Peter Johnson
eee30c49e2
[wpilib] Remove LiveWindow ( #7733 )
...
This will be replaced by a different mechanism, but removing it eases
the initial implementation burden of a new Telemetry/Sendable framework.
2025-01-25 10:52:19 -08:00
Peter Johnson
d9f8fded09
Merge branch 'main' into 2027
2025-01-16 23:17:59 -08:00
David Racovan
a14545102f
[wpimath] DifferentialDriveWheelPositions: tag as Proto/StructSerializable ( #7622 )
2025-01-13 14:52:40 -07:00
ハイドラント
cd92b07321
[wpimath] Add Pose2d and Pose3d rotateAround() ( #7659 )
2025-01-13 12:55:26 -07:00
Tyler Veness
007526089e
[wpimath] Fix LinearSystemId return type and docs ( #7675 )
...
Fixes #7674 .
2025-01-13 12:22:53 -07:00
HarryXChen
e37c35746a
[wpimath] Implement Translation3d.RotateAround ( #7661 )
2025-01-09 20:31:34 -08:00
Tyler Veness
11a0c36737
[wpimath] Make Rotation2d member initialization order match declaration order ( #7632 )
2025-01-03 22:44:17 -08:00
Peter Johnson
a931a6554f
Merge branch 'main' into 2027
2024-12-29 18:22:39 -08:00
sciencewhiz
203487a6aa
[wpimath] improve LTVUnicycleController docs (NFC) ( #7599 )
...
Document the states and inputs so it isn't necessary to look at the code
Fix max velocity throws doc
2024-12-28 16:03:47 -06:00
Tyler Veness
df244cd198
[wpimath] Clean up arm and elevator feedforward APIs ( #7595 )
2024-12-27 08:12:14 -06:00
Peter Johnson
2a757eaeb5
Merge branch 'main' into 2027
2024-12-26 18:55:43 -08:00
Nicholas Armstrong
fe49cbe429
[wpimath] Remove Units class from Elevator and Arm Feedforwards ( #7570 )
2024-12-26 20:21:19 -06:00
Tyler Veness
02a0adc653
[wpimath] Add Rotation3d rotation vector getter ( #7564 )
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The code churn in Java is just making the function order consistent
between languages.
2024-12-22 13:34:51 -08:00
Tyler Veness
03f0fc4dea
[wpimath] Use immutable member functions in ChassisSpeeds ( #7545 )
2024-12-15 16:09:34 -08:00
Peter Johnson
945d416d07
Merge branch 'main' into 2027
2024-12-14 10:45:32 -08:00
Peter Johnson
4bca79b9af
[wpimath] Revert "ChassisSpeeds fromRelative and discretize methods made instance methods ( #7115 )" ( #7549 )
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This reverts commit a3b12b3bd9
2024-12-14 10:42:49 -08:00
Joseph Eng
4225b732fd
Remove unnecessary boxing ( #7539 )
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* Remove unnecessary boxing
Also remove unnecessary warning suppression
* Use more idiomatic functional interfaces in NumericalIntegration
2024-12-12 19:18:40 -08:00
Wispy
cc41a0ed24
[wpilib] Replace MecanumDriveMotorVoltages with a functional interface ( #6760 )
2024-12-08 17:05:06 -08:00
Thad House
b6ae9e9cc9
Merge branch 'main' into 2027
2024-12-08 12:04:23 -08:00
Tyler Veness
220f4e1ba4
[wpimath] Remove RamseteController and RamseteCommand ( #7522 )
2024-12-07 23:38:35 -08:00
Tyler Veness
e08fdeba21
[wpimath] Rename FindNearestPoint() to Nearest() ( #7513 )
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This is easier to type and follows the naming of Pose2d::Nearest().
Since Ellipse2d and Rectangle2d were added for the 2025 season, we don't
need to add deprecation notices.
2024-12-07 23:01:18 -08:00
Tyler Veness
4910436b10
[wpimath] Remove LUTs from LTV controllers ( #7521 )
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The Raspberry Pi 5 is fast enough that we no longer need it.
```
Running ./build/DAREBench
Run on (4 X 2400 MHz CPU s)
CPU Caches:
L1 Data 64 KiB (x4)
L1 Instruction 64 KiB (x4)
L2 Unified 512 KiB (x4)
L3 Unified 2048 KiB (x1)
Load Average: 0.47, 0.72, 0.45
***WARNING*** CPU scaling is enabled, the benchmark real time measurements may be noisy and will incur extra overhead.
-------------------------------------------------------------------------------
Benchmark Time CPU Iterations
-------------------------------------------------------------------------------
DARE_WPIMath_Dynamic 34.4 us 34.4 us 20315
DARE_WPIMath_NoPrecondChecks_Dynamic 21.7 us 21.7 us 32266
DARE_WPIMath_Static 15.2 us 15.2 us 45878
DARE_WPIMath_NoPrecondChecks_Static 7.84 us 7.84 us 89316
DARE_SLICOT 79.4 us 79.4 us 8789
DARE_Drake 34.9 us 34.9 us 20074
```
2024-12-07 23:00:15 -08:00
Tyler Veness
62a6a77bbf
[wpimath] Add affine transformation constructors and getters to geometry API ( #7509 )
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Fixes #7429 .
