Java was missing the motor safety thread entirely
C++ accidentally used a manual reset event, causing the motor safety thread to spin.
C++ PWMMotorController would not feed the watch kitty.
Both languages would call feed() from the StopMotor call, causing some ping ponging.
Reverts "[wpimath] Constrain Rotation2d range to -pi to pi (#4611)"
This reverts commit d1d458db2b.
This broke multiple teams code in beta. It is also easier to limit the angle externally, then reconstruct a larger angle that got limited. This additionally adds comments to clarify the behavior and retains tests that were added in the reverted commit, and fixes a javadoc comment angle reference.
The CAN Stream API allows defining an buffer to receive an
arbitrary set of CAN messages, based on an ID and a mask. Messages
are added to this queue separate of other CAN APIs. This means the
messages can be receive without impacting other APIs such as
vendor APIs.
This enables things like detection of what devices are on the
bus, or custom decoding, without using vendor APIs.
Co-authored-by: Thad House <thadhouse1@gmail.com>
Move the command group checking functionality from CommandGroupBase into CommandScheduler.
Update references to grouping as composition for clarity (because explicitly grouping isn't the only way to do it).
Deprecate the static factory methods parallel, race, and deadline in CommandGroupBase in favor of the identical ones in Commands.
The ComputerVisionUtil class was added before AprilTag support was
announced. Now that it has, the functions for estimating a pose from
range and yaw are no longer needed; it's just better to get the pose
directly from the AprilTag.
The coordinate system on some function arguments was confusing or didn't
match the NWU convention the rest of the library uses. It's easier to
remove the functions now and add them back after they're fixed since the
fixes aren't trivial.
The range function was removed because it uses pitch and yaw in the
camera's spherical coordinate system, which is obsoleted by AprilTags.
AprilTags give you a 6DOF pose directly, so range can be obtained via
Pose2d.getTranslation().getDistance().
Fixes#4757.
For PWM motor controllers, this is going to be the fastest way to stop the motor,
as disabling the PWM output will have a small delay due to the motor controller
needing to detect the missing signal.
Note Set(0) is not a safe approach for CAN motor controllers, which may have closed
loop operation, non-% output set() calls, etc.
No longer stores a temporary setpoint in PIDSubsystem, instead
immediately sending to PIDController. This fixes an issue where the
setpoint didn't take effect until the Subsystem Periodic method ran, and
could cause commands to finish early if they were scheduled after the
subsystem periodic method ran because it used the old setpoint.
This fixes the following compilation errors:
```
/home/tav/frc/wpilib/allwpilib/wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/subsystems/Intake.cpp:5:10: fatal error: subsystems/Intake.h: No such file or directory
5 | #include "subsystems/Intake.h"
| ^~~~~~~~~~~~~~~~~~~~~
/home/tav/frc/wpilib/allwpilib/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp:11:10: fatal error: Constants.h: No such file or directory
11 | #include "Constants.h"
| ^~~~~~~~~~~~~
```
This effectively replaces the Unscented Kalman Filter used for Pose Estimation with the Odometry model, and uses a recalculable Kalman gain matrix to update pose estimations whenever a vision measurement is added.
Notably, this change removes the need for the confusing generics used in Java, and the C++ implementation got quite a bit less complex as well.
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
