The atReference() method previously used the rotation error between the
desired trajectory state and the current pose. This was a bug because we
allow teams to use custom rotation setpoints and that wasn't being taken
into account.
The ranges and which value was specified as highest were incorrect on
some of them. On Linux, the range is 1 to 99 with 99 being highest.
From `man 7 sched`:
```
Processes scheduled under one of the real-time policies (SCHED_FIFO,
SCHED_RR) have a sched_priority value in the range 1 (low) to 99 (high).
```
Also clean up the relevant javadoc and doxygen comments.
- Remove sim checkstyle suppression
- Add [[nodiscard]] to C++ register callback functions
- Add a couple of missing sim functions
Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
Co-authored-by: Starlight220 <yotamshlomi@gmail.com>
Using the plant output means that measurement noise can be incorporated.
SingleJointedArmSim (in C++ and Java) and ElevatorSim (in C++) used the
state instead of the measurement.
Closes#3042
frc::NormalizeAngle(), units::math::NormalizeAngle(), and
frc::GetModulusError() were replaced with frc::InputModulus() and
frc::AngleModulus().
They were placed in wpimath/src/main/native/include/frc/MathUtil.h for
C++ and wpimath/src/main/java/edu/wpi/first/wpiutil/math/MathUtil.java
for Java.
Also update Checkstyle to 8.38.
Google changed their style guide from the last time we imported it. This PR brings in those naming changes. The change they made is allowing single letter member, parameter, and local variable names. They also added a lambda naming scheme and I thought it would be good to bring that in too.
This is a breaking change to the WebSockets layer to align it with
recent specification documentation work.
To support this, HAL SimValue changed readonly to a direction enum.
This allows specifying bidirectional in addition to input and output.
The SimValue change is specifically designed to avoid API and ABI breakage.
This is completely transparent in C++; in Java a new callback class was added,
and the old readonly functions have been marked deprecated.
A new SimValue creation function for enums allows specifying double values
for each enum value, not just strings. This allows mapping enum values to
doubles in the WebSockets layer.
A ":" in the SimDevice name now maps it to different WebSocket types (e.g.
"Accel:Name" becomes type "Accel", device "Name"). The type is hidden
in the GUI.
Other WebSockets changes:
* Implemented match_time and game_data
* Added joystick rumble data
* Added builtin accelerometer support
* SimValue enums are mapped to string and double value on WS interface
* Added WebSockets protocol specification
* Added READMEs
This makes AtSetpoint() return false after the setpoint is changed with
SetSetpoint().
Closes#2821.
Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
Previously this sent just the raw analog value; the scaled value is likely what users expect.
Co-authored-by: Corey Applegate <coreya@centralmcgowan.com>
