[wpimath] Fix ElevatorSim::GetCurrentDraw() in C++ (#8370)

The Kv calculation in C++ was missing a negative sign compared to the Java implementation.

.github/workflows/bazel.yml

@@ -37,7 +37,7 @@ jobs:
 
   build-mac:
     name: "Mac"
-    runs-on: macos-14
+    runs-on: macOS-15
     steps:
       - uses: actions/checkout@v4
         with: { fetch-depth: 0 }

.github/workflows/cmake.yml

@@ -20,7 +20,7 @@ jobs:
             name: Linux
             container: wpilib/roborio-cross-ubuntu:2025-22.04
             flags: "--preset with-java-and-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
-          - os: macOS-14
+          - os: macOS-15
             name: macOS
             container: ""
             env: ""
@@ -59,7 +59,7 @@ jobs:
         uses: lukka/run-vcpkg@v11.5
         with:
           vcpkgDirectory: ${{ runner.workspace }}/vcpkg
-          vcpkgGitCommitId: 37c3e63a1306562f7f59c4c3c8892ddd50fdf992 # HEAD on 2024-02-24
+          vcpkgGitCommitId: 74e6536215718009aae747d86d84b78376bf9e09 # HEAD on 2025-10-17
 
       - name: configure
         run: cmake ${{ matrix.flags }}

.github/workflows/gradle.yml

@@ -98,7 +98,7 @@ jobs:
             build-options: "-PciReleaseOnly -Pbuildwinarm64 -Ponlywindowsarm64"
             task: "copyAllOutputs"
             outputs: "build/allOutputs"
-          - os: macOS-14
+          - os: macOS-15
             artifact-name: macOS
             architecture: aarch64
             task: "build"
@@ -153,7 +153,7 @@ jobs:
         if: matrix.os == 'windows-2022'
       - name: Check disk free space pre-cleanup (macOS)
         run: df -h .
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
       - name: Cleanup disk space
         # CodeQL: 5G
         # go: 748M
@@ -162,10 +162,10 @@ jobs:
           rm -rf /Users/runner/hostedtoolcache/CodeQL
           rm -rf /Users/runner/hostedtoolcache/go
           rm -rf /Users/runner/Library/Android
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
       - name: Check disk free space post-cleanup (macOS)
         run: df -h .
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
       - name: Build with Gradle
         run: ./gradlew ${{ matrix.task }} --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
         env:
@@ -181,7 +181,7 @@ jobs:
         if: matrix.os == 'windows-2022'
       - name: Check disk free space (macOS)
         run: df -h .
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
       - uses: actions/upload-artifact@v4
         with:
           name: ${{ matrix.artifact-name }}

.github/workflows/lint-format.yml

@@ -36,7 +36,7 @@ jobs:
       - name: Install wpiformat
         run: |
           python -m venv ${{ runner.temp }}/wpiformat
-          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.34
+          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.36
       - name: Run
         run: ${{ runner.temp }}/wpiformat/bin/wpiformat
       - name: Check output
@@ -78,7 +78,7 @@ jobs:
       - name: Install wpiformat
         run: |
           python -m venv ${{ runner.temp }}/wpiformat
-          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.34
+          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.36
       - name: Create compile_commands.json
         run: |
           ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio

.github/workflows/sentinel-build.yml

@@ -97,7 +97,7 @@ jobs:
             build-options: "-PciReleaseOnly -Pbuildwinarm64 -Ponlywindowsarm64"
             task: "copyAllOutputs"
             outputs: "build/allOutputs"
-          - os: macOS-14
+          - os: macOS-15
             artifact-name: macOS
             architecture: aarch64
             task: "build"
@@ -146,7 +146,7 @@ jobs:
         if: matrix.os == 'windows-2022'
       - name: Check disk free space pre-cleanup (macOS)
         run: df -h .
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
       - name: Cleanup disk space
         # CodeQL: 5G
         # go: 748M
@@ -155,10 +155,10 @@ jobs:
           rm -rf /Users/runner/hostedtoolcache/CodeQL
           rm -rf /Users/runner/hostedtoolcache/go
           rm -rf /Users/runner/Library/Android
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
       - name: Check disk free space post-cleanup (macOS)
         run: df -h .
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
       - name: Build with Gradle
         run: ./gradlew ${{ matrix.task }} -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
       - name: Sign Libraries with Developer ID
@@ -170,7 +170,7 @@ jobs:
         if: matrix.os == 'windows-2022'
       - name: Check disk free space (macOS)
         run: df -h .
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
       - uses: actions/upload-artifact@v4
         with:
           name: ${{ matrix.artifact-name }}

.github/workflows/tools.yml

@@ -7,7 +7,7 @@ concurrency:
   cancel-in-progress: true
 
 env:
-  YEAR: 2025
+  YEAR: 2026
 
 jobs:
   build-artifacts:

cscore/src/main/native/windows/UsbCameraImpl.cpp

@@ -255,8 +255,9 @@ bool UsbCameraImpl::CheckDeviceChange(WPARAM wParam, DEV_BROADCAST_HDR* pHdr,
 }
 
 void UsbCameraImpl::DeviceDisconnect() {
-  if (m_connectVerbose)
+  if (m_connectVerbose) {
     SINFO("Disconnected from {}", m_path);
+  }
   m_sourceReader.Reset();
   m_mediaSource.Reset();
   if (m_imageCallback) {
@@ -655,8 +656,9 @@ void UsbCameraImpl::DeviceCacheProperty(
     rawProp->valueStr = perProp->valueStr;  // copy
   } else {
     // Read current raw value and set percentage from it
-    if (!rawProp->DeviceGet(lock, pProcAmp))
+    if (!rawProp->DeviceGet(lock, pProcAmp)) {
       SWARNING("failed to get property {}", rawProp->name);
+    }
 
     if (perProp) {
       perProp->SetValue(RawToPercentage(*rawProp, rawProp->value));
@@ -666,8 +668,9 @@ void UsbCameraImpl::DeviceCacheProperty(
 
   // Set value on device if user-configured
   if (rawProp->valueSet) {
-    if (!rawProp->DeviceSet(lock, pProcAmp))
+    if (!rawProp->DeviceSet(lock, pProcAmp)) {
       SWARNING("failed to set property {}", rawProp->name);
+    }
   }
 
   // Update pointers since we released the lock

docs/build.gradle

@@ -47,20 +47,29 @@ cppProjectZips.add(project(':romiVendordep').cppHeadersZip)
 cppProjectZips.add(project(':xrpVendordep').cppHeadersZip)
 
 doxygen {
-    // Doxygen binaries are only provided for x86_64 platforms
-    // Other platforms will need to provide doxygen via their system
-    // See below maven and https://doxygen.nl/download.html for provided binaries
-    // Ensure theme.css (from https://github.com/jothepro/doxygen-awesome-css) is compatible with
-    // doxygen version when updating
+    // Doxygen binaries are only provided for x86_64 platforms. Other platforms
+    // will need to use a local Doxygen install.
+    //
+    // executeByVersion() fetches Doxygen binaries from
+    // https://frcmaven.wpi.edu/ui/native/generic-release-mirror/doxygen/, which
+    // is a mirror of binaries from https://doxygen.nl/download.html.
+    //
+    // To mirror a new Doxygen version, retrigger the GitHub Actions workflow in
+    // https://github.com/wpilibsuite/doxygen-mirror with the desired version
+    // number as an input.
+    //
+    // Ensure theme.css (from https://github.com/jothepro/doxygen-awesome-css)
+    // is compatible with Doxygen version when updating.
     executables {
         doxygen {
-            // Note: has no effect if not on an x86_64 platform - you need to have a global install available on your
-            // PATH for the doxygen plugin to run
+            // Note: has no effect if not on an x86_64 platform - you need to
+            // have a global install available on your PATH for the Doxygen
+            // plugin to run.
             executableByVersion('1.12.0')
 
             String arch = System.getProperty("os.arch");
             if (!(arch.equals("x86_64") || arch.equals("amd64"))) {
-                // Search for a local doxygen install
+                // Search for a local Doxygen install
                 executableBySearchPath('doxygen')
             }
         }

shared/config.gradle

@@ -14,7 +14,7 @@ nativeUtils {
     wpi {
         configureDependencies {
             opencvYear = "frc2025"
-            niLibVersion = "2025.2.0"
+            niLibVersion = "2026.1.0"
             opencvVersion = "4.10.0-3"
         }
     }

simulation/halsim_ds_socket/src/main/native/cpp/main.cpp

@@ -186,7 +186,7 @@ extern "C" {
 #if defined(WIN32) || defined(_WIN32)
 __declspec(dllexport)
 #endif
-    int HALSIM_InitExtension(void) {
+int HALSIM_InitExtension(void) {
   static bool once = false;
 
   if (once) {

simulation/halsim_gui/src/main/native/cpp/main.cpp

@@ -45,7 +45,7 @@ extern "C" {
 #if defined(WIN32) || defined(_WIN32)
 __declspec(dllexport)
 #endif
-    int HALSIM_InitExtension(void) {
+int HALSIM_InitExtension(void) {
   std::puts("Simulator GUI Initializing.");
 
   gui::CreateContext();

simulation/halsim_gui/src/main/native/include/HALDataSource.h

@@ -57,13 +57,9 @@
         HALSIM_Cancel##cbname##Callback(m_index, m_callback);                 \
     }                                                                         \
                                                                               \
-    int32_t GetIndex() const {                                                \
-      return m_index;                                                         \
-    }                                                                         \
+    int32_t GetIndex() const { return m_index; }                              \
                                                                               \
-    int GetChannel() const {                                                  \
-      return m_channel;                                                       \
-    }                                                                         \
+    int GetChannel() const { return m_channel; }                              \
                                                                               \
    private:                                                                   \
     static void CallbackFunc(const char*, void* param,                        \
@@ -100,13 +96,9 @@
         HALSIM_Cancel##cbname##Callback(m_index, m_channel, m_callback);      \
     }                                                                         \
                                                                               \
-    int32_t GetIndex() const {                                                \
-      return m_index;                                                         \
-    }                                                                         \
+    int32_t GetIndex() const { return m_index; }                              \
                                                                               \
-    int32_t GetChannel() const {                                              \
-      return m_channel;                                                       \
-    }                                                                         \
+    int32_t GetChannel() const { return m_channel; }                          \
                                                                               \
    private:                                                                   \
     static void CallbackFunc(const char*, void* param,                        \

simulation/halsim_ws_client/src/main/native/cpp/main.cpp

@@ -18,7 +18,7 @@ extern "C" {
 __declspec(dllexport)
 #endif
 
-    int HALSIM_InitExtension(void) {
+int HALSIM_InitExtension(void) {
   std::puts("HALSim WS Client Extension Initializing");
 
   HAL_OnShutdown(nullptr, [](void*) { gClient.reset(); });

simulation/halsim_ws_server/src/main/native/cpp/main.cpp

@@ -18,7 +18,7 @@ extern "C" {
 #if defined(WIN32) || defined(_WIN32)
 __declspec(dllexport)
 #endif
-    int HALSIM_InitExtension(void) {
+int HALSIM_InitExtension(void) {
   std::puts("Websocket WS Server Initializing.");
 
   HAL_OnShutdown(nullptr, [](void*) { gServer.reset(); });

simulation/halsim_xrp/src/main/native/cpp/main.cpp

@@ -25,7 +25,7 @@ extern "C" {
 __declspec(dllexport)
 #endif
 
-    int HALSIM_InitExtension(void) {
+int HALSIM_InitExtension(void) {
   std::puts("HALSim XRP Extension Initializing");
 
