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56 Commits

Author SHA1 Message Date
Matt
a175f6e862 [command] Add simulationPeriodic method to Subsystem (#2577) 
This method is run periodically during simulation, after periodic().
 2020-07-06 23:32:18 -07:00
Tyler Veness
2a0f79b90f [wpilib] Add X and Y component getters to Pose2d and Transform2d (#2563) 
pose.Translation().X() and pose.Translation.Y() are common operations,
so shortening them to pose.X() and pose.Y() would be convenient.

Java uses the getX() convention so that is used instead of X() for Java.
 2020-07-02 18:09:36 -07:00
Tyler Veness
d30d1088da [wpiutil] Split units.h into separate headers for each unit (#2551) 
Closes #2508.

Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
 2020-06-29 22:25:09 -07:00
Peter Johnson
ce3bc91946 [sim] Move Sim classes from HAL to wpilibc/j (#2549) 
Also move some things in HAL for consistency.

WAS:
C++:
- C APIs: #include "mockdata/AccelerometerData.h"
- User side class: #include "simulation/AccelerometerSim.h"
Java:
- JNI APIs: hal.sim.mockdata.AccelerometerData (and a few classes in hal.sim)
- User side classes: hal.sim.AccelerometerSim

IS:
C++:
- C APIs: #include "hal/simulation/AccelerometerData.h"
- C++ class: #include "frc/simulation/AccelerometerSim.h"
Java:
- JNI APIs: hal.simulation.AccelerometerData
- User side class: wpilibj.simulation.AccelerometerSim
 2020-06-27 22:11:24 -07:00
Tyler Veness
22c0e2813a [build] Upgrade CI to clang-format 10.0 (#1961) 
MacOS no longer ships 6.0, and Arch Linux's mesa GPU drivers are no longer compatible with LLVM 6.0.
 2020-06-27 20:39:00 -07:00
sciencewhiz
27566abb06 [command] PIDSubsystem: Add GetSetpoint (#2534) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
 2020-06-20 16:30:21 -07:00
Starlight220
92380485c8 [command] Make cancel safe to call from initialize (#2440) 
Fixes #2388.
 2020-05-20 21:00:34 -07:00
Austin Shalit
e504b3ecbd [command] Add NetworkButton (#2373) 
Closes #2371
 2020-04-05 23:07:17 -07:00
Austin Shalit
0ad0ec0985 [wpilibj] Move button tests to button package (#2472) 
Also make CommandTestBase public to facilitate this.
 2020-04-05 23:05:53 -07:00
Starlight220
f4c5c0f5b5 [command] Add withName inline decorator to Java (#2420) 
This is an inline decorator for setting the name of a command
(equivalent to calling setName()).

It's not possible to implement this for C++, as it would slice the derived
class to return it by value.
 2020-04-05 16:11:23 -07:00
Prateek Machiraju
b7a79c70cc C++: Add Watchdog to CommandScheduler (#2437) 
C++ counterpart to #2319
 2020-03-28 09:29:51 -07:00
Daniel Z
6e6f28d1ac Add watchdog and epoch reporting to CommandScheduler (#2319) 2020-03-28 09:29:15 -07:00
Starlight220
d14978e549 New commands: add docs to end() (#2450) 
Added documentation to prevent looping end() by scheduling commands.
 2020-03-28 09:18:06 -07:00
sciencewhiz
1b85066d26 Fix C++ ParallelRaceGroup multiple calls behavior (#2339) 
The Java version was correct, but the C++ version would only run once.
 2020-02-08 10:26:06 -08:00
Oblarg
f0a18f31e7 Timer: add hasElapsed, advanceIfElapsed (#2322) 
The current hasPeriodPassed() function is confusing.  In preparation for deprecating it,
add new advanceIfElapsed() function with same functionality and hasElapsed() function
which only checks that the time period has elapsed and does not advance the timer.

Also fix a couple of incorrect usages of hasPeriodPassed().
 2020-02-08 10:23:29 -08:00
Peter Johnson
b9b31069cc Fix C++ POVButton (#2294) 
Also add unit test.
 2020-01-20 21:35:19 -08:00
Chris Russell
a61fcbd68d Make Button class concrete (#2244) 2020-01-15 18:59:51 -08:00
Thad House
cb66bcca3c Add callback handlers for LiveWindow (#2053) 
Fixes #2223
 2020-01-12 22:37:24 -08:00
Oblarg
cba21a768f Fix C++ JoystickButton and POVButton (#2259) 
C++ JoystickButton and POVButton were both nonfunctional due to slicing when trigger passes itself by value to the button scheduler it creates.

