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97 Commits

Author SHA1 Message Date
Tyler Veness
e50dbe0c43 [wpilib] Add Gyro::GetRotation2d() (#2555) 2020-06-29 19:10:07 -07:00
Tyler Veness
22c0e2813a [build] Upgrade CI to clang-format 10.0 (#1961) 
MacOS no longer ships 6.0, and Arch Linux's mesa GPU drivers are no longer compatible with LLVM 6.0.
 2020-06-27 20:39:00 -07:00
sciencewhiz
dfb130270a [wpilib] Use inclusive language where practical (#2533) 
Co-authored-by: Austin Shalit <austinshalit@gmail.com>
 2020-06-19 23:06:34 -07:00
sciencewhiz
a226ad8509 Set a default option for Sendable Chooser in examples (#2361) 2020-02-15 09:54:12 -08:00
Prateek Machiraju
7797da78f5 Add missing methods to Timed and TimedSkeleton templates (#2306) 2020-01-24 20:01:23 -08:00
Oblarg
0ab81d768f Add feed-forward and slew rate limiting to advanced drive examples (#2301) 2020-01-23 18:07:38 -08:00
Oblarg
1cee5ccb93 Feed RobotDrive watchdog in RamseteCommand example (#2298) 2020-01-23 17:41:45 -08:00
sciencewhiz
ac8177e10d Fix GearsBot log methods not being called periodically (#2280) 
Add logging for C++ Wrist and Claw
 2020-01-17 20:18:15 -08:00
sciencewhiz
ce1ac17dfb Remove experimental from new command example descriptions (#2226) 2020-01-04 19:57:31 -08:00
Oblarg
5b7dd186d2 Add templates for new commands for vscode plugin (#2016) 2019-12-29 15:02:49 -06:00
Peter Johnson
7b952d599d Add usage reporting for many new things (#2184) 
- new CommandScheduler
- kinematics and odometry classes
- new PIDController
- ProfiledPIDController
- TrapezoidProfile (reported in Constraints class)

Also update instances.txt to match latest NI version.

One side effect is that a couple of classes are no longer constexpr.
 2019-12-25 00:42:14 -06:00
Peter Johnson
93cdf68694 Add Constants.cpp for MecanumControllerCommand example (#2196) 2019-12-24 16:19:02 -06:00
Oblarg
ea4d1a39e1 Update characterization values to match real robot (#2183) 
This is in preparation for an end-to-end trajectory tutorial example.

Co-Authored-By: Dalton Smith <gamefollower26@gmail.com>
 2019-12-20 13:46:13 -08:00
sciencewhiz
b468c51251 Change AddressableLED example to use consistent PWM port (#2168) 2019-12-11 15:39:36 -08:00
Oblarg
ccdd0fbdb2 Add TrapezoidProfile external PID examples (#2131) 2019-12-07 13:37:54 -08:00
Thad House
67d2fed685 Add DutyCycleEncoder channel constructor (#2158) 
Avoids extra boilerplate at user level.
 2019-12-06 20:58:04 -08:00
Prateek Machiraju
5b73c17f25 Remove encoder velocities methods in DifferentialDriveOdometry (#2147) 
It doesn't make sense to continue to provide a less accurate method of performing odometry
when a more accurate method using distances exists.

This also removes the need to pass DifferentialDriveKinematics to the constructor.
 2019-11-30 23:10:29 -08:00
Austin Shalit
f66ae59992 Add HSV helpers to AddressableLED (#2135) 
Also change the setLED() method to setRGB() for consistency and clarity.

Add rainbow example to demonstrate HSV usage.
 2019-11-29 15:16:57 -08:00
Oblarg
5e97c81d80 Add MedianFilter class for moving-window median (#2136) 
This kind of filter is extremely useful for signals that are susceptible to sudden
outliers - ultrasonics, 1-D LIDAR, and results from vision processing are all
good use-cases.

This also modifies the existing ultrasonic examples accordingly.
 2019-11-29 15:13:40 -08:00
Oblarg
6dcd2b0e2c Improve various subsystem APIs (#2130) 
Improves the APIs for various prebuilt subsystems (PIDSubsystem, TrapezoidProfileSubsystem, ProfiledPIDSubsystem). Addresses #2128, and also changes the rather cumbersome getSetpoint API to a more intuitive setSetpoint one. Updates examples to match.
 2019-11-25 21:46:47 -08:00
Oblarg
21e957ee42 Add DifferentialDrive voltage constraint (#2075) 2019-11-21 21:43:02 -08:00
Oblarg
e0bc97f66b Add ProfiledPIDSubsystem example (#2076) 2019-11-21 20:55:16 -08:00
CTT
a58dbec8aa Add holonomic follower examples (#2052) 2019-11-21 19:52:56 -08:00
Tyler Veness
9a8067465c Fix incomplete .styleguide (#2113) 
Also clean up other .styleguides.

