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807 Commits

Author SHA1 Message Date
Thad House
0e702eb799 [hal] Add a unified PCM object (#3331) 2021-06-05 22:36:39 -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
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
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
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
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
Peter Johnson
da590120c4 [wpilibj] Add MotorController.setVoltage default (#3347) 
This avoids a vscode deprecation warning.
 2021-05-11 19:53:55 -07:00
Peter Johnson
44ad67ca8c [wpilibj] Preferences: Add missing Deprecated annotation (#3343) 2021-05-09 18:20:42 -07:00
Peter Johnson
3cc2da3328 Merge branch '2022' 2021-05-09 14:15:40 -07:00
Noam Zaks
d6cfdd3bae [wpilib] Preferences: Deprecate Put* in favor of Set* (#3337) 
This naming is more consistent with other APIs.

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2021-05-06 08:25:37 -07:00
Tyler Veness
497b712f67 [wpilib] Make IterativeRobotBase::m_period private with getter 2021-05-04 13:41:36 -07:00
Tyler Veness
f00dfed7ac [wpilib] Remove IterativeRobot base class 
TimedRobot supersedes it (see commit 81498e6 for reasoning).
 2021-05-04 13:41:36 -07:00
Tyler Veness
5ef2b4fdc0 [wpilibj] Fix @deprecated warning for SerialPort constructor (#3329) 
The javadoc @deprecated tag didn't have corresponding @Deprecated
attribute.
 2021-05-01 13:20:53 -07:00
Noam Zaks
c8ff626fe2 [wpimath] Move Java classes to edu.wpi.first.math (#3316) 2021-05-01 08:53:30 -07:00
Noam Zaks
4e424d51f4 [wpilibj] DifferentialDrivetrainSim: Rename constants to match the style guide (#3312) 2021-05-01 07:09:23 -07:00
Starlight220
ff52f207cc [glass, wpilib] Rewrite Mechanism2d (#3281) 
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>
 2021-04-30 13:43:59 -07:00
Peter Johnson
05ebe93180 Merge branch 'main' into 2022 2021-04-19 18:45:31 -07:00
Prateek Machiraju
aaf24e2552 [wpilib] Fix initial heading behavior in HolonomicDriveController (#3290) 2021-04-18 21:00:11 -07:00
Peter Johnson
0abf6c9045 [wpilib] Move motor controllers to motorcontrol package (#3302) 
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.
 2021-04-17 11:27:16 -07:00
Peter Johnson
b7b178f49c [wpilib] Remove Potentiometer interface 2021-04-13 22:40:55 -07:00
Peter Johnson
687066af3d [wpilib] Remove GyroBase 2021-04-13 22:40:55 -07:00
Peter Johnson
6b168ab0c8 [wpilib] Remove PIDController, PIDOutput, PIDSource 
Move them to the old commands vendordep so that PIDCommand and PIDSubsystem
continue to work.

This also removes Filter and LinearDigitalFilter.
 2021-04-13 22:40:55 -07:00
Peter Johnson
3abe0b9d49 [cscore] Move java package to edu.wpi.first.cscore (#3294) 
This is more consistent with the other Java packages, and also is more
correct, as we own the first.wpi.edu domain but not the full wpi.edu domain.
 2021-04-10 11:42:41 -07:00
Peter Johnson
d7fabe81fe [wpilib] Remove RobotDrive (#3295) 
This has been deprecated for several years, and its functionality has been
completely superseded by other drive classes (DifferentialDrive et al).
 2021-04-10 10:28:32 -07:00
Peter Johnson
1dc81669c2 [wpilib] Remove GearTooth (#3293) 
This sensor has had zero usage for many years and was last in the KOP
over a decade ago.  There are much better rotation sensors available,
and it's no longer worth maintaining this class.
 2021-04-10 10:28:05 -07:00
Peter Johnson
01d0e12603 [wpilib] Revert move of RomiGyro into main wpilibc/j (#3296) 
This reverts commit 69e8d0b65d (#3143).