   HAL_OnShutdown(nullptr, [](void*) { gClient.reset(); });

styleguide/spotbugs-exclude.xml

@@ -2,49 +2,32 @@
 <FindBugsFilter>
   <Match>
     <Bug pattern="AT_NONATOMIC_64BIT_PRIMITIVE" />
-    <Class name="edu.wpi.first.wpilibj.DriverStation" />
-  </Match>
-  <Match>
-    <Bug pattern="AT_NONATOMIC_64BIT_PRIMITIVE" />
-    <Class name="edu.wpi.first.wpilibj.Ultrasonic" />
-  </Match>
-  <Match>
-    <Bug pattern="AT_NONATOMIC_64BIT_PRIMITIVE" />
-    <Class name="edu.wpi.first.wpilibj.Watchdog" />
+    <Or>
+      <Class name="edu.wpi.first.wpilibj.DriverStation" />
+      <Class name="edu.wpi.first.wpilibj.Ultrasonic" />
+      <Class name="edu.wpi.first.wpilibj.Watchdog" />
+    </Or>
   </Match>
   <Match>
     <Bug pattern="AT_STALE_THREAD_WRITE_OF_PRIMITIVE" />
-    <Class name="edu.wpi.first.wpilibj.ADIS16448_IMU" />
-  </Match>
-  <Match>
-    <Bug pattern="AT_STALE_THREAD_WRITE_OF_PRIMITIVE" />
-    <Class name="edu.wpi.first.wpilibj.ADIS16470_IMU" />
-  </Match>
-  <Match>
-    <Bug pattern="AT_STALE_THREAD_WRITE_OF_PRIMITIVE" />
-    <Class name="edu.wpi.first.wpilibj.DriverStation" />
-  </Match>
-  <Match>
-    <Bug pattern="AT_STALE_THREAD_WRITE_OF_PRIMITIVE" />
-    <Class name="edu.wpi.first.wpilibj.GenericHID" />
-  </Match>
-  <Match>
-    <Bug pattern="AT_STALE_THREAD_WRITE_OF_PRIMITIVE" />
-    <Class name="edu.wpi.first.wpilibj.Ultrasonic" />
-  </Match>
-  <Match>
-    <Bug pattern="AT_STALE_THREAD_WRITE_OF_PRIMITIVE" />
-    <Class name="edu.wpi.first.wpilibj.motorcontrol.NidecBrushless" />
-  </Match>
-  <Match>
-    <Bug pattern="AT_STALE_THREAD_WRITE_OF_PRIMITIVE" />
-    <Class name="edu.wpi.first.wpilibj2.command.CommandScheduler" />
+    <Or>
+      <Class name="edu.wpi.first.wpilibj.ADIS16448_IMU" />
+      <Class name="edu.wpi.first.wpilibj.ADIS16470_IMU" />
+      <Class name="edu.wpi.first.wpilibj.DriverStation" />
+      <Class name="edu.wpi.first.wpilibj.GenericHID" />
+      <Class name="edu.wpi.first.wpilibj.Ultrasonic" />
+      <Class name="edu.wpi.first.wpilibj2.command.CommandScheduler" />
+    </Or>
   </Match>
   <Match>
     <Bug pattern="CT_CONSTRUCTOR_THROW" />
   </Match>
   <Match>
-    <Bug pattern="DCN_NULLPOINTER_EXCEPTION" />
+    <Or>
+      <Bug pattern="DCN_NULLPOINTER_EXCEPTION" />
+      <Bug pattern="SING_SINGLETON_GETTER_NOT_SYNCHRONIZED" />
+      <Bug pattern="SING_SINGLETON_HAS_NONPRIVATE_CONSTRUCTOR" />
+    </Or>
     <Class name="edu.wpi.first.wpilibj.test.TestSuite" />
   </Match>
   <Match>
@@ -53,16 +36,32 @@
   </Match>
   <Match>
     <Bug pattern="DM_DEFAULT_ENCODING" />
+    <Or>
+      <Class name="edu.wpi.first.epilogue.processor.EpilogueGenerator" />
+      <Class name="edu.wpi.first.wpilibj.examples.i2ccommunication.I2CCommunicationTest" />
+      <Class name="edu.wpi.first.wpilibj2.command.PrintCommandTest" />
+    </Or>
   </Match>
   <Match>
     <Bug pattern="DMI_HARDCODED_ABSOLUTE_FILENAME" />
+    <Or>
+      <Class name="edu.wpi.first.wpilibj.Filesystem" />
+      <Class name="edu.wpi.first.wpilibj.DataLogManager" />
+      <Class name="edu.wpi.first.util.CombinedRuntimeLoader" />
+      <Class name="edu.wpi.first.util.RuntimeDetector" />
+    </Or>
   </Match>
   <Match>
+    <!--
+    These are false positives where the Random instance is used multiple times in a loop. Futhermore, high randomness is not a
+    high priority because these are tests- In fact, the odometry tests seed the Random instance to guarantee repeatability.
+    -->
     <Bug pattern="DMI_RANDOM_USED_ONLY_ONCE" />
-  </Match>
-  <Match>
-    <Bug pattern="EC_BAD_ARRAY_COMPARE" />
-    <Class name="edu.wpi.first.math.estimator.SwerveDrivePoseEstimator$InterpolationRecord" />
+    <Or>
+      <Class name="edu.wpi.first.math.kinematics.SwerveDriveOdometry3dTest" />
+      <Class name="edu.wpi.first.math.kinematics.SwerveDriveOdometryTest" />
+      <Class name="edu.wpi.first.math.filter.LinearFilterTest" />
+    </Or>
   </Match>
   <Match>
     <Bug pattern="EI_EXPOSE_REP" />
@@ -81,15 +80,24 @@
   </Match>
   <Match>
     <Bug pattern="FL_FLOATS_AS_LOOP_COUNTERS" />
+    <Or>
+      <Class name="edu.wpi.first.math.controller.DifferentialDriveAccelerationLimiterTest" />
+      <Class name="edu.wpi.first.math.controller.ImplicitModelFollowerTest" />
+      <Class name="edu.wpi.first.math.controller.LinearSystemLoopTest" />
+      <Class name="~edu\.wpi\.first\.math\.estimator\.[^.]*PoseEstimator(3d)?Test" />
+      <Class name="edu.wpi.first.math.filter.LinearFilterTest" />
+      <Class name="edu.wpi.first.math.kinematics.ChassisSpeedsTest" />
+      <Class name="edu.wpi.first.wpilibj.AnalogPotentiometerTest" />
+      <Class name="edu.wpi.first.wpilibj.DMATest" />
+      <Class name="edu.wpi.first.wpilibj.LEDPatternTest" />
+      <Class name="edu.wpi.first.wpilibj.simulation.AnalogInputSimTest" />
+      <Class name="edu.wpi.first.wpilibj.simulation.AnalogOutputSimTest" />
+    </Or>
   </Match>
   <Match>
     <Bug pattern="IS2_INCONSISTENT_SYNC" />
     <Class name="edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d" />
   </Match>
-  <Match>
-    <Bug pattern="MS_CANNOT_BE_FINAL" />
-    <Class name="edu.wpi.first.wpilibj.examples.pacgoat.Robot" />
-  </Match>
   <Match>
     <Bug pattern="MS_EXPOSE_REP" />
   </Match>
@@ -98,46 +106,33 @@
   </Match>
   <Match>
     <Bug pattern="NM_CLASS_NAMING_CONVENTION" />
-    <Class name="edu.wpi.first.hal.FRCNetComm$tInstances" />
-  </Match>
-  <Match>
-    <Bug pattern="NM_CLASS_NAMING_CONVENTION" />
-    <Class name="edu.wpi.first.hal.FRCNetComm$tResourceType" />
+    <Or>
+      <Class name="edu.wpi.first.hal.FRCNetComm$tInstances" />
+      <Class name="edu.wpi.first.hal.FRCNetComm$tResourceType" />
+    </Or>
   </Match>
   <Match>
+    <!--
+    This seems to be a false positive from the &= used by these command compositions to determine runsWhenDisabled
+    -->
     <Bug pattern="NS_DANGEROUS_NON_SHORT_CIRCUIT" />
-    <Class name="edu.wpi.first.wpilibj2.command.ParallelCommandGroup" />
-  </Match>
-  <Match>
-    <Bug pattern="NS_DANGEROUS_NON_SHORT_CIRCUIT" />
-    <Class name="edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup" />
-  </Match>
-  <Match>
-    <Bug pattern="NS_DANGEROUS_NON_SHORT_CIRCUIT" />
-    <Class name="edu.wpi.first.wpilibj2.command.ParallelRaceGroup" />
-  </Match>
-  <Match>
-    <Bug pattern="NS_DANGEROUS_NON_SHORT_CIRCUIT" />
-    <Class name="edu.wpi.first.wpilibj2.command.ProxyScheduleCommand" />
-  </Match>
-  <Match>
-    <Bug pattern="NS_DANGEROUS_NON_SHORT_CIRCUIT" />
-    <Class name="edu.wpi.first.wpilibj2.command.SequentialCommandGroup" />
-  </Match>
-  <Match>
-    <Bug pattern="NS_DANGEROUS_NON_SHORT_CIRCUIT" />
-    <Class name="edu.wpi.first.wpilibj2.command.SelectCommand" />
+    <Or>
+      <Class name="edu.wpi.first.wpilibj2.command.ParallelCommandGroup" />
+      <Class name="edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup" />
+      <Class name="edu.wpi.first.wpilibj2.command.ParallelRaceGroup" />
+      <Class name="edu.wpi.first.wpilibj2.command.SequentialCommandGroup" />
+      <Class name="edu.wpi.first.wpilibj2.command.SelectCommand" />
+    </Or>
   </Match>
   <Match>
     <Bug pattern="PA_PUBLIC_PRIMITIVE_ATTRIBUTE" />
   </Match>
   <Match>
     <Bug pattern="RV_RETURN_VALUE_IGNORED_BAD_PRACTICE" />
-    <Class name="edu.wpi.first.wpilibj.test.AntJunitLauncher" />
-  </Match>
-  <Match>
-    <Bug pattern="RV_RETURN_VALUE_IGNORED_BAD_PRACTICE" />
-    <Class name="edu.wpi.first.util.CombinedRuntimeLoader" />
+    <Or>
+      <Class name="edu.wpi.first.wpilibj.test.AntJunitLauncher" />
+      <Class name="edu.wpi.first.util.CombinedRuntimeLoader" />
+    </Or>
   </Match>
   <Match>
     <Bug pattern="RV_RETURN_VALUE_OF_PUTIFABSENT_IGNORED" />
@@ -145,78 +140,49 @@
   </Match>
   <Match>
     <Bug pattern="SC_START_IN_CTOR" />
+    <Class name="edu.wpi.first.wpilibj.MotorSafety" />
   </Match>
   <Match>
     <Bug pattern="SF_SWITCH_FALLTHROUGH" />
     <Class name="edu.wpi.first.cameraserver.CameraServer$PropertyPublisher" />
   </Match>
-  <Match>
-    <Bug pattern="SING_SINGLETON_GETTER_NOT_SYNCHRONIZED" />
-    <Class name="edu.wpi.first.wpilibj.test.TestSuite" />
-  </Match>
   <Match>
     <Bug pattern="SING_SINGLETON_HAS_NONPRIVATE_CONSTRUCTOR" />
-    <Class name="edu.wpi.first.wpilibj.test.TestSuite" />
-  </Match>
-  <Match>
-    <Bug pattern="SING_SINGLETON_HAS_NONPRIVATE_CONSTRUCTOR" />
-    <Class name="edu.wpi.first.wpilibj2.command.CommandScheduler" />
-  </Match>
-  <Match>
-    <Bug pattern="SING_SINGLETON_HAS_NONPRIVATE_CONSTRUCTOR" />
-    <Class name="edu.wpi.first.math.geometry.CoordinateAxis" />
-  </Match>
-  <Match>
-    <Bug pattern="SING_SINGLETON_HAS_NONPRIVATE_CONSTRUCTOR" />
-    <Class name="edu.wpi.first.math.geometry.CoordinateSystem" />
+    <Or>
+      <Class name="edu.wpi.first.wpilibj2.command.CommandScheduler" />
+      <Class name="edu.wpi.first.math.geometry.CoordinateAxis" />
+      <Class name="edu.wpi.first.math.geometry.CoordinateSystem" />
+    </Or>
   </Match>
   <Match>
     <Bug pattern="SSD_DO_NOT_USE_INSTANCE_LOCK_ON_SHARED_STATIC_DATA" />
     <Class name="edu.wpi.first.wpilibj.Ultrasonic" />
   </Match>
   <Match>
+    <!--
+    Many false positives from instance reporting.
+    -->
     <Bug pattern="ST_WRITE_TO_STATIC_FROM_INSTANCE_METHOD" />
   </Match>
   <Match>
-    <Bug pattern="THROWS_METHOD_THROWS_CLAUSE_BASIC_EXCEPTION" />
-  </Match>
-  <Match>
-    <Bug pattern="THROWS_METHOD_THROWS_CLAUSE_THROWABLE" />
-  </Match>
-  <Match>
-    <Bug pattern="THROWS_METHOD_THROWS_RUNTIMEEXCEPTION" />
-  </Match>
-  <Match>
+    <!--
+    False positives because the users are supposed to fill in the code.
+    -->
     <Bug pattern="UC_USELESS_VOID_METHOD" />
-    <Class name="edu.wpi.first.wpilibj.templates.romitimed.Robot" />
-  </Match>
-  <Match>
-    <Bug pattern="UC_USELESS_VOID_METHOD" />
-    <Class name="edu.wpi.first.wpilibj.templates.xrptimed.Robot" />
-  </Match>
-  <Match>
-    <Bug pattern="UC_USELESS_VOID_METHOD" />
-    <Class name="edu.wpi.first.wpilibj.templates.timed.Robot" />
-  </Match>
-  <Match>
-    <Bug pattern="UC_USELESS_VOID_METHOD" />
-    <Class name="edu.wpi.first.wpilibj.templates.timeslice.Robot" />
-  </Match>
-  <Match>
-    <Bug pattern="UC_USELESS_VOID_METHOD" />
-    <Class name="edu.wpi.first.wpilibj.templates.timesliceskeleton.Robot" />
+    <Or>
+      <Class name="edu.wpi.first.wpilibj.templates.romitimed.Robot" />
+      <Class name="edu.wpi.first.wpilibj.templates.xrptimed.Robot" />
+      <Class name="edu.wpi.first.wpilibj.templates.timed.Robot" />
+      <Class name="edu.wpi.first.wpilibj.templates.timeslice.Robot" />
+      <Class name="edu.wpi.first.wpilibj.templates.timesliceskeleton.Robot" />
+    </Or>
   </Match>
   <Match>
     <Bug pattern="URF_UNREAD_FIELD" />
-    <Class name="edu.wpi.first.wpilibj.ADIS16448_IMU" />
-  </Match>
-  <Match>
-    <Bug pattern="URF_UNREAD_FIELD" />
-    <Class name="edu.wpi.first.wpilibj.ADIS16470_IMU" />
-  </Match>
-  <Match>
-    <Bug pattern="URF_UNREAD_FIELD" />
-    <Class name="edu.wpi.first.wpilibj.AnalogTrigger" />
+    <Or>
+      <Class name="edu.wpi.first.wpilibj.ADIS16448_IMU" />
+      <Class name="edu.wpi.first.wpilibj.ADIS16470_IMU" />
+    </Or>
   </Match>
   <Match>
     <Bug pattern="URF_UNREAD_PUBLIC_OR_PROTECTED_FIELD" />
@@ -227,5 +193,14 @@
   </Match>
   <Match>
     <Bug pattern="VA_FORMAT_STRING_USES_NEWLINE" />
+    <Or>
+      <Class name="edu.wpi.first.epilogue.processor.LoggableHandler" />
+      <Class name="edu.wpi.first.util.MsvcRuntimeException" />
+      <Class name="edu.wpi.first.util.RuntimeLoader" />
+      <Class name="edu.wpi.first.wpilibj.Tracer" />
+      <Class name="edu.wpi.first.wpilibj.Watchdog" />
+      <Class name="edu.wpi.first.math.system.LinearSystem" />
+      <Class name="edu.wpi.first.math.trajectory.Trajectory" />
+    </Or>
   </Match>
 </FindBugsFilter>

