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Author SHA1 Message Date
Tyler Veness
edd2f0232c [wpimath] Add DARE solver for Q, R, and N with LQR ctor overloads 
This is useful for implementing implicit model following.
 2021-06-06 16:45:12 -07:00
Peter Johnson
b2c3b2dd8e Use std::string_view and fmtlib across all libraries (#3402) 
- Twine, StringRef, Format, and NativeFormatting have been removed
- Logging now uses fmtlib style formatting
- Nearly all uses of wpi::outs/errs have been replaced with fmt::print() or
std::puts()/std::fputs() (for unformatted strings).
- A wpi/fmt/raw_ostream.h header has been added to enable
fmt::print() with wpi::raw_ostream
 2021-06-06 16:13:58 -07:00
Peter Johnson
4f1cecb8e7 [wpiutil] Remove Path.h (#3413) 
This was missed in the std::filesystem change.
 2021-06-06 15:50:28 -07:00
Prateek Machiraju
b336eac343 [build] Publish halsim_ws_core to Maven 2021-06-06 15:04:25 -07:00
Prateek Machiraju
2a09f6fa45 [build] Also build sim modules as static libraries 
This allows sim modules to be statically linked into an executable to
create a "perfectly static" simulated desktop program. The entry point
was changed to be unique when building static libraries to avoid symbol
collisions.
 2021-06-06 15:04:25 -07:00
Thad House
0e702eb799 [hal] Add a unified PCM object (#3331) 2021-06-05 22:36:39 -07:00
Tyler Veness
dea841103d [wpimath] Add fmtlib formatter overloads for Eigen::Matrix and units (#3409) 
This allows using Eigen matrices or units natively with fmt::format() or
fmt::print().
 2021-06-05 21:10:41 -07:00
Tyler Veness
82856cf816 [wpiutil] Improve wpi::circular_buffer iterators (#3410) 
The implementation of wpi::circular_buffer has been effectively replaced
with a dynamically sized copy of wpi::static_circular_buffer with a
resize() member function.
 2021-06-05 21:08:12 -07:00
Tyler Veness
8aecda03ed [wpilib] Fix a documentation typo (#3408) 
"indicated" was misspelled.
 2021-06-05 13:35:03 -07:00
Thad House
5c817082a0 [wpilib] Remove InterruptableSensorBase and replace with interrupt classes (#2410) 2021-06-05 11:25:21 -07:00
Tyler Veness
15c521a7fe [wpimath] Fix drivetrain system identification (#3406) 
The units for angular Kv and Ka were inconsistent with the derivation. A
second factory function overload was added for angular units that uses a
trackwidth to convert to the other form.

Notice how section 15.2 of https://file.tavsys.net/control/controls-engineering-in-frc.pdf
defines the angular feedforward as u = Kv,angular v instead of u = Kv,angular + omega.
The units cancel for elements of A but not B, so just the B matrix was incorrect in our code.

This breaks existing C++ code since the units are part of the function
signature.
 2021-06-05 11:22:05 -07:00
Thad House
989de4a1bf [build] Force all linker warnings to be fatal for rio builds (#3407) 
This will make sure we catch any bugs for missing runtime dependencies before they become bigger problems.
 2021-06-05 11:20:09 -07:00
Tyler Veness
d9eeb45b03 [wpilibc] Add units to Ultrasonic class API (#3403) 2021-06-01 21:54:56 -07:00
Peter Johnson
fe570e000c [wpiutil] Replace llvm filesystem with C++17 filesystem (#3401) 
Use ghc::filesystem as fill on older GCC (e.g. RoboRIO).
This can be removed once all GCC platforms have upgraded to 8.1 or later.

File open functionality has been retained from LLVM but moved to "fs" namespace
and tweaked for improved consistency with std::filesystem (e.g. error_code is
passed by reference instead of returned).