Fix is to remove the virtual Get() method entirely and use only the m_isActive functor; since the subclass now passes the button condition back as a functor to the base class, in which it's stored as a member, it will now still work after being sliced.
 2020-01-12 14:57:28 -08:00
Peter Johnson
ab9647ff5b CommandScheduler: Don't store NetworkTableEntry 2020-01-10 23:42:18 -08:00
Peter Johnson
56765cf49a C++ CommandBase: Don't add to LiveWindow (#2255) 2020-01-10 20:37:49 -08:00
Peter Johnson
bf7012fa2d Fix new CommandScheduler.cancelAll() (#2251) 
When called outside the run loop, it would result in a CME in Java.
 2020-01-10 16:10:16 -08:00
Peter Johnson
32c62449be Add ArrayRef overloads to new command classes (#2216) 
Also default requirements to {} in all cases for consistency.
 2020-01-01 20:09:17 -08:00
Tyler Veness
6190fcb237 Run wpiformat (#2218) 2020-01-01 20:04:56 -08:00
Matt
222669dc2c Fix trapezoidal profile PID controller setpoint bug (#2210) 
Co-Authored-By: Austin Shalit <austinshalit@gmail.com>
 2020-01-01 15:23:25 -08:00
Peter Johnson
9abce8eb06 Fix subsystem LiveWindow usage (#2202) 2019-12-29 21:28:38 -06:00
Peter Johnson
7b952d599d Add usage reporting for many new things (#2184) 
- new CommandScheduler
- kinematics and odometry classes
- new PIDController
- ProfiledPIDController
- TrapezoidProfile (reported in Constraints class)

Also update instances.txt to match latest NI version.

One side effect is that a couple of classes are no longer constexpr.
 2019-12-25 00:42:14 -06:00
Oblarg
67b59f2b31 Minor improvements/fixes to new command framework (#2186) 2019-12-23 01:09:25 -06:00
Oblarg
ccdd0fbdb2 Add TrapezoidProfile external PID examples (#2131) 2019-12-07 13:37:54 -08:00
Tyler Veness
34f6b3f4c0 Fix C++ RamseteCommand param doxygen (#2157) 2019-12-05 23:54:32 -08:00
Oblarg
f7a93713fa Fix up templated TrapezoidProfile classes (#2151) 
* Fix two-phase name lookup bug

* Fix param in ProfiledPIDCommand constructor overload

* Fix ProfiledPIDCommand/Controller
 2019-12-04 20:40:37 -08:00
Thad House
d003ec2dc9 Update to 2020v9 image (#2154) 
- Fix VISA include and FPGA header
- Fix missing VISA lib from executables
 2019-12-04 20:38:43 -08:00
Prateek Machiraju
57c5523d67 Fix documentation in RamseteCommand (#2149) 2019-12-01 21:27:02 -08:00
Oblarg
6dcd2b0e2c Improve various subsystem APIs (#2130) 
Improves the APIs for various prebuilt subsystems (PIDSubsystem, TrapezoidProfileSubsystem, ProfiledPIDSubsystem). Addresses #2128, and also changes the rather cumbersome getSetpoint API to a more intuitive setSetpoint one. Updates examples to match.
 2019-11-25 21:46:47 -08:00
Tyler Veness
0b9307fdf3 Remove unused parts of .styleguide files (#2119) 2019-11-22 06:34:58 -08:00
CTT
a58dbec8aa Add holonomic follower examples (#2052) 2019-11-21 19:52:56 -08:00
Tyler Veness
9a8067465c Fix incomplete .styleguide (#2113) 
Also clean up other .styleguides.

Fixes #2111.
 2019-11-20 22:44:18 -08:00
Tyler Veness
ffa4b907c0 Fix C++ floating point literal formatting (#2114) 
Found formatting errors with this regex
"([^a-z0-9\.]\.[0-9]|[^a-z0-9\.][0-9]\.[^a-z0-9\.])" and ignored false
positives.

Fixes #2112.
 2019-11-20 21:48:15 -08:00
Oblarg
3d1ca856b2 Fix missing typename and return type (#2115) 2019-11-20 21:46:33 -08:00
Austin Shalit
4ebae17123 Enforce leading/trailing zeros in Java numeric constants (#2105) 
Enforce that integer literals must not have leading zeros and that floating point literals must have leading or trailing zeros in Java.
 2019-11-20 20:13:15 -08:00
Oblarg
fa85fbfc1c Template C++ TrapezoidProfile and ProfiledPIDController on units (#2109) 2019-11-20 20:11:46 -08:00
Oblarg
8c4d9f5415 Add TrapezoidProfileSubsystem (#2077) 
Adds a subsystem that continually runs a TrapezoidProfile, for composition with offboard PID controllers.
 2019-11-19 12:38:42 -08:00
Prateek Machiraju
5891628112 Use DifferentialDriveWheelSpeeds in RamseteCommand ctor (#2091) 2019-11-18 22:11:05 -08:00
Oblarg
0e83c65d27 Fix small logic error in ParallelDeadlineGroup (#2095) 2019-11-18 15:33:45 -08:00
Thad House
1894219ef6 Fix devmain package in commands (#2097) 2019-11-18 15:24:04 -08:00
Thad House
b7bc1ea745 Update to 2020v6 image (#2078) 2019-11-13 21:35:52 -08:00
Thad House
708009cd20 Update to gradle 6.0 (#2074) 2019-11-12 17:14:04 -08:00
Oblarg
7dc7c71b58 Add feedforward components (#2045) 
Add helper classes for computing feedforwards with parameters supplied by the characterization tool.
 2019-11-09 20:16:42 -08:00
Oblarg
5f33d6af12 Fix ProfiledPIDSubsystem parameter name (#2017) 
Change from goal to setpoint (these are two different things).
 2019-11-09 09:16:50 -08:00
Thad House
9bcff37b93 Add HAL specific version of wpi_setError (#2055) 
Cleans up error writing, and allows fewer headers to be included in many of the wpilibc cpp files.

This removes all usages of the hal/HAL.h header.
 2019-11-08 22:53:20 -08:00