Motivation
Feedback from 2022 showed that the Trigger API is rather confusing, mostly due to the following:
- duplicate Trigger and Button APIs were available; users were confused searching for a nonexistent difference between them.
- the when terminology was ambiguous and unclear whether it refers to the high state or specifically the rising edge.
- the Active terminology didn't unambiguously refer to the high state; it wasn't unintuitive to understand it as "when the binding is active/polled".
- whileHeld vs whenHeld was very confusing, and the difference between them wasn't obvious. The parallel Trigger verbs, whileActiveContinuously and whileActiveOnce are much less confusing.
Solution
Deprecating Button and its binding methods. The rationale for deprecating Button (and not Trigger) is because Button uses terminology that is needlessly more specific and restricting to the button use case, making the use case of arbitrary trigger conditions unintuitive.
After consideration, deprecation of Button's subclasses was decided against:
- NetworkButton (a trigger condition based on a boolean NT entry/topic) is a use case that is not necessarily intuitive for teams to implement themselves, so it is an abstraction that should be provided in the library. A parallel class for the BooleanEvent level, NetworkBooleanEvent, was also added as part of NT4. NT listeners were considered as a alternative solution, but they require attention to thread safety, and aren't interoperable with the EventLoop API.
- JoystickButton/POVButton provide abstractions around HID buttons. The new Trigger-returning factories on the HID classes are an equal (if not more concise) alternative, but there is no reason not to keep them for those who find their use preferable.
At a later date in the deprecation cycle (perhaps for 2024), when Button is removed, these subclasses should be changed to inherit directly from Trigger.
Trigger's bindings are changed to use True/False terminology, as it should be unambiguous. Each binding type has both True and False variants; for brevity, only the True variants are listed here:
- onTrue (replaces whenActive): schedule on rising edge.
- whileTrue (replaces whileActiveOnce): schedule on rising edge, cancel on falling edge.
- toggleOnTrue (replaces toggleWhenActive): on rising edge, schedule if unscheduled and cancel if scheduled.
Two binding types are completely deprecated:
- cancelWhenActive: this is a fairly niche use case which is better described as having the trigger's rising edge (Trigger.rising()) as an end condition for the command (using Command.until()).
- whileActiveContinuously: however common, this relied on the no-op behavior of scheduling an already-scheduled command. The more correct way to repeat the command if it ends before the falling edge is using Command.repeatedly/RepeatCommand or a RunCommand -- the only difference is if the command is interrupted, but that is more likely to result in two commands perpetually canceling each other than achieve the desired behavior. Manually implementing a blindly-scheduling binding like whileActiveContinuously is still possible, though might not be intuitive.
Notes
It was considered to share BooleanEvent's digital signal terminology; however, once it was decided that Trigger should not inherit from BooleanEvent (due to overload incompatibility) the common terminology was not worth the unintuitiveness stemming from users' unfamiliarity with the signal processing terms.
* Use explicit this capture required by C++20
* Use C++20 span
* Replace wpi::numbers with std::numbers
* Fix C++20 clang-tidy warning false positive in fmt
* Remove ciso646 include since C++20 removed that header
* Fix global-buffer-overflow asan warnings in ntcore tests
* Add DIOSetProxy constructor to HAL
* Upgrade MSVC compiler to 2022
* Bump native-utils to 2023.2.7 (changes to std=c++20)
Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
Now, implicit narrowing conversions are only used with wpi::Now(). This
also fixes clang-tidy warnings about C-style casts. For example:
```
== clang-tidy /__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc ==
/__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc:95:18: warning: C-style casts are discouraged; use static_cast/const_cast/reinterpret_cast [google-readability-casting]
auto curTime = units::second_t(m_timer.Get());
^
```
In that case at least, the cast was removed entirely since Get() already
returns a units::second_t.
Fixes#3827
Adds MotorController inversion for right side, removes inversion in
setVoltage methods.
Also fixes various XboxController negations (was inconsistent throughout examples).
- GenericHID is now concrete, and has only getRawAxis/Button(int) functionality
- getXxx() has been moved into Joystick as that's the only place where it makes sense
- Hand (and therefore getXxx(Hand)) has been removed, replaced by specific getLeft/RightXxx() methods in XboxController and the new PS4Controller class
- C++ ::Button:: and ::Axis:: enums have been converted to identically-namespaced static constexpr ints
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.
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.
This also shifts the trajectory up and to the right so that the robot is
always visible in the Field GUI during traversal. Some drive constants
and trajectory constraints were also synced between the two languages.
This makes code easier to read and more consistent between C++ and Java.
Also update clang-format settings to always add a line break (even if no braces are used).
