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Author SHA1 Message Date
Tyler Veness
5983434a70 [cameraserver] Replace IterativeRobot in comment sample code with TimedRobot (#4238) 2022-05-15 20:47:50 -07:00
Max Gordon
a3d44a1e69 [wpimath] Add Translation2d.getAngle() (#4217) 
Co-authored-by: Max Gordon <tonald.drump2.0@gamil.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2022-05-14 21:22:00 -07:00
Tyler Veness
d364bbd5a7 [upstream_utils] Give vendor update scripts execute permissions (#4226) 2022-05-14 15:31:51 -07:00
Tyler Veness
f341e1b2be [wpimath] Document standard coordinate systems better (NFC) (#4228) 2022-05-14 15:31:06 -07:00
Peter Johnson
9af389b200 [wpinet] AddrToName: Initialize name (#4229) 2022-05-14 06:55:22 -07:00
Austin Shalit
2ae4adf2d7 [ci] Add wpiformat command to PRs (#4223) 2022-05-11 22:06:11 -07:00
sciencewhiz
178b2a1e88 Contributing.md: Correct version of clang-format used (#4222) 2022-05-10 23:48:08 -07:00
PJ Reiniger
18db343cdc [wpiutil, wpinet] Vendor libuv, stack walker (#4219) 2022-05-08 22:21:54 -07:00
Austin Shalit
f0c821282a [build] Use artifactory mirror (#4220) 2022-05-08 13:59:58 -07:00
Peter Johnson
d673ead481 [wpinet] Move network portions of wpiutil into new wpinet library (#4077) 2022-05-07 10:54:14 -07:00
Tyler Veness
b33715db15 [wpimath] Add CoordinateSystem class (#4214) 2022-05-07 10:25:19 -07:00
Dustin Spicuzza
99424ad562 [sim] Allow creating a PWMSim object from a PWMMotorController (#4039) 2022-05-06 08:44:59 -07:00
Tommy Beadle
dc6f641fd2 [wpimath] PIDController: Reset position and velocity error when reset() is called. (#4064) 
In addition to m_prevError and m_totalError, m_positionError and
m_velocityError need to be reset to 0 when reset() is called.
Otherwise, the next time calculate() is called, the old values will be
used as the previous error, but this is inaccurate since the caller
wanted to reset the state of the PID controller.
 2022-05-06 08:44:08 -07:00
Tyler Veness
f20a20f3f1 [wpimath] Add 3D geometry classes (#4175) 
Also clean up 2D geometry documentation.
 2022-05-06 08:41:23 -07:00
Kaitlyn Kenwell
708a4bc3bc [wpimath] Conserve previously calculated swerve module angles when updating states for stationary ChassisSpeeds (#4208) 
* Calculated swerve module states now stored in a member variable
* If ChassisSpeeds(0, 0, 0) is converted to module speeds, the
previously calculated module angle will be conserved, with forward speed
set to 0
* New tests added
 2022-05-06 08:38:20 -07:00
chen perach
ef7ed21a9d [wpimath] Improve accuracy of ComputerVisionUtil.calculateDistanceToTarget() (#4215) 2022-05-06 08:36:58 -07:00
Tyler Veness
b1abf455c1 [wpimath] LTVUnicycleController: Use LUT, provide default hyperparameters (#4213) 2022-05-04 22:04:08 -07:00
Tyler Veness
d5456cf278 [wpimath] LTVDifferentialDriveController: Remove unused variable (#4212) 2022-05-04 22:03:15 -07:00
Tyler Veness
99343d40ba [command] Remove old command-based framework (#4211) 2022-05-04 22:02:53 -07:00
Tyler Veness
ee03a7ad3b Remove most 2022 deprecations (#4205) 
Excludes "old" commands and SimDevice functions.
 2022-05-04 20:37:27 -07:00
Tyler Veness
ce1a7d698a [wpimath] Refactor WheelVoltages inner class to a separate file (#4203) 2022-05-01 11:01:20 -07:00
Tyler Veness
87bf70fa8e [wpimath] Add LTV controllers (#4094) 
This adds a unicycle controller that's a drop-in replacement for Ramsete
and a differential drive controller that controls the full pose and
outputs voltages. The main benefit is LQR-like tuning knobs using a
system model.
 2022-04-30 22:54:22 -07:00
Tyler Veness
ebd2a303bf [wpimath] Remove deprecated MakeMatrix() function (#4202) 2022-04-30 22:52:05 -07:00
Peter Johnson
e28776d361 [wpimath] LinearSystemLoop: Add extern templates for common cases 2022-04-30 20:38:55 -07:00
Peter Johnson
dac1429aa9 [wpimath] LQR: Use extern template instead of Impl class 2022-04-30 20:38:55 -07:00
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
Peter Johnson
97c493241f [wpimath] UnscentedKalmanFilter: Move implementation out-of-line 2022-04-30 20:38:55 -07:00
Peter Johnson
8ea90d8bc9 [wpimath] ExtendedKalmanFilter: Move implementation out-of-line 2022-04-30 20:38:55 -07:00
Peter Johnson
ae7b1851ec [wpimath] KalmanFilter: Use extern template instead of Impl class 2022-04-30 20:38:55 -07:00
Peter Johnson
e3d62c22d3 [wpimath] Add extern templates for common cases 
This helps reduce compile times and memory usage.
 2022-04-30 20:38:55 -07:00
Peter Johnson
7200c4951d [wpiutil] SymbolExports: Add WPILIB_IMPORTS for dllimport 2022-04-30 20:38:55 -07:00
Peter Johnson
84056c9347 [wpiutil] SymbolExports: Add EXPORT_TEMPLATE_DECLARE/DEFINE 2022-04-30 20:38:55 -07:00
Oblarg
09cf6eeecb [wpimath] ApplyDeadband: add a scale param (#3865) 
Also templates it in C++ so it can work with both doubles and units.
 2022-04-30 20:29:48 -07:00
Austin Shalit
03230fc842 [build,ci] Enable artifactory build cache (#4200) 2022-04-30 20:27:23 -07:00
Jason Daming
63cf3aaa3f [examples] Don't square ArcadeDrive inputs in auto (#4201) 2022-04-30 20:19:32 -07:00
Starlight220
18ff694f02 [wpimath] Add Rotation2d.fromRadians factory (#4178) 2022-04-30 00:19:29 -07:00
Tyler Veness
4f79ceedd9 [wpilibc] Add missing #include (#4198) 2022-04-30 00:07:37 -07:00
Starlight220
f7ca72fb41 [command] Rename PerpetualCommand to EndlessCommand (#4177) 2022-04-28 09:38:38 -07:00
bovlb
a06b3f0307 [hal] Correct documentation on updateNotifierAlarm (#4156) 
The previous documentation suggested that `triggerTime` is the interval until the next alarm, but the implementation is that it is the absolute alarm time.
 2022-04-26 21:53:30 -07:00
Tyler Veness
d926dd1610 [wpimath] Fix pose estimator performance (#4111) 
Fixes #4087.
 2022-04-26 18:43:59 -07:00
ysthakur
51bc893bc5 [wpiutil] CircularBuffer: Change Java package-private methods to public (#4181) 
The `size`, `getFirst`, `getLast`, and `resize` methods were all package-private.