Fixes #2111.
 2019-11-20 22:44:18 -08:00
Tyler Veness
ffa4b907c0 Fix C++ floating point literal formatting (#2114) 
Found formatting errors with this regex
"([^a-z0-9\.]\.[0-9]|[^a-z0-9\.][0-9]\.[^a-z0-9\.])" and ignored false
positives.

Fixes #2112.
 2019-11-20 21:48:15 -08:00
Oblarg
fa85fbfc1c Template C++ TrapezoidProfile and ProfiledPIDController on units (#2109) 2019-11-20 20:11:46 -08:00
Austin Shalit
c0e36df9d8 Standardize on PWMVictorSPX in examples (#2104) 2019-11-19 21:48:22 -08:00
Thad House
500c43fb84 Add examples for DMA, DutyCycle, DutyCycleEncoder and AddressableLED (#2100) 2019-11-18 22:12:17 -08:00
Prateek Machiraju
5891628112 Use DifferentialDriveWheelSpeeds in RamseteCommand ctor (#2091) 2019-11-18 22:11:05 -08:00
Prateek Machiraju
841ef91c0f Use gyro angle instead of robot angle for odometry (#2081) 
The odometry classes previously took in the robot angle as an argument, meaning that users had to take care of offsetting the gyro themselves to accurately report the robot angle. This change will make it so that users will not have to worry about resetting gyros and adding offsets themselves, as this will be handled by the odometry classes.
 2019-11-15 17:34:10 -08:00
Tyler Veness
1b66ead49d Use standard constant for pi instead of 3.14 (#2084) 2019-11-15 17:33:18 -08:00
Prateek Machiraju
55a7f2b4ad Add template for old command-based style (#2031) 2019-11-10 23:20:33 -08:00
CTT
486fa9c696 Add XboxController examples for arcade and tank drive (#2058) 2019-11-10 22:53:17 -08:00
Oblarg
7dc7c71b58 Add feedforward components (#2045) 
Add helper classes for computing feedforwards with parameters supplied by the characterization tool.
 2019-11-09 20:16:42 -08:00
Thad House
629e95776a Add VendorDeps JSON files for command libraries (#2048) 
Add commandversion flag to the examples and templates json files.
 2019-11-07 17:38:07 -08:00
Peter Johnson
7508aada93 Add ability to end startCompetition() main loop (#2032) 
This is useful for both cleanly exiting from simulation and for unit testing
at a framework level.

This change required removing move constructor/assignment from IterativeRobot.
 2019-11-05 21:33:09 -08:00
Austin Shalit
114ddaf81f Fix duplicate encoders in examples (#2033) 2019-11-03 09:08:05 -08:00
Oblarg
9ebd23d61e Add setVoltage method to SpeedController (#1997) 
Add a voltage-compensated setVoltage method to SpeedController, which is sorely needed to help teams use feedforward-based controls effectively. Also uses correct units on the cpp side.

Also update relevant examples.
 2019-11-01 09:32:40 -07:00
Thad House
16b34cce20 Remove IterativeRobot templates (#2011) 
With the class being deprecated, new projects shouldn't be created with it
 2019-10-30 21:26:30 -07:00
Thad House
916596cb01 Fix invalid examples json, add validator (#2001) 2019-10-28 20:10:05 -07:00
Peter Johnson
5509a8e968 Use constexpr for all example constants 
Also make DifferentialDriveKinematics constructor constexpr.
 2019-10-28 09:19:41 -07:00
sciencewhiz
d4430b765e Gearsbot example: Use standard argument order (#1995) 
The convention is to put the subsystem last.
 2019-10-27 06:28:29 -07:00
Oblarg
75438ab2ce Add RamseteCommand (#1951) 2019-10-26 21:33:41 -07:00
Oblarg
cbe05e7e8a Update ProfiledPIDController API (#1967) 2019-10-24 20:37:55 -07:00
Oblarg
53816155ba Improve command decorator names (#1945) 2019-10-19 08:13:33 -07:00
Peter Johnson
b3398dca39 Set gradlebase correctly for all examples (#1950) 2019-10-18 11:39:31 -07:00
Prateek Machiraju
f405582f86 Add kinematics suite (#1787) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
 2019-09-07 23:11:49 -05:00
Tyler Veness
ff8b8f0a8a Remove percent tolerance from PID controller 
It breaks the unit system badly; the tolerance member variable has
different units depending on percent vs absolute. Absolute tolerance is
a lot more natural than percent tolerance anyway.
 2019-09-03 19:46:59 -07:00
Peter Johnson
761bc3ef85 Change C++ WaitCommand to use units (#1865) 
Also remove unique_ptr usage.
 2019-09-02 23:39:51 -07:00
Tyler Veness
2250b7fbe3 Rename GearsBotNew example to GearsBot 2019-08-28 22:08:59 -07:00