (enable/disable is still separate)
- The HAL API uses integer UIDs; these are exposed at the user API level
as well for faster checks
- User code creates opmodes on startup (these have name, category,
description, etc).
DS:
- DS will present opmode selection lists for auto and teleop for
match/practice. During a match, the DS will automatically activate the
selected opmode in the corresponding match period.
- For testing, an overall mode is selected (e.g. teleop/auto/test) and a
single opmode is selected
Future work:
- Command framework support/integration
- Python annotation support
- Unit tests (needs race-free DS sim updates)
- Porting of examples
Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