Also make `size` return an `int` instead of a `double`.
 2022-04-25 14:58:12 -07:00
Tyler Veness
fbe761f7f6 [build] Increase Gradle JVM heap size (#4172) 
wpimath artifact publishing was running out of heap
 2022-04-24 23:13:57 -07:00
Tyler Veness
5ebe911933 [wpimath] Add DifferentialDriveAccelerationLimiter (#4091) 2022-04-24 07:21:40 -07:00
Tyler Veness
3919250da2 [wpilibj] Remove finalizers (#4158) 
They were deprecated for removal in Java 18 because they're error-prone.
Prefer AutoCloseable and Cleaner instead.

https://openjdk.java.net/jeps/421
https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/ref/Cleaner.html
 2022-04-24 07:21:08 -07:00
ohowe
b3aee28388 [commands] Allow BooleanSupplier for Trigger operations (#4103) 2022-04-24 07:20:46 -07:00
Tyler Veness
9d20ab3024 [wpilib] Allow disabling ElevatorSim gravity (#4145) 
Closes #4144.
 2022-04-24 07:19:18 -07:00
Peter Johnson
aaa69f6717 [ci] Remove 32-bit Windows builds (#4078) 2022-04-24 07:18:49 -07:00
Tyler Veness
355a11a414 Update Java linters and fix new PMD errors (#4157) 
PMD requires that variables only initialized in the constructor be
final. The compiler errors if those final variables aren't guaranteed to
be initialized, so extra else branches were added to ensure that.

PMD also requires that classes with only private constructors be final.
The equivalent C++ classes were finalized as well, except for
TimeInterpolatableBuffer because it doesn't expose factory functions.
 2022-04-24 07:18:05 -07:00
Jason Daming
ffc69d406c [examples] Reduce suggested acceleration in Ramsete example (#4171) 
This value mirrors the update to the documentation in wpilibsuite/frc-docs#1792.
 2022-04-19 17:10:11 -07:00
camaj
922d50079a [wpimath] Units: fix comment in degreesToRotations (NFC) (#4159) 2022-04-13 22:32:55 -07:00