sysid/src/main/native/cpp/analysis/FeedforwardAnalysis.cpp

@@ -251,17 +251,17 @@ OLSResult CalculateFeedforwardGains(const Storage& data,
 
     if (type == analysis::kArm) {
       // dx/dt = -Kv/Ka x + 1/Ka u - Ks/Ka sgn(x)
-      //           - Kg/Ka cos(offset) cos(angle)                   NOLINT
-      //           + Kg/Ka sin(offset) sin(angle)                   NOLINT
-      // dx/dt = αx + βu + γ sgn(x) + δ cos(angle) + ε sin(angle)   NOLINT
+      //           - Kg/Ka cos(offset) cos(angle)
+      //           + Kg/Ka sin(offset) sin(angle)
+      // dx/dt = αx + βu + γ sgn(x) + δ cos(angle) + ε sin(angle)
 
       // δ = -Kg/Ka cos(offset)
       // ε = Kg/Ka sin(offset)
       double δ = ols.coeffs[3];
       double ε = ols.coeffs[4];
 
-      // Kg = hypot(δ, ε)/β      NOLINT
-      // offset = atan2(ε, -δ)   NOLINT
+      // Kg = hypot(δ, ε)/β
+      // offset = atan2(ε, -δ)
       gains.emplace_back(std::hypot(δ, ε) / β);
       gains.emplace_back(std::atan2(ε, -δ));
     }

sysid/src/main/native/include/sysid/view/Analyzer.h

@@ -55,7 +55,6 @@ class Analyzer : public glass::View {
    */
   static constexpr const char* kPresetNames[] = {"Default",
                                                  "WPILib",
-                                                 "CTRE Phoenix 5 CANcoder",
                                                  "CTRE Phoenix 5",
                                                  "CTRE Phoenix 6",
                                                  "REV Brushless Encoder Port",

upstream_utils/sleipnir.py

@@ -19,10 +19,7 @@ def copy_upstream_src(wpilib_root: Path):
     # Copy Sleipnir files into allwpilib
     walk_cwd_and_copy_if(
         lambda dp, f: (has_prefix(dp, Path("include")) or has_prefix(dp, Path("src")))
-        or f == ".clang-format"
-        or f == ".clang-tidy"
-        or f == ".styleguide"
-        or f == ".styleguide-license",
+        and f not in [".styleguide", ".styleguide-license"],
         wpimath / "src/main/native/thirdparty/sleipnir",
     )
 

vcpkg.json

@@ -8,5 +8,5 @@
     "protobuf",
     "libssh"
   ],
-  "builtin-baseline": "37c3e63a1306562f7f59c4c3c8892ddd50fdf992"
+  "builtin-baseline": "74e6536215718009aae747d86d84b78376bf9e09"
 }

wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h

@@ -25,8 +25,7 @@ namespace frc2 {
  * std::unique_ptr<Command>, use CommandPtr::Unwrap to convert.
  * CommandPtr::UnwrapVector does the same for vectors.
  */
-class [[nodiscard]]
-CommandPtr final {
+class [[nodiscard]] CommandPtr final {
  public:
   explicit CommandPtr(std::unique_ptr<Command>&& command);
 

wpilibc/src/generated/main/native/cpp/motorcontrol/DMC60.cpp

@@ -1,20 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
-
-#include "frc/motorcontrol/DMC60.h"
-
-#include <hal/FRCUsageReporting.h>
-
-using namespace frc;
-
-DMC60::DMC60(int channel) : PWMMotorController("DMC60", channel) {
-  m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
-  m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
-  m_pwm.SetSpeed(0.0);
-  m_pwm.SetZeroLatch();
-
-  HAL_Report(HALUsageReporting::kResourceType_DigilentDMC60, GetChannel() + 1);
-}

wpilibc/src/generated/main/native/cpp/motorcontrol/Jaguar.cpp

@@ -1,20 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
-
-#include "frc/motorcontrol/Jaguar.h"
-
-#include <hal/FRCUsageReporting.h>
-
-using namespace frc;
-
-Jaguar::Jaguar(int channel) : PWMMotorController("Jaguar", channel) {
-  m_pwm.SetBounds(2.31_ms, 1.55_ms, 1.507_ms, 1.454_ms, 0.697_ms);
-  m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
-  m_pwm.SetSpeed(0.0);
-  m_pwm.SetZeroLatch();
-
-  HAL_Report(HALUsageReporting::kResourceType_Jaguar, GetChannel() + 1);
-}

wpilibc/src/generated/main/native/cpp/motorcontrol/SD540.cpp

@@ -1,20 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
-
-#include "frc/motorcontrol/SD540.h"
-
-#include <hal/FRCUsageReporting.h>
-
-using namespace frc;
-
-SD540::SD540(int channel) : PWMMotorController("SD540", channel) {
-  m_pwm.SetBounds(2.05_ms, 1.55_ms, 1.5_ms, 1.44_ms, 0.94_ms);
-  m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
-  m_pwm.SetSpeed(0.0);
-  m_pwm.SetZeroLatch();
-
-  HAL_Report(HALUsageReporting::kResourceType_MindsensorsSD540, GetChannel() + 1);
-}

wpilibc/src/generated/main/native/cpp/motorcontrol/Victor.cpp

@@ -1,20 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
-
-#include "frc/motorcontrol/Victor.h"
-
-#include <hal/FRCUsageReporting.h>
-
-using namespace frc;
-
-Victor::Victor(int channel) : PWMMotorController("Victor", channel) {
-  m_pwm.SetBounds(2.027_ms, 1.525_ms, 1.507_ms, 1.49_ms, 1.026_ms);
-  m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_2X);
-  m_pwm.SetSpeed(0.0);
-  m_pwm.SetZeroLatch();
-
-  HAL_Report(HALUsageReporting::kResourceType_Victor, GetChannel() + 1);
-}

wpilibc/src/generated/main/native/include/frc/motorcontrol/DMC60.h

@@ -1,43 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
-
-#pragma once
-
-#include "frc/motorcontrol/PWMMotorController.h"
-
-namespace frc {
-
-/**
- * Digilent DMC 60 Motor Controller with PWM control.
- *
- * Note that the DMC 60 uses the following bounds for PWM values. These
- * values should work reasonably well for most controllers, but if users
- * experience issues such as asymmetric behavior around the deadband or
- * inability to saturate the controller in either direction, calibration is
- * recommended. The calibration procedure can be found in the DMC 60 User
- * Manual available from Digilent.
- *
- * \li 2.004ms = full "forward"
- * \li 1.520ms = the "high end" of the deadband range
- * \li 1.500ms = center of the deadband range (off)
- * \li 1.480ms = the "low end" of the deadband range
- * \li 0.997ms = full "reverse"
- */
-class DMC60 : public PWMMotorController {
- public:
-  /**
-   * Constructor for a DMC 60 connected via PWM.
-   *
-   * @param channel The PWM channel that the DMC 60 is attached to. 0-9 are
-   *                on-board, 10-19 are on the MXP port
-   */
-  explicit DMC60(int channel);
-
-  DMC60(DMC60&&) = default;
-  DMC60& operator=(DMC60&&) = default;
-};
-
-}  // namespace frc

