If xSpeed == -0.0 and zRotation > 0, the algorithm assumes it's in the
third quadrant instead of the first since +0.0 == -0.0.
Also added tests for inverse kinematic functions, fixed some
MecanumDrive test bugs, and added Java MecanumDrive.driveCartesianIK()
and KilloughDrive.driveCartesianIK() overloads with defaulted gyro angle
that C++ already had.
Fixes#4022.
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.
Since the CAN bus can easily become disconnected, we don't want this to crash. Instead, we just want this to report errors. This matches previous behavior.
The changes to PneumaticsBase.cpp were to fix errors like the following
from enum classes not being formattable:
```
allwpilib/wpilibc/src/main/native/cpp/PneumaticsBase.cpp:36:9: required from here
allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/core.h:2672:12: error: use of deleted function ‘fmt::v8::detail::fallback_formatter<T, Char, Enable>::fallback_formatter() [with T = frc::PneumaticsModuleType; Char = char; Enable = void]’
2672 | auto f = conditional_t<has_formatter<mapped_type, context>::value,
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
2673 | formatter<mapped_type, char_type>,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
2674 | fallback_formatter<T, char_type>>();
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
```
The angular rate is treated somewhat like an angle during calibration,
but the datasheet says it's angular rate. The variables were renamed to
make this clearer.
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.
With the change from GetInstance to static functions, many functions
don't call DriverStation::GetInstance(), so the DS thread wasn't
getting started by default. Call InDisabled() to make sure this
happens.
UpdateEntries() and Flush() are called from methods that lock the mutex,
so locking it again will cause deadlocks. This also updates the Java
code to make MechanismObject2d::update synchronized like in the C++
version.
As the sensor needs to maintain an actual duty cycle, it can't go all
the way from 0-100, so provide a way to set the min and max and linearly
map between the two.
