Peter Johnson
e767605e94
[wpimath] Add typedefs for common types
...
This makes complex code significantly easier to read.
frc::Vectord<Size> = Eigen::Vector<double, Size>
frc::Matrixd<Rows, Cols> = Eigen::Matrix<double, Rows, Cols>
2022-04-30 20:38:55 -07:00
Oblarg
b8d019cdb4
[wpilib] Rename NormalizeWheelSpeeds to DesaturateWheelSpeeds ( #3791 )
2021-12-30 18:30:08 -08:00
Tyler Veness
181723e573
Replace .to<double>() and .template to<double>() with .value() ( #3667 )
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It's a less verbose way to do the same thing.
2021-10-25 08:58:12 -07:00
Tyler Veness
9359431bad
[wpimath] Clean up Eigen usage
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* Replace Matrix<> with Vector<> where vectors are explicitly intended.
I found these via `rg "Eigen::Matrix<double, \w+, 1>"`.
* Pass all Eigen matrices by const reference. I found these via `rg
"\(Eigen"` on main (the initializer list constructors make more false
positives).
* Replace MakeMatrix() and operator<< usage with initializer list
constructors. I found these via `rg MakeMatrix` and `rg "<<"`
respectively.
* Deprecate MakeMatrix()
2021-09-17 12:12:19 -07:00
Peter Johnson
a04d1b4f97
[wpilibc] DriverStation: Remove ReportError and ReportWarning
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Change use cases to directly call FRC_ReportError.
2021-05-25 10:04:32 -07:00
Matt
85a0bd43c2
[wpimath] Add RKF45 integration ( #3047 )
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This is more stable than Runge-Kutta for systems with large elements in their A or B matrices.
Co-authored-by: Tyler Veness <calcmogul@gmail.com >
2021-01-06 21:40:25 -08:00
PJ Reiniger
66782e2317
[sim] Create Left/Right drivetrain current accessors ( #3001 )
2020-12-29 20:46:51 -08:00
Peter Johnson
aee4603269
clang-tidy: modernize-pass-by-value
2020-12-29 14:26:19 -08:00
Matt
9005cd59e5
[wpilib] Clamp input voltage in sim classes ( #2955 )
2020-12-28 13:03:31 -08:00
Peter Johnson
8f1f64ffb6
Remove year from file copyright message (NFC) ( #2972 )
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Also update copyright to include "and other WPILib contributors" and clarify
license referral language to not be restricted to FIRST teams.
2020-12-26 14:12:05 -08:00
Matt
963ad5c255
[wpilib] Add noise to Differential Drive simulator ( #2903 )
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Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com >
2020-12-04 18:46:50 -08:00
Prateek Machiraju
616405f7ae
[wpilib] Fix DiffDriveSim pose reset and example ( #2837 )
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Calling the resetPosition method on an odometry instance expects encoder positions to be reset to zero.
2020-11-11 22:37:14 -08:00
Tyler Veness
62731bea20
[wpilib] Add set functions to differential drive simulation ( #2746 )
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All the other simulation objects already have functions like this
through LinearSystemSim.
2020-09-27 13:26:47 -07:00
Prateek Machiraju
9725aff83b
[wpilib] Clean up DifferentialDrivetrainSim API ( #2747 )
...
Co-authored-by: Tyler Veness <calcmogul@gmail.com >
2020-09-27 13:25:17 -07:00
Matt
b61f08d3fa
[wpilib] Add physics simulation support with state-space ( #2615 )
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This includes physics simulation support for arms/elevator models, as well as differential drivetrains.
Swerve might be added at a later date.
Co-authored-by: Claudius Tewari <cttewari@gmail.com >
Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com >
Co-authored-by: Tyler Veness <calcmogul@gmail.com >
2020-09-20 09:39:52 -07:00