wpilibc/src/generated/main/native/include/frc/motorcontrol/Jaguar.h

@@ -1,43 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
-
-#pragma once
-
-#include "frc/motorcontrol/PWMMotorController.h"
-
-namespace frc {
-
-/**
- * Luminary Micro / Vex Robotics Jaguar Motor Controller with PWM control.
- *
- * Note that the Jaguar uses the following bounds for PWM values. These
- * values should work reasonably well for most controllers, but if users
- * experience issues such as asymmetric behavior around the deadband or
- * inability to saturate the controller in either direction, calibration is
- * recommended. The calibration procedure can be found in the Jaguar User
- * Manual available from Luminary Micro / Vex Robotics.
- *
- * \li 2.310ms = full "forward"
- * \li 1.550ms = the "high end" of the deadband range
- * \li 1.507ms = center of the deadband range (off)
- * \li 1.454ms = the "low end" of the deadband range
- * \li 0.697ms = full "reverse"
- */
-class Jaguar : public PWMMotorController {
- public:
-  /**
-   * Constructor for a Jaguar connected via PWM.
-   *
-   * @param channel The PWM channel that the Jaguar is attached to. 0-9 are
-   *                on-board, 10-19 are on the MXP port
-   */
-  explicit Jaguar(int channel);
-
-  Jaguar(Jaguar&&) = default;
-  Jaguar& operator=(Jaguar&&) = default;
-};
-
-}  // namespace frc

wpilibc/src/generated/main/native/include/frc/motorcontrol/SD540.h

@@ -1,43 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
-
-#pragma once
-
-#include "frc/motorcontrol/PWMMotorController.h"
-
-namespace frc {
-
-/**
- * Mindsensors SD540 Motor Controller with PWM control.
- *
- * Note that the SD540 uses the following bounds for PWM values. These
- * values should work reasonably well for most controllers, but if users
- * experience issues such as asymmetric behavior around the deadband or
- * inability to saturate the controller in either direction, calibration is
- * recommended. The calibration procedure can be found in the SD540 User
- * Manual available from Mindsensors.
- *
- * \li 2.050ms = full "forward"
- * \li 1.550ms = the "high end" of the deadband range
- * \li 1.500ms = center of the deadband range (off)
- * \li 1.440ms = the "low end" of the deadband range
- * \li 0.940ms = full "reverse"
- */
-class SD540 : public PWMMotorController {
- public:
-  /**
-   * Constructor for a SD540 connected via PWM.
-   *
-   * @param channel The PWM channel that the SD540 is attached to. 0-9 are
-   *                on-board, 10-19 are on the MXP port
-   */
-  explicit SD540(int channel);
-
-  SD540(SD540&&) = default;
-  SD540& operator=(SD540&&) = default;
-};
-
-}  // namespace frc

wpilibc/src/generated/main/native/include/frc/motorcontrol/Victor.h

@@ -1,43 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
-
-#pragma once
-
-#include "frc/motorcontrol/PWMMotorController.h"
-
-namespace frc {
-
-/**
- * Vex Robotics Victor 888 Motor Controller with PWM control.
- *
- * Note that the Victor 888 uses the following bounds for PWM values. These
- * values should work reasonably well for most controllers, but if users
- * experience issues such as asymmetric behavior around the deadband or
- * inability to saturate the controller in either direction, calibration is
- * recommended. The calibration procedure can be found in the Victor 888 User
- * Manual available from Vex Robotics.
- *
- * \li 2.027ms = full "forward"
- * \li 1.525ms = the "high end" of the deadband range
- * \li 1.507ms = center of the deadband range (off)
- * \li 1.490ms = the "low end" of the deadband range
- * \li 1.026ms = full "reverse"
- */
-class Victor : public PWMMotorController {
- public:
-  /**
-   * Constructor for a Victor 888 connected via PWM.
-   *
-   * @param channel The PWM channel that the Victor 888 is attached to. 0-9 are
-   *                on-board, 10-19 are on the MXP port
-   */
-  explicit Victor(int channel);
-
-  Victor(Victor&&) = default;
-  Victor& operator=(Victor&&) = default;
-};
-
-}  // namespace frc

wpilibc/src/main/native/cpp/Notifier.cpp

@@ -182,6 +182,10 @@ void Notifier::StartPeriodic(units::second_t period) {
   UpdateAlarm();
 }
 
+void Notifier::StartPeriodic(units::hertz_t frequency) {
+  StartPeriodic(1 / frequency);
+}
+
 void Notifier::Stop() {
   std::scoped_lock lock(m_processMutex);
   m_periodic = false;

wpilibc/src/main/native/cpp/TimedRobot.cpp

@@ -91,6 +91,8 @@ TimedRobot::TimedRobot(units::second_t period) : IterativeRobotBase(period) {
              HALUsageReporting::kFramework_Timed);
 }
 
+TimedRobot::TimedRobot(units::hertz_t frequency) : TimedRobot{1 / frequency} {}
+
 TimedRobot::~TimedRobot() {
   if (m_notifier != HAL_kInvalidHandle) {
     int32_t status = 0;

wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp

@@ -1,86 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "frc/motorcontrol/NidecBrushless.h"
-
-#include <string>
-
-#include <fmt/format.h>
-#include <hal/FRCUsageReporting.h>
-#include <wpi/sendable/SendableBuilder.h>
-#include <wpi/sendable/SendableRegistry.h>
-
-using namespace frc;
-
-WPI_IGNORE_DEPRECATED
-
-NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
-    : m_dio(dioChannel), m_pwm(pwmChannel) {
-  wpi::SendableRegistry::AddChild(this, &m_dio);
-  wpi::SendableRegistry::AddChild(this, &m_pwm);
-  SetExpiration(0_s);
-  SetSafetyEnabled(false);
-
-  // the dio controls the output (in PWM mode)
-  m_dio.SetPWMRate(15625);
-  m_dio.EnablePWM(0.5);
-
-  HAL_Report(HALUsageReporting::kResourceType_NidecBrushless, pwmChannel + 1);
-  wpi::SendableRegistry::AddLW(this, "Nidec Brushless", pwmChannel);
-}
-
-WPI_UNIGNORE_DEPRECATED
-
-void NidecBrushless::Set(double speed) {
-  if (!m_disabled) {
-    m_speed = speed;
-    m_dio.UpdateDutyCycle(0.5 + 0.5 * (m_isInverted ? -speed : speed));
-    m_pwm.SetAlwaysHighMode();
-  }
-  Feed();
-}
-
-double NidecBrushless::Get() const {
-  return m_speed;
-}
-
-void NidecBrushless::SetInverted(bool isInverted) {
-  m_isInverted = isInverted;
-}
-
-bool NidecBrushless::GetInverted() const {
-  return m_isInverted;
-}
-
-void NidecBrushless::Disable() {
-  m_disabled = true;
-  m_dio.UpdateDutyCycle(0.5);
-  m_pwm.SetDisabled();
-}
-
-void NidecBrushless::Enable() {
-  m_disabled = false;
-}
-
-void NidecBrushless::StopMotor() {
-  m_dio.UpdateDutyCycle(0.5);
-  m_pwm.SetDisabled();
-}
-
-std::string NidecBrushless::GetDescription() const {
-  return fmt::format("Nidec {}", GetChannel());
-}
-
-int NidecBrushless::GetChannel() const {
-  return m_pwm.GetChannel();
-}
-
-void NidecBrushless::InitSendable(wpi::SendableBuilder& builder) {
-  builder.SetSmartDashboardType("Nidec Brushless");
-  builder.SetActuator(true);
-  builder.SetSafeState([=, this] { StopMotor(); });
-  builder.AddDoubleProperty(
-      "Value", [=, this] { return Get(); },
-      [=, this](double value) { Set(value); });
-}

wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp

@@ -88,7 +88,7 @@ units::ampere_t ElevatorSim::GetCurrentDraw() const {
   double kA = 1.0 / m_plant.B(1, 0);
   using Kv_t = units::unit_t<units::compound_unit<
       units::volt, units::inverse<units::meters_per_second>>>;
-  Kv_t Kv = Kv_t{kA * m_plant.A(1, 1)};
+  Kv_t Kv = Kv_t{-kA * m_plant.A(1, 1)};
   units::meters_per_second_t velocity{m_x(1)};
   units::radians_per_second_t motorVelocity = velocity * Kv * m_gearbox.Kv;
 

wpilibc/src/main/native/include/frc/Notifier.h

@@ -14,6 +14,7 @@
 #include <utility>
 
 #include <hal/Types.h>
+#include <units/frequency.h>
 #include <units/time.h>
 #include <wpi/mutex.h>
 
@@ -107,6 +108,17 @@ class Notifier {
    */
   void StartPeriodic(units::second_t period);
 
+  /**
+   * Run the callback periodically with the given frequency.
+   *
+   * The user-provided callback should be written so that it completes before
+   * the next time it's scheduled to run.
+   *
+   * @param frequency Frequency after which to call the callback starting one
+   *                  period after the call to this method.
+   */
+  void StartPeriodic(units::hertz_t frequency);
+
   /**
    * Stop further callback invocations.
    *

wpilibc/src/main/native/include/frc/TimedRobot.h

@@ -11,6 +11,7 @@
 
 #include <hal/Notifier.h>
 #include <hal/Types.h>
+#include <units/frequency.h>
 #include <units/math.h>
 #include <units/time.h>
 #include <wpi/priority_queue.h>
@@ -47,10 +48,17 @@ class TimedRobot : public IterativeRobotBase {
   /**
    * Constructor for TimedRobot.
    *
-   * @param period Period.
+   * @param period The period of the robot loop function.
    */
   explicit TimedRobot(units::second_t period = kDefaultPeriod);
 
+  /**
+   * Constructor for TimedRobot.
+   *
+   * @param frequency The frequency of the robot loop function.
+   */
+  explicit TimedRobot(units::hertz_t frequency);
+
   TimedRobot(TimedRobot&&) = default;
   TimedRobot& operator=(TimedRobot&&) = default;
 

wpilibc/src/main/native/include/frc/motorcontrol/NidecBrushless.h

@@ -1,103 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <string>
-
-#include <wpi/deprecated.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
-
-#include "frc/DigitalOutput.h"
-#include "frc/MotorSafety.h"
-#include "frc/PWM.h"
-#include "frc/motorcontrol/MotorController.h"
-
-namespace frc {
-
-WPI_IGNORE_DEPRECATED
-
-/**
- * Nidec Brushless Motor.
- */
-class NidecBrushless : public MotorController,
-                       public MotorSafety,
-                       public wpi::Sendable,
-                       public wpi::SendableHelper<NidecBrushless> {
- public:
-  /**
-   * Constructor.
-   *
-   * @param pwmChannel The PWM channel that the Nidec Brushless controller is
-   *                   attached to. 0-9 are on-board, 10-19 are on the MXP port.
-   * @param dioChannel The DIO channel that the Nidec Brushless controller is
-   *                   attached to. 0-9 are on-board, 10-25 are on the MXP port.
-   */
-  NidecBrushless(int pwmChannel, int dioChannel);
-
-  ~NidecBrushless() override = default;
-
-  NidecBrushless(NidecBrushless&&) = default;
-  NidecBrushless& operator=(NidecBrushless&&) = default;
-
-  // MotorController interface
-  /**
-   * Set the PWM value.
-   *
-   * The PWM value is set using a range of -1.0 to 1.0, appropriately scaling
-   * the value for the FPGA.
-   *
-   * @param speed The speed value between -1.0 and 1.0 to set.
-   */
-  void Set(double speed) override;
-
-  /**
-   * Get the recently set value of the PWM.
-   *
-   * @return The most recently set value for the PWM between -1.0 and 1.0.
-   */
-  double Get() const override;
-
-  void SetInverted(bool isInverted) override;
-
-  bool GetInverted() const override;
-
-  /**
-   * Disable the motor. The Enable() function must be called to re-enable the
-   * motor.
-   */
-  void Disable() override;
-
-  /**
-   * Re-enable the motor after Disable() has been called. The Set() function
-   * must be called to set a new motor speed.
-   */
-  void Enable();
-
-  // MotorSafety interface
-  void StopMotor() override;
-  std::string GetDescription() const override;
-
-  /**
-   * Gets the channel number associated with the object.
-   *
-   * @return The channel number.
-   */
-  int GetChannel() const;
-
-  // Sendable interface
-  void InitSendable(wpi::SendableBuilder& builder) override;
-
- private:
-  bool m_isInverted = false;
-  bool m_disabled = false;
-  DigitalOutput m_dio;
-  PWM m_pwm;
-  double m_speed = 0.0;
-};
-
-WPI_UNIGNORE_DEPRECATED
-
-}  // namespace frc

wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h

@@ -204,14 +204,10 @@ enum class BuiltInWidgets {
    * The motor controller will be controllable from the dashboard when test mode
    * is enabled, but will otherwise be view-only. <br>Supported types: <ul>
    * <li>PWMMotorController</li>
-   * <li>DMC60</li>
-   * <li>Jaguar</li>
    * <li>PWMTalonSRX</li>
    * <li>PWMVictorSPX</li>
-   * <li>SD540</li>
    * <li>Spark</li>
    * <li>Talon</li>
-   * <li>Victor</li>
    * <li>VictorSP</li>
    * <li>MotorControllerGroup</li>
    * <li>Any custom subclass of {@code SpeedContorller}</li>

wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp

@@ -92,3 +92,15 @@ TEST(ElevatorSimTest, Stability) {
                                        frc::Vectord<1>{12.0}, 20_ms * 50)(0)},
       sim.GetPosition(), 1_cm);
 }
+
+TEST(ElevatorSimTest, CurrentDraw) {
+  auto const motor = frc::DCMotor::KrakenX60(2);
+  frc::sim::ElevatorSim sim(motor, 20, 8_kg, 0.1_m, 0_m, 1_m, true, 0_m,
+                            {0.01, 0.0});
+
+  EXPECT_DOUBLE_EQ(0.0, sim.GetCurrentDraw().value());
+  sim.SetInputVoltage(motor.Voltage(motor.Torque(60_A), 0_rad_per_s));
+  sim.Update(100_ms);
+  // current draw should start at 60 A and decrease as the back emf catches up
+  EXPECT_TRUE(0_A < sim.GetCurrentDraw() && sim.GetCurrentDraw() < 60_A);
+}

wpilibcExamples/src/main/cpp/snippets/ProfiledPIDFeedforward/cpp/Robot.cpp

@@ -0,0 +1,54 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <frc/Encoder.h>
+#include <frc/TimedRobot.h>
+#include <frc/controller/ProfiledPIDController.h>
+#include <frc/controller/SimpleMotorFeedforward.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
+#include <units/acceleration.h>
+#include <units/length.h>
+#include <units/velocity.h>
+#include <units/voltage.h>
+
+/**
+ * ProfiledPIDController with feedforward snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/controllers/profiled-pidcontroller.html
+ */
+class Robot : public frc::TimedRobot {
+ public:
+  Robot() { m_encoder.SetDistancePerPulse(1.0 / 256.0); }
+
+  // Controls a simple motor's position using a SimpleMotorFeedforward
+  // and a ProfiledPIDController
+  void GoToPosition(units::meter_t goalPosition) {
+    auto pidVal = m_controller.Calculate(
+        units::meter_t{m_encoder.GetDistance()}, goalPosition);
+    m_motor.SetVoltage(units::volt_t{pidVal} +
+                       m_feedforward.Calculate(
+                           m_lastSpeed, m_controller.GetSetpoint().velocity));
+    m_lastSpeed = m_controller.GetSetpoint().velocity;
+  }
+
+  void TeleopPeriodic() override {
+    // Example usage: move to position 10.0 meters
+    GoToPosition(10.0_m);
+  }
+
+ private:
+  frc::ProfiledPIDController<units::meters> m_controller{
+      1.0, 0.0, 0.0, {5_mps, 10_mps_sq}};
+  frc::SimpleMotorFeedforward<units::meters> m_feedforward{0.5_V, 1.5_V / 1_mps,
+                                                           0.3_V / 1_mps_sq};
+  frc::Encoder m_encoder{0, 1};
+  frc::PWMSparkMax m_motor{0};
+
+  units::meters_per_second_t m_lastSpeed = 0_mps;
+};
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif

wpilibcExamples/src/main/cpp/snippets/snippets.json

@@ -154,5 +154,15 @@
     ],
     "foldername": "AccelerometerFilter",
     "gradlebase": "cpp"
+  },
+  {
+    "name": "ProfiledPIDFeedforward",
+    "description": "Snippets of ProfiledPIDController with feedforward for frc-docs.",
+    "tags": [
+      "PID",
+      "Profiled PID"
+    ],
+    "foldername": "ProfiledPIDFeedforward",
+    "gradlebase": "cpp"
   }
 ]

wpilibcIntegrationTests/src/main/native/cpp/CounterTest.cpp

@@ -9,9 +9,7 @@
 
 #include "TestBench.h"
 #include "frc/Timer.h"
-#include "frc/motorcontrol/Jaguar.h"
 #include "frc/motorcontrol/Talon.h"
-#include "frc/motorcontrol/Victor.h"
 
 static constexpr auto kMotorDelay = 2.5_s;
 
@@ -23,8 +21,8 @@ class CounterTest : public testing::Test {
   frc::Counter m_victorCounter{TestBench::kVictorEncoderChannelA};
   frc::Counter m_jaguarCounter{TestBench::kJaguarEncoderChannelA};
   frc::Talon m_talon{TestBench::kVictorChannel};
-  frc::Victor m_victor{TestBench::kTalonChannel};
-  frc::Jaguar m_jaguar{TestBench::kJaguarChannel};
+  frc::Talon m_victor{TestBench::kTalonChannel};
+  frc::Talon m_jaguar{TestBench::kJaguarChannel};
 
   void Reset() {
     m_talonCounter.Reset();

wpilibcIntegrationTests/src/main/native/cpp/DMATest.cpp

@@ -13,7 +13,7 @@
 #include "frc/DMASample.h"
 #include "frc/DigitalOutput.h"
 #include "frc/Timer.h"
-#include "frc/motorcontrol/Jaguar.h"
+#include "frc/motorcontrol/Talon.h"
 
 using namespace frc;
 
@@ -24,7 +24,7 @@ class DMATest : public testing::Test {
   AnalogInput m_analogInput{TestBench::kAnalogOutputChannel};
   AnalogOutput m_analogOutput{TestBench::kFakeAnalogOutputChannel};
   DigitalOutput m_manualTrigger{TestBench::kLoop1InputChannel};
-  Jaguar m_pwm{TestBench::kFakePwmOutput};
+  Talon m_pwm{TestBench::kFakePwmOutput};
   DMA m_dma;
 
   void SetUp() override {

wpilibcIntegrationTests/src/main/native/cpp/MotorEncoderTest.cpp

@@ -14,9 +14,7 @@
 #include "frc/Timer.h"
 #include "frc/controller/PIDController.h"
 #include "frc/filter/LinearFilter.h"
-#include "frc/motorcontrol/Jaguar.h"
 #include "frc/motorcontrol/Talon.h"
-#include "frc/motorcontrol/Victor.h"
 
 enum MotorEncoderTestType { TEST_VICTOR, TEST_JAGUAR, TEST_TALON };
 
@@ -53,13 +51,13 @@ class MotorEncoderTest : public testing::TestWithParam<MotorEncoderTestType> {
   MotorEncoderTest() {
     switch (GetParam()) {
       case TEST_VICTOR:
-        m_motorController = new frc::Victor(TestBench::kVictorChannel);
+        m_motorController = new frc::Talon(TestBench::kVictorChannel);
         m_encoder = new frc::Encoder(TestBench::kVictorEncoderChannelA,
                                      TestBench::kVictorEncoderChannelB);
         break;
 
       case TEST_JAGUAR:
-        m_motorController = new frc::Jaguar(TestBench::kJaguarChannel);
+        m_motorController = new frc::Talon(TestBench::kJaguarChannel);
         m_encoder = new frc::Encoder(TestBench::kJaguarEncoderChannelA,
                                      TestBench::kJaguarEncoderChannelB);
         break;

wpilibcIntegrationTests/src/main/native/cpp/MotorInvertingTest.cpp

@@ -9,9 +9,7 @@
 #include "TestBench.h"
 #include "frc/Encoder.h"
 #include "frc/Timer.h"
-#include "frc/motorcontrol/Jaguar.h"
 #include "frc/motorcontrol/Talon.h"
-#include "frc/motorcontrol/Victor.h"
 
 enum MotorInvertingTestType { TEST_VICTOR, TEST_JAGUAR, TEST_TALON };
 
@@ -45,13 +43,13 @@ class MotorInvertingTest
   MotorInvertingTest() {
     switch (GetParam()) {
       case TEST_VICTOR:
-        m_motorController = new frc::Victor(TestBench::kVictorChannel);
+        m_motorController = new frc::Talon(TestBench::kVictorChannel);
         m_encoder = new frc::Encoder(TestBench::kVictorEncoderChannelA,
                                      TestBench::kVictorEncoderChannelB);
         break;
 
       case TEST_JAGUAR:
-        m_motorController = new frc::Jaguar(TestBench::kJaguarChannel);
+        m_motorController = new frc::Talon(TestBench::kJaguarChannel);
         m_encoder = new frc::Encoder(TestBench::kJaguarEncoderChannelA,
                                      TestBench::kJaguarEncoderChannelB);
         break;

wpilibj/src/generate/pwm_motor_controllers.json

@@ -1,30 +1,4 @@
 [
-  {
-    "name": "DMC60",
-    "Manufacturer": "Digilent",
-    "DisplayName": "DMC 60",
-    "ResourceName": "DigilentDMC60",
-    "pulse_width_ms": {
-      "max": 2.004,
-      "deadbandMax": 1.520,
-      "center": 1.500,
-      "deadbandMin": 1.480,
-      "min": 0.997
-    }
-  },
-  {
-    "name": "Jaguar",
-    "Manufacturer": "Luminary Micro / Vex Robotics",
-    "DisplayName": "Jaguar",
-    "ResourceName": "Jaguar",
-    "pulse_width_ms": {
-      "max": 2.310,
-      "deadbandMax": 1.550,
-      "center": 1.507,
-      "deadbandMin": 1.454,
-      "min": 0.697
-    }
-  },
   {
     "name": "PWMSparkFlex",
     "Manufacturer": "REV Robotics",
@@ -103,19 +77,6 @@
       "min": 0.997
     }
   },
-  {
-    "name": "SD540",
-    "Manufacturer": "Mindsensors",
-    "DisplayName": "SD540",
-    "ResourceName": "MindsensorsSD540",
-    "pulse_width_ms": {
-      "max": 2.05,
-      "deadbandMax": 1.55,
-      "center": 1.50,
-      "deadbandMin": 1.44,
-      "min": 0.94
-    }
-  },
   {
     "name": "Spark",
     "Manufacturer": "REV Robotics",
@@ -142,20 +103,6 @@
       "min": 0.989
     }
   },
-  {
-    "name": "Victor",
-    "Manufacturer": "Vex Robotics",
-    "DisplayName": "Victor 888",
-    "ResourceName": "Victor",
-    "PeriodMultiplier": 2,
-    "pulse_width_ms": {
-      "max": 2.027,
-      "deadbandMax": 1.525,
-      "center": 1.507,
-      "deadbandMin": 1.490,
-      "min": 1.026
-    }
-  },
   {
     "name": "VictorSP",
     "Manufacturer": "Vex Robotics",