2024-12-07 21:29:02 -08:00
Tyler Veness
c497e4ec22
[wpimath] Fix SimpleFeedforward overload set ( #7516 )
2024-12-07 20:32:16 -08:00
Tyler Veness
e222efaa01
[wpimath] Add affine transformation constructors and getters to geometry API ( #7430 )
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Fixes #7429 .
2024-12-07 15:49:17 -08:00
Peter Johnson
52b33edcbd
Merge branch 'main' into 2027
2024-12-07 14:11:47 -08:00
Tyler Veness
882233bede
[wpimath] Improve SimpleMotorFeedforward argument names and deprecation message ( #7489 )
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Also roll back SimpleMotorFeedforward unit API until 2027.
2024-12-06 22:32:40 -08:00
Tyler Veness
144e79a614
[wpimath] Remove Rotation2d value field ( #7490 )
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It's not part of SO(2).
2024-12-06 21:00:09 -08:00
sciencewhiz
892e062316
[hal,wpilib,wpimath] Add Usage Reporting for Choreo and PathWeaver ( #7464 )
2024-11-30 20:33:09 -08:00
Tyler Veness
a0af0fd572
[wpimath] Remove redundant internal DARE function ( #7442 )
2024-11-28 21:24:13 -08:00
sciencewhiz
0a3ccf93c6
[wpimath] Add BangBangController Usage Reporting ( #7411 )
2024-11-20 17:00:54 -08:00
Sam Carlberg
ded7c87d63
[wpimath] Remove units from trapezoid profile classes ( #7276 )
2024-11-16 07:57:38 -08:00
Joseph Eng
2acf111f56
[wpimath] Add 3D odometry and pose estimation ( #7119 )
2024-11-16 07:56:14 -08:00
Kavin Muralikrishnan
07345712dc
[wpimath] Document default tolerances of PIDController ( #7377 )
2024-11-12 18:19:55 -05:00
Joseph Eng
425bf83036
[wpimath] Add 2D to 3D geometry constructors ( #7380 )
2024-11-12 18:18:37 -05:00
Peter Johnson
f40bd3593d
[wpilib,wpimath] Don't use mutable units for return values ( #7369 )
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It only saves a single allocation and can cause confusing behavior on the
caller (user) side.
2024-11-08 18:29:51 -08:00
Tyler Veness
661bae568f
[wpimath] Add time-varying RKDP ( #7362 )
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This makes the ground truth for the Taylor series AQ discretization more
accurate.
2024-11-07 23:46:52 -08:00
Tyler Veness
63e623d70b
[wpimath] Fix case and order of HolonomicDriveController PID getters ( #7342 )
2024-11-05 09:50:17 -07:00
Tyler Veness
dfd1084526
[wpimath] Replace pi with symbol in docs ( #7322 )
2024-11-01 17:16:18 -07:00
Tyler Veness
9f6f267f5c
[wpimath] DARE: Use wpi::expected instead of exceptions ( #7312 )
2024-10-31 20:37:57 -07:00
Nicholas Armstrong
a3b12b3bd9
[wpimath] ChassisSpeeds fromRelative and discretize methods made instance methods ( #7115 )
2024-10-22 17:23:17 -06:00
Tyler Veness
95b9bd880b
[wpimath] Make geometry classes constexpr ( #7222 )
2024-10-18 16:08:41 -07:00
Joseph Eng
2054d0f57e
[wpimath] Fix pose estimator reset methods ( #7225 )
2024-10-18 16:06:32 -07:00
Nicholas Armstrong
4adfa8bf64
[wpimath] Fully discretized ElevatorFF and ArmFF ( #7024 )
...
Co-authored-by: Tyler Veness <calcmogul@gmail.com >
2024-10-10 22:10:45 -07:00
Bryce Roethel
d97a749d84
[wpimath] SwerveDrivePoseEstimator: Fix stationary module emitting error when calculating angle in ToSwerveModuleStates ( #7175 )
2024-10-10 22:05:49 -07:00
Nicholas Armstrong
fe80d72fba
[wpimath] Add cosineScale method to SwerveModuleState and instance optimize ( #7114 )
2024-09-30 13:23:30 -06:00
Benjamin Hall
6b1e656659
[wpimath] Add DCMotor.getCurrent() overload accepting torque ( #7132 )
2024-09-28 09:33:15 -07:00
Nicholas Armstrong
6281ec0810
[wpimath] PIDController: Update field and method names for error and errorDerivative ( #7088 )
2024-09-23 11:57:20 -06:00
Wispy
6e8feb154c
[wpimath] Add more support for wpiunits in the geometry classes ( #6587 )
2024-09-07 22:23:19 -07:00
Sam Carlberg
a9b885070e
[wpiunits] Java units API rewrite ( #6958 )
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Java generics are too limited to do what we need. This refactors generic code previously in Unit and Measure into unit-specific classes that can have unit-safe math operations (notably, times and divide) that can return values in known units instead of a wildcarded Measure<?>.
Unit-specific measure implementations are automatically generated by ./wpiunits/generate_units.py, which generates generic interfaces and mutable and immutable implementations of those interfaces. These make up the bulk of the diff of this PR (approximately 9300 LOC).
This also adds units for angular and linear velocities, accelerations, and momenta; moment of inertia; and torque.
2024-09-07 10:59:29 -07:00