We haven't released a version with this yet, and plan to make a vendor
library instead.
 2021-04-10 10:27:44 -07:00
Starlight220
f57c188f2e [wpilib] Add AnalogEncoder(int) ctor (#3273) 2021-04-02 08:26:41 -07:00
Prateek Machiraju
8471c4fb26 [wpilib] FieldObject2d: Add setTrajectory() method (#3277) 2021-04-01 22:08:07 -07:00
Peter Johnson
c97acd18e7 [glass] Field2d enhancements (#3234) 
- Add raw support for pose lists > 255/3 in length
- Improve drag selection, especially with closely overlapping objects
- Drag selection of corner also highlights center of object with smaller circle
- Multiple styles (box, line, closed line, track)
- Configurable line and arrow settings (color, weight)
- Add tooltip for object name, index, x, y, rotation
- Context menu for pose edit/add/remove
- View/edit in feet or inches as well as meters
- Configurable object selectability

Implementation: use vector of Pose2d internally, use units
 2021-03-27 13:34:44 -07:00
Prateek Machiraju
ffb590bfcc [wpilib] Fix Compressor sendable properties (#3269) 2021-03-26 21:20:54 -07:00
Peter Johnson
6137f98eb5 [hal] Rename SimValueCallback2 to SimValueCallback (#3212) 2021-03-21 23:22:04 -07:00
Peter Johnson
9550777b9d [wpilib] PWMSpeedController: Use PWM by composition (#3248) 
This cleans up the user experience by removing lower-level functions from the
interface.

Also remove MotorSafety from "raw" PWM.
 2021-03-21 11:12:49 -07:00
Peter Johnson
48e9f39513 [wpilibj] Remove wpilibj package CameraServer (#3213) 2021-03-19 13:51:53 -07:00
Peter Johnson
8afa596fdf [wpilib] Remove deprecated Sendable functions and SendableBase (#3210) 2021-03-19 13:41:11 -07:00
Prateek Machiraju
3e22e45066 [wpilib] Make KoP drivetrain simulation weight 60 lbs (#3228) 2021-03-07 22:54:40 -08:00
Tyler Veness
3cf44e0a53 [hal] Add function for changing HAL Notifier thread priority (#3218) 2021-02-28 22:05:26 -08:00
Starlight220
959611420b [wpilib] Require non-zero positive value for PIDController.period (#3175) 2021-02-16 18:07:29 -08:00
Starlight220
d241bc81ae [sim] Add DoubleSolenoidSim and SolenoidSim classes (#3177) 2021-02-16 18:03:57 -08:00
Thad House
99b5ad9ebb [wpilibj] Fix warnings that are not unused variables or deprecation (#3161) 
Fix all warnings given by intellisense that are not unused variables or deprecation.
 2021-02-12 22:22:11 -08:00
Starlight220
d447c7dc32 [sim] Add SimDeviceSim ctor overloads (#3134) 
Better parallelism with SimDevice.create(), so teams don't have to mess with concatenating the index/channel themselves.
 2021-02-12 22:17:13 -08:00
Zhiquan Yeo
69e8d0b65d [wpilib] Move RomiGyro into main wpilibc/j (#3143) 2021-02-12 22:14:29 -08:00
Prateek Machiraju
f82aa1d564 [wpilib] Fix HolonomicDriveController atReference() behavior (#3163) 
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.
 2021-02-12 22:11:57 -08:00
Tyler Veness
6b1898f12e Fix RT priority docs (NFC) (#3098) 
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.
 2021-01-19 22:59:18 -08:00
CoolSpy3
cfdb3058ee [wpilibj] Update SimDeviceSimTest (#3095) 2021-01-17 13:48:25 -08:00
Matt
406d055f07 [wpilib] Fixup wouldHitLowerLimit in elevator and arm simulation classes. (#3076) 
Closes #3050.
 2021-01-14 00:28:00 -08:00
Peter Johnson
bc80c55353 [hal] Add SimValue reset() function (#3064) 
This enables correct behavior for resetting incremental sensor values like
encoder counts or gyro accumulated angle with WebSockets.
 2021-01-12 00:38:58 -08:00
Peter Johnson
9c3b51ca0f [wpilib] Document simulation APIs (#3079) 
- 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>
 2021-01-11 21:55:45 -08:00
Matt
85a0bd43c2 [wpimath] Add RKF45 integration (#3047) 
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