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/DMC60.java

@@ -1,48 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY
-
-package edu.wpi.first.wpilibj.motorcontrol;
-
-import edu.wpi.first.hal.FRCNetComm.tResourceType;
-import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.PWM;
-
-/**
- * Digilent DMC 60 Motor Controller.
- *
- * <p>Note that the DMC 60 uses the following bounds for PWM values. These values should work
- * reasonably well for most controllers, but if users experience issues such as asymmetric behavior
- * around the deadband or inability to saturate the controller in either direction, calibration is
- * recommended. The calibration procedure can be found in the DMC 60 User Manual available from
- * Digilent.
- *
- * <ul>
- *   <li>2.004ms = full "forward"
- *   <li>1.520ms = the "high end" of the deadband range
- *   <li>1.500ms = center of the deadband range (off)
- *   <li>1.480ms = the "low end" of the deadband range
- *   <li>0.997ms = full "reverse"
- * </ul>
- */
-public class DMC60 extends PWMMotorController {
-  /**
-   * Constructor.
-   *
-   * @param channel The PWM channel that the DMC 60 is attached to. 0-9 are on-board, 10-19
-   *     are on the MXP port
-   */
-  @SuppressWarnings("this-escape")
-  public DMC60(final int channel) {
-    super("DMC60", channel);
-
-    m_pwm.setBoundsMicroseconds(2004, 1520, 1500, 1480, 997);
-    m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
-    m_pwm.setSpeed(0.0);
-    m_pwm.setZeroLatch();
-
-    HAL.report(tResourceType.kResourceType_DigilentDMC60, getChannel() + 1);
-  }
-}

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Jaguar.java

@@ -1,48 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY
-
-package edu.wpi.first.wpilibj.motorcontrol;
-
-import edu.wpi.first.hal.FRCNetComm.tResourceType;
-import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.PWM;
-
-/**
- * Luminary Micro / Vex Robotics Jaguar Motor Controller.
- *
- * <p>Note that the Jaguar uses the following bounds for PWM values. These values should work
- * reasonably well for most controllers, but if users experience issues such as asymmetric behavior
- * around the deadband or inability to saturate the controller in either direction, calibration is
- * recommended. The calibration procedure can be found in the Jaguar User Manual available from
- * Luminary Micro / Vex Robotics.
- *
- * <ul>
- *   <li>2.310ms = full "forward"
- *   <li>1.550ms = the "high end" of the deadband range
- *   <li>1.507ms = center of the deadband range (off)
- *   <li>1.454ms = the "low end" of the deadband range
- *   <li>0.697ms = full "reverse"
- * </ul>
- */
-public class Jaguar extends PWMMotorController {
-  /**
-   * Constructor.
-   *
-   * @param channel The PWM channel that the Jaguar is attached to. 0-9 are on-board, 10-19
-   *     are on the MXP port
-   */
-  @SuppressWarnings("this-escape")
-  public Jaguar(final int channel) {
-    super("Jaguar", channel);
-
-    m_pwm.setBoundsMicroseconds(2310, 1550, 1507, 1454, 697);
-    m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
-    m_pwm.setSpeed(0.0);
-    m_pwm.setZeroLatch();
-
-    HAL.report(tResourceType.kResourceType_Jaguar, getChannel() + 1);
-  }
-}

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/SD540.java

@@ -1,48 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY
-
-package edu.wpi.first.wpilibj.motorcontrol;
-
-import edu.wpi.first.hal.FRCNetComm.tResourceType;
-import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.PWM;
-
-/**
- * Mindsensors SD540 Motor Controller.
- *
- * <p>Note that the SD540 uses the following bounds for PWM values. These values should work
- * reasonably well for most controllers, but if users experience issues such as asymmetric behavior
- * around the deadband or inability to saturate the controller in either direction, calibration is
- * recommended. The calibration procedure can be found in the SD540 User Manual available from
- * Mindsensors.
- *
- * <ul>
- *   <li>2.050ms = full "forward"
- *   <li>1.550ms = the "high end" of the deadband range
- *   <li>1.500ms = center of the deadband range (off)
- *   <li>1.440ms = the "low end" of the deadband range
- *   <li>0.940ms = full "reverse"
- * </ul>
- */
-public class SD540 extends PWMMotorController {
-  /**
-   * Constructor.
-   *
-   * @param channel The PWM channel that the SD540 is attached to. 0-9 are on-board, 10-19
-   *     are on the MXP port
-   */
-  @SuppressWarnings("this-escape")
-  public SD540(final int channel) {
-    super("SD540", channel);
-
-    m_pwm.setBoundsMicroseconds(2050, 1550, 1500, 1440, 940);
-    m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
-    m_pwm.setSpeed(0.0);
-    m_pwm.setZeroLatch();
-
-    HAL.report(tResourceType.kResourceType_MindsensorsSD540, getChannel() + 1);
-  }
-}

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Victor.java

@@ -1,48 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY
-
-package edu.wpi.first.wpilibj.motorcontrol;
-
-import edu.wpi.first.hal.FRCNetComm.tResourceType;
-import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.PWM;
-
-/**
- * Vex Robotics Victor 888 Motor Controller.
- *
- * <p>Note that the Victor 888 uses the following bounds for PWM values. These values should work
- * reasonably well for most controllers, but if users experience issues such as asymmetric behavior
- * around the deadband or inability to saturate the controller in either direction, calibration is
- * recommended. The calibration procedure can be found in the Victor 888 User Manual available from
- * Vex Robotics.
- *
- * <ul>
- *   <li>2.027ms = full "forward"
- *   <li>1.525ms = the "high end" of the deadband range
- *   <li>1.507ms = center of the deadband range (off)
- *   <li>1.490ms = the "low end" of the deadband range
- *   <li>1.026ms = full "reverse"
- * </ul>
- */
-public class Victor extends PWMMotorController {
-  /**
-   * Constructor.
-   *
-   * @param channel The PWM channel that the Victor 888 is attached to. 0-9 are on-board, 10-19
-   *     are on the MXP port
-   */
-  @SuppressWarnings("this-escape")
-  public Victor(final int channel) {
-    super("Victor", channel);
-
-    m_pwm.setBoundsMicroseconds(2027, 1525, 1507, 1490, 1026);
-    m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k2X);
-    m_pwm.setSpeed(0.0);
-    m_pwm.setZeroLatch();
-
-    HAL.report(tResourceType.kResourceType_Victor, getChannel() + 1);
-  }
-}

wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java

@@ -4,9 +4,12 @@
 
 package edu.wpi.first.wpilibj;
 
+import static edu.wpi.first.units.Units.Seconds;
 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.hal.NotifierJNI;
+import edu.wpi.first.units.measure.Frequency;
+import edu.wpi.first.units.measure.Time;
 import java.util.concurrent.atomic.AtomicInteger;
 import java.util.concurrent.locks.ReentrantLock;
 
@@ -186,6 +189,15 @@ public class Notifier implements AutoCloseable {
     }
   }
 
+  /**
+   * Run the callback once after the given delay.
+   *
+   * @param delay Time to wait before the callback is called.
+   */
+  public void startSingle(Time delay) {
+    startSingle(delay.in(Seconds));
+  }
+
   /**
    * Run the callback periodically with the given period.
    *
@@ -207,6 +219,32 @@ public class Notifier implements AutoCloseable {
     }
   }
 
+  /**
+   * Run the callback periodically with the given period.
+   *
+   * <p>The user-provided callback should be written so that it completes before the next time it's
+   * scheduled to run.
+   *
+   * @param period Period after which to call the callback starting one period after the call to
+   *     this method.
+   */
+  public void startPeriodic(Time period) {
+    startPeriodic(period.in(Seconds));
+  }
+
+  /**
+   * Run the callback periodically with the given frequency.
+   *
+   * <p>The user-provided callback should be written so that it completes before the next time it's
+   * scheduled to run.
+   *
+   * @param frequency Frequency at which to call the callback, starting one period after the call to
+   *     this method.
+   */
+  public void startPeriodic(Frequency frequency) {
+    startPeriodic(frequency.asPeriod());
+  }
+
   /**
    * Stop further callback invocations.
    *

wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java

@@ -11,6 +11,7 @@ import edu.wpi.first.hal.FRCNetComm.tInstances;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.NotifierJNI;
+import edu.wpi.first.units.measure.Frequency;
 import edu.wpi.first.units.measure.Time;
 import java.util.PriorityQueue;
 
@@ -84,7 +85,7 @@ public class TimedRobot extends IterativeRobotBase {
   /**
    * Constructor for TimedRobot.
    *
-   * @param period Period in seconds.
+   * @param period The period of the robot loop function.
    */
   protected TimedRobot(double period) {
     super(period);
@@ -95,6 +96,24 @@ public class TimedRobot extends IterativeRobotBase {
     HAL.report(tResourceType.kResourceType_Framework, tInstances.kFramework_Timed);
   }
 
+  /**
+   * Constructor for TimedRobot.
+   *
+   * @param period The period of the robot loop function.
+   */
+  protected TimedRobot(Time period) {
+    this(period.in(Seconds));
+  }
+
+  /**
+   * Constructor for TimedRobot.
+   *
+   * @param frequency The frequency of the robot loop function.
+   */
+  protected TimedRobot(Frequency frequency) {
+    this(frequency.asPeriod());
+  }
+
   @Override
   public void close() {
     NotifierJNI.stopNotifier(m_notifier);

wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java

@@ -4,6 +4,10 @@
 
 package edu.wpi.first.wpilibj;
 
+import static edu.wpi.first.units.Units.Seconds;
+
+import edu.wpi.first.units.measure.Time;
+
 /**
  * A timer class.
  *
@@ -46,10 +50,20 @@ public class Timer {
   }
 
   /**
-   * Pause the thread for a specified time. Pause the execution of the thread for a specified period
-   * of time given in seconds. Motors will continue to run at their last assigned values, and
-   * sensors will continue to update. Only the task containing the wait will pause until the wait
-   * time is expired.
+   * Pause the execution of the thread for a specified period of time. Motors will continue to run
+   * at their last assigned values, and sensors will continue to update. Only the task containing
+   * the wait will pause until the wait time is expired.
+   *
+   * @param period Length of time to pause
+   */
+  public static void delay(final Time period) {
+    delay(period.in(Seconds));
+  }
+
+  /**
+   * Pause the execution of the thread for a specified period of time given in seconds. Motors will
+   * continue to run at their last assigned values, and sensors will continue to update. Only the
+   * task containing the wait will pause until the wait time is expired.
    *
    * @param seconds Length of time to pause
    */
@@ -137,7 +151,17 @@ public class Timer {
   /**
    * Check if the period specified has passed.
    *
-   * @param seconds The period to check.
+   * @param period The period to check.
+   * @return Whether the period has passed.
+   */
+  public boolean hasElapsed(Time period) {
+    return hasElapsed(period.in(Seconds));
+  }
+
+  /**
+   * Check if the period specified has passed.
+   *
+   * @param seconds The period to check in seconds.
    * @return Whether the period has passed.
    */
   public boolean hasElapsed(double seconds) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java

@@ -4,7 +4,10 @@
 
 package edu.wpi.first.wpilibj;
 
+import static edu.wpi.first.units.Units.Seconds;
+
 import edu.wpi.first.hal.NotifierJNI;
+import edu.wpi.first.units.measure.Time;
 import java.io.Closeable;
 import java.util.PriorityQueue;
 import java.util.concurrent.locks.ReentrantLock;
@@ -55,6 +58,16 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
     m_tracer = new Tracer();
   }
 
+  /**
+   * Watchdog constructor.
+   *
+   * @param timeout The watchdog's timeout with microsecond resolution.
+   * @param callback This function is called when the timeout expires.
+   */
+  public Watchdog(Time timeout, Runnable callback) {
+    this(timeout.in(Seconds), callback);
+  }
+
   @Override
   public void close() {
     disable();

wpilibj/src/main/java/edu/wpi/first/wpilibj/event/BooleanEvent.java

@@ -4,9 +4,11 @@
 
 package edu.wpi.first.wpilibj.event;
 
