A lot of these are breaking changes. frc::Timer was replaced with the
contents of frc2::Timer. The others were in-place argument changes or
removing deprecated non-unit overloads.
This reverts commit a79faace1b.
This change will be superseded in a non-breaking way by changing to static functions and deprecating GetInstance() entirely.
Substantially improves Mechanism2d by moving it to NetworkTables and adding
a robot API to create the mechanism elements, instead of requiring a JSON file.
Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
Also deprecate SpeedController in favor of motorcontrol.MotorController and
SpeedControllerGroup in favor of motorcontrol.MotorControllerGroup.
The MotorController interface is derived from the SpeedController interface
so that code such as SpeedController x = new VictorSP(1) continues to
compile (just with a warning).
SpeedControllerGroup and MotorControllerGroup are independent classes;
both implement the MotorController interface.
Improves consistency across all classes.
Affects Preferences, LiveWindow, and CameraServer.
Old commands Scheduler::GetInstance() was not updated as this is already
deprecated.
The wpimath APIs use std::array, which doesn't do size checking. Passing
an array with the wrong size can result in uninitialized elements
instead of a compilation error.
This is a breaking change but is worthwhile to avoid hard-to-debug errors.
This also shifts the trajectory up and to the right so that the robot is
always visible in the Field GUI during traversal. Some drive constants
and trajectory constraints were also synced between the two languages.
Flip the TeleopArcadeDrive axis directions so that positive
values for x-axis speed result in the Romi driving forward (in the
direction of the Raspberry Pi USB ports).
This makes code easier to read and more consistent between C++ and Java.
Also update clang-format settings to always add a line break (even if no braces are used).
Pose and state estimators can filter latency-compensated global measurements and fuse them with state-space drivetrain model information to estimate robot position. They are drop-in replacements for the existing odometry classes.
Co-authored-by: Declan Freeman-Gleason <declanfreemangleason@gmail.com>
Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
Co-authored-by: Claudius Tewari <cttewari@gmail.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
This fixes an issue with some commands not correctly requiring their
subsytems. Furthermore, an execute() method was added to the
DriveDistance command to continuously update the voltage command.
