This is a cleanup of the FlywheelSim class with a few added features.
- One FlywheelSim constructor that takes a plant, DCMotor, and a optional number of measurementStdDevs. The documentation now states how to construct the plant either through LinearSystemId.createFlywheelSystem or identifyVelocitySystem.
- The gearbox, gearing and moment of Inertia (J) are now private final fields. The gearing is determined from the plant in the constructor as well as the moment of inertia. There are getter methods that allow the flywheelSim to return the gearbox, gearing, and moment of inertia.
- The getCurrentDrawAmps function now uses m_x instead of getAngularVelocityRadPerSec in accordance with more accuracy and matches the patter in other sims.
- Added getter methods for the InputVoltage, angularAcceleration and torque
- (Java only) A third getter method for returning the AngularVelocity of the flywheel using a MutableMeasure as a backing field that is set when getAngularVelocity is called. This summarily returns the angularVelocity as just a Measure object. This allows the user of this class to handle unit conversions with less numerical manipulation. Alterations in C++ for this feature were not needed.
LTVUnicycleController is a drop-in replacement with better tuning knobs.
The RamseteCommand examples were removed instead of retrofitted with
LTVUnicycleController because we're planning on removing the command
controller classes anyway, so it would be wasted effort. The
SimpleDifferentialDriveSimulation example shows direct
LTVUnicycleController usage.
The default state for the DS in the simulated HAL is changed to disconnected.
The FMS view is now only editable in DS disconnected state.
This enables more robot and field-like testing of robot code, as the
alliance color and other parameters start in invalid states and are
only set when the DS connects.
Many teams have issues trying to read the DS too early. By switching to an optional, we cause teams to check 2 things. Either 1) they explicitly check, and their code is correct, or 2) they just read .value() and their code reboots in a loop. However, because the DS will eventually connect, this 2nd case is ok, and should theoretically be undetectable on the field.
Accelerometer is hyper-specific to ADXL accelerometers, and Gyro is
less useful now that 3D IMUs are prevalent, and if those IMUs want to
support the Gyro interface, they also need to provide a way to set the
axis used for the Gyro interface, which is confusing. Higher-order
functions (e.g., lambdas) are a more flexible interface boundary than
interfaces, but they didn't exist when these interfaces were
created.
Setting one will set the others, like it does in real hardware.
Add tests for boundary conditions and conversions.
Update PWM sendable implementation to include all forms.
Fixes#5264Fixes#3606
The current DS thread model has some pretty major issues. It makes it difficult to know if all data is from the same remote packet, and if the data changes while the robot loop is running. Additionally, the DS thread is used for a few other things (MotorSafety and State Tracking for EducationalRobot). This also makes sim difficult, as user code has to wait for the thread to know it has new data.
This change completely rethinks how threading works in the driver station model.
First, the DS HAL system receives a new data callback, either from Netcomm or DriverStationSim. Inside the context of this callback, all the low latency data is read and put into a cache. Doing some investigation on the robot side, this is perfectly safe to do, and also ensures a ds packet will not be parsed before we finish reading the current packet data.
After all data is read, the cache is swapped with a 2nd buffer. This buffer just stores the data, none of the HAL DS calls read from this buffer. An event is then fired, stating there is new data ready to go.
Robot code calls HAL_UpdateDSData(). This swaps the 2nd buffer with a 3rd buffer, which always contains the current data. This data will not be updated until HAL_UpdateDSData is called again. Which solves the state problem.
The high level driver station classes have. an updateData() call, which calls HAL_UpdateDSData, and then update button state variables, then data log and update the NT FMS data table (Java also caches across the JNI boundary here, but that could trivially be removed). An extra event provider is provided, allowing other threads to know when this call has been completed.
IterativeRobotBase calls DS.updateData() at the beginning of each loop, and only once per loop. This means all commands will always have the same state.
All of this means there is no longer a DS thread. Everything happens synchronously. This means Sim and testing is easier, as you can just call DriverStationSim.NotifyNewData(), and then DriverStation.UpdateData(), and you can guarantee that all the DriverStation.*** data is up to date.
As for Motor Safety and Educational Robot State Handling, those can all be handled by their own threads. The Educational Thread only needs to run under EducationalRobot, and MotorSafety will only be started if there is a motor safety object enabled.
* 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.
This allows us to error out on deprecation warnings for thirdparty
libraries and standard library features.
Co-authored-by: Starlight220 <53231611+Starlight220@users.noreply.github.com>
Most of these were unused, the IMU ones were just debug messages.
The only one that wasn't removed is in portable-file-dialogs.cpp since
the replacement looks less trivial.
This adds the REV Analog Pressure Sensor PSI to volt (and vice versa) conversion to allow setting the compressor config in PSI and getting the sensor reading in PSI. Also adds input validation for pressure values at the higher level.
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
More functionality was implemented at the HAL level, so expose that to the wpilib level.
This also does units changes for all the PH related functionality.