+import static edu.wpi.first.units.Units.Seconds;
 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.math.filter.Debouncer;
+import edu.wpi.first.units.measure.Time;
 import java.util.concurrent.atomic.AtomicBoolean;
 import java.util.function.BiFunction;
 import java.util.function.BooleanSupplier;
@@ -167,7 +169,18 @@ public class BooleanEvent implements BooleanSupplier {
    * Creates a new debounced event from this event - it will become active when this event has been
    * active for longer than the specified period.
    *
-   * @param seconds The debounce period.
+   * @param period The debounce period.
+   * @return The debounced event (rising edges debounced only).
+   */
+  public BooleanEvent debounce(Time period) {
+    return debounce(period.in(Seconds));
+  }
+
+  /**
+   * Creates a new debounced event from this event - it will become active when this event has been
+   * active for longer than the specified period.
+   *
+   * @param seconds The debounce period in seconds.
    * @return The debounced event (rising edges debounced only).
    */
   public BooleanEvent debounce(double seconds) {
@@ -178,7 +191,19 @@ public class BooleanEvent implements BooleanSupplier {
    * Creates a new debounced event from this event - it will become active when this event has been
    * active for longer than the specified period.
    *
-   * @param seconds The debounce period.
+   * @param period The debounce period.
+   * @param type The debounce type.
+   * @return The debounced event.
+   */
+  public BooleanEvent debounce(Time period, Debouncer.DebounceType type) {
+    return debounce(period.in(Seconds), type);
+  }
+
+  /**
+   * Creates a new debounced event from this event - it will become active when this event has been
+   * active for longer than the specified period.
+   *
+   * @param seconds The debounce period in seconds.
    * @param type The debounce type.
    * @return The debounced event.
    */

wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/NidecBrushless.java

@@ -1,145 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.wpilibj.motorcontrol;
-
-import edu.wpi.first.hal.FRCNetComm.tResourceType;
-import edu.wpi.first.hal.HAL;
-import edu.wpi.first.util.sendable.Sendable;
-import edu.wpi.first.util.sendable.SendableBuilder;
-import edu.wpi.first.util.sendable.SendableRegistry;
-import edu.wpi.first.wpilibj.DigitalOutput;
-import edu.wpi.first.wpilibj.MotorSafety;
-import edu.wpi.first.wpilibj.PWM;
-
-/** Nidec Brushless Motor. */
-@SuppressWarnings("removal")
-public class NidecBrushless extends MotorSafety
-    implements MotorController, Sendable, AutoCloseable {
-  private boolean m_isInverted;
-  private final DigitalOutput m_dio;
-  private final PWM m_pwm;
-  private volatile double m_speed;
-  private volatile boolean m_disabled;
-
-  /**
-   * Constructor.
-   *
-   * @param pwmChannel The PWM channel that the Nidec Brushless controller is attached to. 0-9 are
-   *     on-board, 10-19 are on the MXP port
-   * @param dioChannel The DIO channel that the Nidec Brushless controller is attached to. 0-9 are
-   *     on-board, 10-25 are on the MXP port
-   */
-  @SuppressWarnings("this-escape")
-  public NidecBrushless(final int pwmChannel, final int dioChannel) {
-    setSafetyEnabled(false);
-
-    // the dio controls the output (in PWM mode)
-    m_dio = new DigitalOutput(dioChannel);
-    SendableRegistry.addChild(this, m_dio);
-    m_dio.setPWMRate(15625);
-    m_dio.enablePWM(0.5);
-
-    // the pwm enables the controller
-    m_pwm = new PWM(pwmChannel);
-    SendableRegistry.addChild(this, m_pwm);
-
-    HAL.report(tResourceType.kResourceType_NidecBrushless, pwmChannel + 1);
-    SendableRegistry.addLW(this, "Nidec Brushless", pwmChannel);
-  }
-
-  @Override
-  public void close() {
-    SendableRegistry.remove(this);
-    m_dio.close();
-    m_pwm.close();
-  }
-
-  /**
-   * Set the PWM value.
-   *
-   * <p>The PWM value is set using a range of -1.0 to 1.0, appropriately scaling the value for the
-   * FPGA.
-   *
-   * @param speed The speed value between -1.0 and 1.0 to set.
-   */
-  @Override
-  public void set(double speed) {
-    if (!m_disabled) {
-      m_speed = speed;
-      m_dio.updateDutyCycle(0.5 + 0.5 * (m_isInverted ? -speed : speed));
-      m_pwm.setAlwaysHighMode();
-    }
-
-    feed();
-  }
-
-  /**
-   * Get the recently set value of the PWM.
-   *
-   * @return The most recently set value for the PWM between -1.0 and 1.0.
-   */
-  @Override
-  public double get() {
-    return m_speed;
-  }
-
-  @Override
-  public void setInverted(boolean isInverted) {
-    m_isInverted = isInverted;
-  }
-
-  @Override
-  public boolean getInverted() {
-    return m_isInverted;
-  }
-
-  /**
-   * Stop the motor. This is called by the MotorSafety object when it has a timeout for this PWM and
-   * needs to stop it from running. Calling set() will re-enable the motor.
-   */
-  @Override
-  public void stopMotor() {
-    m_dio.updateDutyCycle(0.5);
-    m_pwm.setDisabled();
-  }
-
-  @Override
-  public String getDescription() {
-    return "Nidec " + getChannel();
-  }
-
-  /** Disable the motor. The enable() function must be called to re-enable the motor. */
-  @Override
-  public void disable() {
-    m_disabled = true;
-    m_dio.updateDutyCycle(0.5);
-    m_pwm.setDisabled();
-  }
-
-  /**
-   * Re-enable the motor after disable() has been called. The set() function must be called to set a
-   * new motor speed.
-   */
-  public void enable() {
-    m_disabled = false;
-  }
-
-  /**
-   * Gets the channel number associated with the object.
-   *
-   * @return The channel number.
-   */
-  public int getChannel() {
-    return m_pwm.getChannel();
-  }
-
-  @Override
-  public void initSendable(SendableBuilder builder) {
-    builder.setSmartDashboardType("Nidec Brushless");
-    builder.setActuator(true);
-    builder.setSafeState(this::stopMotor);
-    builder.addDoubleProperty("Value", this::get, this::set);
-  }
-}

wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java

@@ -250,17 +250,13 @@ public enum BuiltInWidgets implements WidgetType {
    *
    * <ul>
    *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.PWMMotorController}
-   *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.DMC60}
-   *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.Jaguar}
    *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax}
    *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.PWMTalonFX}
    *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.PWMTalonSRX}
    *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.PWMVenom}
    *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX}
-   *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.SD540}
    *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.Spark}
    *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.Talon}
-   *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.Victor}
    *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.VictorSP}
    *   <li>{@link edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup}
    *   <li>Any custom subclass of {@code MotorController}

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/Field2d.java

@@ -4,11 +4,14 @@
 
 package edu.wpi.first.wpilibj.smartdashboard;
 
+import static edu.wpi.first.units.Units.Meters;
+
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.networktables.NTSendable;
 import edu.wpi.first.networktables.NTSendableBuilder;
 import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.util.sendable.SendableRegistry;
 import java.util.ArrayList;
 import java.util.List;
@@ -66,6 +69,17 @@ public class Field2d implements NTSendable, AutoCloseable {
     m_objects.get(0).setPose(xMeters, yMeters, rotation);
   }
 
+  /**
+   * Set the robot pose from x, y, and rotation.
+   *
+   * @param x X location
+   * @param y Y location
+   * @param rotation rotation
+   */
+  public synchronized void setRobotPose(Distance x, Distance y, Rotation2d rotation) {
+    m_objects.get(0).setPose(x.in(Meters), y.in(Meters), rotation);
+  }
+
   /**
    * Get the robot pose.
    *

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java

@@ -4,11 +4,14 @@
 
 package edu.wpi.first.wpilibj.smartdashboard;
 
+import static edu.wpi.first.units.Units.Meters;
+
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.trajectory.Trajectory;
 import edu.wpi.first.networktables.DoubleArrayEntry;
+import edu.wpi.first.units.measure.Distance;
 import java.util.ArrayList;
 import java.util.Collections;
 import java.util.List;
@@ -51,6 +54,17 @@ public class FieldObject2d implements AutoCloseable {
     setPose(new Pose2d(xMeters, yMeters, rotation));
   }
 
+  /**
+   * Set the pose from x, y, and rotation.
+   *
+   * @param x X location
+   * @param y Y location
+   * @param rotation rotation
+   */
+  public synchronized void setPose(Distance x, Distance y, Rotation2d rotation) {
+    setPose(new Pose2d(x.in(Meters), y.in(Meters), rotation));
+  }
+
   /**
    * Get the pose.
    *

wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java

@@ -124,4 +124,16 @@ class ElevatorSimTest {
         sim.getPositionMeters(),
         0.01);
   }
+
+  @Test
+  void testCurrentDraw() {
+    var motor = DCMotor.getKrakenX60(2);
+    var sim = new ElevatorSim(motor, 20, 8.0, 0.1, 0.0, 1.0, true, 0.0, 0.01, 0.0);
+
+    assertEquals(0.0, sim.getCurrentDrawAmps());
+    sim.setInputVoltage(motor.getVoltage(motor.getTorque(60.0), 0.0));
+    sim.update(0.100);
+    // current draw should start at 60 A and decrease as the back emf catches up
+    assertTrue(0.0 < sim.getCurrentDrawAmps() && sim.getCurrentDrawAmps() < 60.0);
+  }
 }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/profiledpidfeedforward/Main.java

@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj.snippets.profiledpidfeedforward;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
+public final class Main {
+  private Main() {}
+
+  /**
+   * Main initialization function. Do not perform any initialization here.
+   *
+   * <p>If you change your main robot class, change the parameter type.
+   */
+  public static void main(String... args) {
+    RobotBase.startRobot(Robot::new);
+  }
+}

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/profiledpidfeedforward/Robot.java

@@ -0,0 +1,51 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj.snippets.profiledpidfeedforward;
+
+import edu.wpi.first.math.controller.ProfiledPIDController;
+import edu.wpi.first.math.controller.SimpleMotorFeedforward;
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
+
+/**
+ * ProfiledPIDController with feedforward snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/controllers/profiled-pidcontroller.html
+ */
+public class Robot extends TimedRobot {
+  private final ProfiledPIDController m_controller =
+      new ProfiledPIDController(1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(5.0, 10.0));
+  private final SimpleMotorFeedforward m_feedforward = new SimpleMotorFeedforward(0.5, 1.5, 0.3);
+  private final Encoder m_encoder = new Encoder(0, 1);
+  private final PWMSparkMax m_motor = new PWMSparkMax(0);
+
+  double m_lastSpeed;
+
+  /** Called once at the beginning of the robot program. */
+  public Robot() {
+    m_encoder.setDistancePerPulse(1.0 / 256.0);
+  }
+
+  /**
+   * Controls a simple motor's position using a SimpleMotorFeedforward and a ProfiledPIDController.
+   *
+   * @param goalPosition the desired position
+   */
+  public void goToPosition(double goalPosition) {
+    double pidVal = m_controller.calculate(m_encoder.getDistance(), goalPosition);
+    m_motor.setVoltage(
+        pidVal
+            + m_feedforward.calculateWithVelocities(
+                m_lastSpeed, m_controller.getSetpoint().velocity));
+    m_lastSpeed = m_controller.getSetpoint().velocity;
+  }
+
+  @Override
+  public void teleopPeriodic() {
+    // Example usage: move to position 10.0
+    goToPosition(10.0);
+  }
+}

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/snippets.json

@@ -169,5 +169,16 @@
     "foldername": "accelerometerfilter",
     "gradlebase": "java",
     "mainclass": "Main"
+  },
+  {
+    "name": "ProfiledPIDFeedforward",
+    "description": "Snippets of ProfiledPIDController with feedforward for frc-docs.",
+    "tags": [
+      "PID",
+      "Profiled PID"
+    ],
+    "foldername": "profiledpidfeedforward",
+    "gradlebase": "java",
+    "mainclass": "Robot"
   }
 ]

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DMATest.java

@@ -9,8 +9,8 @@ import static org.junit.Assert.assertTrue;
 