Also update WPILibC's Filesystem functions to return std::string.
 2021-06-01 21:50:35 -07:00
Tyler Veness
01dc0249de [wpimath] Move SlewRateLimiter from wpilib to wpimath (#3399) 
Timer was replaced with wpi::Now() to avoid a dependency on other wpilib
classes.
 2021-05-31 10:35:54 -07:00
Tyler Veness
93523d572e [wpilibc] Clean up integration tests (#3400) 
The command and shuffleboard integration tests were removed because
their unit tests counterparts already provide adequate coverage. Java
already removed these.
 2021-05-31 10:21:34 -07:00
Peter Johnson
4f7a4464df [wpiutil] Rewrite StringExtras for std::string_view (#3394) 
Remove unused functions and add StringRef-like convenience functions.
Minimize header dependencies.
 2021-05-28 23:42:58 -07:00
Tyler Veness
e09293a15e [wpilibc] Transition C++ classes to units::second_t (#3396) 
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.
 2021-05-28 22:06:59 -07:00
Prateek Machiraju
827b17a52b [build] Create run tasks for Glass and OutlineViewer (#3397) 2021-05-28 22:04:58 -07:00
Peter Johnson
a610379965 [wpiutil] Avoid MSVC warning on span include (#3393) 2021-05-26 23:14:04 -07:00
Peter Johnson
4e2c3051be [wpilibc] Use std::string_view instead of Twine (#3380) 
Use fmtlib where needed for string formatting into std::string_view.
 2021-05-26 17:44:18 -07:00
Peter Johnson
50915cb7ed [wpilibc] MotorSafety::GetDescription(): Return std::string (#3390) 
This is only called in an error condition, so it's not necessary to over
optimize it.
 2021-05-26 07:25:32 -07:00
Tyler Veness
f4e2d26d58 [wpilibc] Move NullDeleter from frc/Base.h to wpi/NullDeleter.h (#3387) 
frc/Base.h was also deleted because it's now empty.
 2021-05-26 07:24:53 -07:00
Peter Johnson
cb0051ae60 [wpilibc] SimDeviceSim: use fmtlib (#3389) 
Also clean up several sim classes to use the channel constructor.
 2021-05-26 07:23:13 -07:00
Tyler Veness
a238cec12b [wpiutil] Deprecate wpi::math constants in favor of wpi::numbers (#3383) 
The constants were moved from std::math to std::numbers before
ratification in C++20.
 2021-05-26 00:09:36 -07:00
Tyler Veness
393bf23c0c [ntcore, cscore, wpiutil] Standardize template impl files on .inc extension (NFC) (#3124) 2021-05-25 22:19:30 -07:00
Tyler Veness
e7d9ba135c [sim] Disable flaky web server integration tests (#3388) 
The digital output test sometimes fails on Linux and the digital input
test sometimes fails on macOS.
 2021-05-25 20:56:35 -07:00
Tyler Veness
0a0003c110 [wpilibjExamples] Fix name of Java swerve drive pose estimator example (#3382) 2021-05-25 20:55:24 -07:00
Tyler Veness
7e1b27554c [wpilibc] Use default copies and moves when possible (#3381) 
The removal of ErrorBase allowed the defaults to be used in more places.
 2021-05-25 20:54:39 -07:00
Tyler Veness
fb2a56e2d6 [wpilibc] Remove START_ROBOT_CLASS macro (#3384) 2021-05-25 20:53:26 -07:00
Tyler Veness
84218bfb45 [wpilibc] Remove frc namespace shim (#3385) 2021-05-25 20:52:50 -07:00
Tyler Veness
dd78243406 [wpilibc] Remove C++ compiler version static asserts (#3386) 
frc/Base.h isn't the first header included basically anywhere, so the
compiler will fail on C++17 things before the asserts in this header are
processed.
 2021-05-25 20:52:23 -07:00
Tyler Veness
484cf9c0e8 [wpimath] Suppress the -Wmaybe-uninitialized warning in Eigen (#3378) 
GCC 11 emits a false positive when compiling Eigen and breaks the
build.

Fixes #3363.
 2021-05-25 10:05:41 -07:00
Peter Johnson
a04d1b4f97 [wpilibc] DriverStation: Remove ReportError and ReportWarning 
Change use cases to directly call FRC_ReportError.
 2021-05-25 10:04:32 -07:00
Peter Johnson
831c10bdfc [wpilibc] Errors: Use fmtlib 2021-05-25 10:04:32 -07:00
Peter Johnson
87603e400d [wpiutil] Import fmtlib (#3375) 
HEAD as of 5/23/2021 (dd8f38fcbbb6eedecd4d451b03ca7d817e8ae67d).
 2021-05-24 23:59:35 -07:00
Peter Johnson
4426216725 [wpiutil] Add ArrayRef/std::span/wpi::span implicit conversions 2021-05-23 15:27:40 -07:00
Peter Johnson
bc15b953b4 [wpiutil] Add std::span implementation 
Imported from https://github.com/tcbrindle/span with ifdef's removed
(as we require C++17).
 2021-05-23 15:27:40 -07:00
Peter Johnson
6d20b12043 [wpiutil] StringRef, Twine, raw_ostream: Add std::string_view support (#3373) 2021-05-23 15:26:28 -07:00
Peter Johnson
2385c2a430 [wpilibc] Remove Utility.h (#3376) 
Change last 2 uses of wpi_assert to throw error instead.
 2021-05-23 15:25:08 -07:00
Tyler Veness
87384ea684 [wpilib] Fix PIDController continuous range error calculations (#3170) 
The inputs should all be errors, so the range should be symmetric.

Fixes #3168.
Fixes #3304.
 2021-05-21 23:52:30 -07:00
Tyler Veness
04dae799a2 [wpimath] Add SimpleMotorFeedforward::Calculate(velocity, nextVelocity) overload (#3183) 
This is often more convenient than using the overload with velocity and
acceleration.

Fixes #3160.
 2021-05-21 23:44:10 -07:00
Tyler Veness
0768c39036 [wpilib] DifferentialDrive: Remove right side inversion (#3340) 
Also refactor drive inverse kinematics into separate functions.
This allows composing them with operations separate from the drive
class.
 2021-05-21 22:34:16 -07:00
Tyler Veness
8dd8d4d2d4 [wpimath] Fix redundant nested math package introduced by #3316 (#3368) 2021-05-21 22:29:52 -07:00
Dalton Smith
49b06beedf [examples] Add Field2d to RamseteController example (#3371) 2021-05-21 22:28:29 -07:00
Tyler Veness
4c562a4457 [wpimath] Fix typo in comment of update_eigen.py (#3369) 
NonMPL2.h clearly doesn't contain MPL2 code.
 2021-05-21 21:39:33 -07:00
Tyler Veness
fdbbf11887 [wpimath] Add script for updating Eigen 2021-05-20 18:52:11 -07:00
Tyler Veness
f1e64b349a [wpimath] Move Eigen unsupported folder into eigeninclude 
This fixes relative includes in development versions of Eigen.
 2021-05-20 18:52:11 -07:00
Ryan Hirasaki
224f3a05cf [sim] Fix build error when building with GCC 11.1 (#3361) 2021-05-19 14:39:18 -07:00
Peter Johnson
ff56d6861d [wpilibj] Fix SpeedController deprecated warnings (#3360) 
set() and other functions also need to be repeated on the MotorController
interface to avoid deprecation warnings from vscode.
 2021-05-16 19:13:54 -07:00