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.fixtures.AnalogCrossConnectFixture;
-import edu.wpi.first.wpilibj.motorcontrol.Jaguar;
 import edu.wpi.first.wpilibj.motorcontrol.PWMMotorController;
+import edu.wpi.first.wpilibj.motorcontrol.Talon;
 import edu.wpi.first.wpilibj.test.AbstractComsSetup;
 import edu.wpi.first.wpilibj.test.TestBench;
 import java.util.ArrayList;
@@ -40,7 +40,7 @@ public class DMATest extends AbstractComsSetup {
   public void setUp() {
     m_analogIO = TestBench.getAnalogCrossConnectFixture();
     m_manualTrigger = new DigitalOutput(7);
-    m_pwm = new Jaguar(14);
+    m_pwm = new Talon(14);
     m_dma = new DMA();
     m_dmaSample = new DMASample();
 

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java

@@ -15,9 +15,7 @@ import edu.wpi.first.wpilibj.fixtures.DIOCrossConnectFixture;
 import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
 import edu.wpi.first.wpilibj.fixtures.RelayCrossConnectFixture;
 import edu.wpi.first.wpilibj.fixtures.TiltPanCameraFixture;
-import edu.wpi.first.wpilibj.motorcontrol.Jaguar;
 import edu.wpi.first.wpilibj.motorcontrol.Talon;
-import edu.wpi.first.wpilibj.motorcontrol.Victor;
 import java.io.PrintStream;
 import java.util.ArrayList;
 import java.util.Collection;
@@ -92,16 +90,16 @@ public final class TestBench {
   }
 
   /**
-   * Constructs a new set of objects representing a connected set of Victor controlled Motors and an
+   * Constructs a new set of objects representing a connected set of Talon controlled Motors and an
    * encoder.
    *
-   * @return a freshly allocated Victor, Encoder pair
+   * @return a freshly allocated Talon, Encoder pair
    */
-  public static MotorEncoderFixture<Victor> getVictorPair() {
+  public static MotorEncoderFixture<Talon> getVictorPair() {
     return new MotorEncoderFixture<>() {
       @Override
-      protected Victor giveMotorController() {
-        return new Victor(kVictorChannel);
+      protected Talon giveMotorController() {
+        return new Talon(kVictorChannel);
       }
 
       @Override
@@ -122,16 +120,16 @@ public final class TestBench {
   }
 
   /**
-   * Constructs a new set of objects representing a connected set of Jaguar controlled Motors and an
+   * Constructs a new set of objects representing a connected set of Talon controlled Motors and an
    * encoder.
    *
-   * @return a freshly allocated Jaguar, Encoder pair
+   * @return a freshly allocated Talon, Encoder pair
    */
-  public static MotorEncoderFixture<Jaguar> getJaguarPair() {
+  public static MotorEncoderFixture<Talon> getJaguarPair() {
     return new MotorEncoderFixture<>() {
       @Override
-      protected Jaguar giveMotorController() {
-        return new Jaguar(kJaguarChannel);
+      protected Talon giveMotorController() {
+        return new Talon(kJaguarChannel);
       }
 
       @Override

wpimath/.styleguide

@@ -19,8 +19,6 @@ generatedFileExclude {
   src/main/native/include/unsupported/
   src/main/native/thirdparty/
   src/test/native/cpp/UnitsTest\.cpp$
-  src/test/native/cpp/drake/
-  src/test/native/include/drake/
   src/generated/main/java/edu/wpi/first/math/proto
   src/generated/main/native/cpp
 }
@@ -41,6 +39,7 @@ includeOtherLibs {
   ^gcem/
   ^google/
   ^gtest/
+  ^sleipnir/
   ^unsupported/
   ^wpi/
 }

wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java

@@ -11,8 +11,8 @@ import edu.wpi.first.math.Nat;
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Transform2d;
 import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.geometry.Twist2d;
 import edu.wpi.first.math.interpolation.TimeInterpolatableBuffer;
 import edu.wpi.first.math.kinematics.Kinematics;
 import edu.wpi.first.math.kinematics.Odometry;
@@ -273,19 +273,27 @@ public class PoseEstimator<T> {
       return;
     }
 
-    // Step 4: Measure the twist between the old pose estimate and the vision pose.
-    var twist = visionSample.get().log(visionRobotPoseMeters);
+    // Step 4: Measure the transform between the old pose estimate and the vision pose.
+    var transform = visionRobotPoseMeters.minus(visionSample.get());
 
-    // Step 5: We should not trust the twist entirely, so instead we scale this twist by a Kalman
+    // Step 5: We should not trust the transform entirely, so instead we scale this transform by a
+    // Kalman
     // gain matrix representing how much we trust vision measurements compared to our current pose.
-    var k_times_twist = m_visionK.times(VecBuilder.fill(twist.dx, twist.dy, twist.dtheta));
+    var k_times_transform =
+        m_visionK.times(
+            VecBuilder.fill(
+                transform.getX(), transform.getY(), transform.getRotation().getRadians()));
 
-    // Step 6: Convert back to Twist2d.
-    var scaledTwist =
-        new Twist2d(k_times_twist.get(0, 0), k_times_twist.get(1, 0), k_times_twist.get(2, 0));
+    // Step 6: Convert back to Transform2d.
+    var scaledTransform =
+        new Transform2d(
+            k_times_transform.get(0, 0),
+            k_times_transform.get(1, 0),
+            Rotation2d.fromRadians(k_times_transform.get(2, 0)));
 
     // Step 7: Calculate and record the vision update.
-    var visionUpdate = new VisionUpdate(visionSample.get().exp(scaledTwist), odometrySample.get());
+    var visionUpdate =
+        new VisionUpdate(visionSample.get().plus(scaledTransform), odometrySample.get());
     m_visionUpdates.put(timestampSeconds, visionUpdate);
 
     // Step 8: Remove later vision measurements. (Matches previous behavior)

wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator3d.java

@@ -13,9 +13,9 @@ import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.geometry.Translation3d;
-import edu.wpi.first.math.geometry.Twist3d;
 import edu.wpi.first.math.interpolation.TimeInterpolatableBuffer;
 import edu.wpi.first.math.kinematics.Kinematics;
 import edu.wpi.first.math.kinematics.Odometry3d;
@@ -286,27 +286,36 @@ public class PoseEstimator3d<T> {
       return;
     }
 
-    // Step 4: Measure the twist between the old pose estimate and the vision pose.
-    var twist = visionSample.get().log(visionRobotPoseMeters);
+    // Step 4: Measure the transform between the old pose estimate and the vision pose.
+    var transform = visionRobotPoseMeters.minus(visionSample.get());
 
-    // Step 5: We should not trust the twist entirely, so instead we scale this twist by a Kalman
+    // Step 5: We should not trust the transform entirely, so instead we scale this transform by a
+    // Kalman
     // gain matrix representing how much we trust vision measurements compared to our current pose.
-    var k_times_twist =
+    var k_times_transform =
         m_visionK.times(
-            VecBuilder.fill(twist.dx, twist.dy, twist.dz, twist.rx, twist.ry, twist.rz));
+            VecBuilder.fill(
+                transform.getX(),
+                transform.getY(),
+                transform.getZ(),
+                transform.getRotation().getX(),
+                transform.getRotation().getY(),
+                transform.getRotation().getZ()));
 
-    // Step 6: Convert back to Twist3d.
-    var scaledTwist =
-        new Twist3d(
-            k_times_twist.get(0, 0),
-            k_times_twist.get(1, 0),
-            k_times_twist.get(2, 0),
-            k_times_twist.get(3, 0),
-            k_times_twist.get(4, 0),
-            k_times_twist.get(5, 0));
+    // Step 6: Convert back to Transform3d.
+    var scaledTransform =
+        new Transform3d(
+            k_times_transform.get(0, 0),
+            k_times_transform.get(1, 0),
+            k_times_transform.get(2, 0),
+            new Rotation3d(
+                k_times_transform.get(3, 0),
+                k_times_transform.get(4, 0),
+                k_times_transform.get(5, 0)));
 
     // Step 7: Calculate and record the vision update.
-    var visionUpdate = new VisionUpdate(visionSample.get().exp(scaledTwist), odometrySample.get());
+    var visionUpdate =
+        new VisionUpdate(visionSample.get().plus(scaledTransform), odometrySample.get());
     m_visionUpdates.put(timestampSeconds, visionUpdate);
 
     // Step 8: Remove later vision measurements. (Matches previous behavior)

wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java

@@ -310,6 +310,42 @@ public class DCMotor implements ProtobufSerializable, StructSerializable {
         12, 9.37, 483, 2, Units.rotationsPerMinuteToRadiansPerSecond(5800), numMotors);
   }
 
+  /**
+   * Return a gearbox of Kraken X44 brushless motors.
+   *
+   * @param numMotors Number of motors in the gearbox.
+   * @return a gearbox of Kraken X44 motors.
+   */
+  public static DCMotor getKrakenX44(int numMotors) {
+    // From https://motors.ctr-electronics.com/dyno/dynometer-testing/
+    return new DCMotor(
+        12, 4.11, 279, 2, Units.rotationsPerMinuteToRadiansPerSecond(7758), numMotors);
+  }
+
+  /**
+   * Return a gearbox of Kraken X44 brushless motors with FOC (Field-Oriented Control) enabled.
+   *
+   * @param numMotors Number of motors in the gearbox.
+   * @return A gearbox of Kraken X44 FOC enabled motors.
+   */
+  public static DCMotor getKrakenX44Foc(int numMotors) {
+    // From https://motors.ctr-electronics.com/dyno/dynometer-testing/
+    return new DCMotor(
+        12, 5.01, 329, 2, Units.rotationsPerMinuteToRadiansPerSecond(7368), numMotors);
+  }
+
+  /**
+   * Return a gearbox of Minion brushless motors.
+   *
+   * @param numMotors Number of motors in the gearbox.
+   * @return A gearbox of Minion motors.
+   */
+  public static DCMotor getMinion(int numMotors) {
+    // From https://motors.ctr-electronics.com/dyno/dynometer-testing/
+    return new DCMotor(
+        12, 3.17, 211, 2, Units.rotationsPerMinuteToRadiansPerSecond(7704), numMotors);
+  }
+
   /**
    * Return a gearbox of Neo Vortex brushless motors.
    *

wpimath/src/main/native/include/frc/StateSpaceUtil.h

@@ -260,7 +260,7 @@ WPILIB_DLLEXPORT constexpr Eigen::Vector3d PoseTo3dVector(const Pose2d& pose) {
 }
 
 /**
- * Converts a Pose2d into a vector of [x, y, std::cos(theta), std::sin(theta)].
+ * Converts a Pose2d into a vector of [x, y, cos(theta), sin(theta)].
  *
  * @param pose The pose that is being represented.
  *

wpimath/src/main/native/include/frc/estimator/PoseEstimator.h

@@ -14,6 +14,7 @@
 
 #include "frc/geometry/Pose2d.h"
 #include "frc/geometry/Rotation2d.h"
+#include "frc/geometry/Transform2d.h"
 #include "frc/geometry/Translation2d.h"
 #include "frc/interpolation/TimeInterpolatableBuffer.h"
 #include "frc/kinematics/Kinematics.h"
@@ -261,24 +262,26 @@ class WPILIB_DLLEXPORT PoseEstimator {
       return;
     }
 
-    // Step 4: Measure the twist between the old pose estimate and the vision
-    // pose.
-    auto twist = visionSample.value().Log(visionRobotPose);
+    // Step 4: Measure the transform between the old pose estimate and the
+    // vision transform.
+    auto transform = visionRobotPose - visionSample.value();
 
-    // Step 5: We should not trust the twist entirely, so instead we scale this
-    // twist by a Kalman gain matrix representing how much we trust vision
-    // measurements compared to our current pose.
-    Eigen::Vector3d k_times_twist =
-        m_visionK * Eigen::Vector3d{twist.dx.value(), twist.dy.value(),
-                                    twist.dtheta.value()};
+    // Step 5: We should not trust the transform entirely, so instead we scale
+    // this transform by a Kalman gain matrix representing how much we trust
+    // vision measurements compared to our current pose.
+    Eigen::Vector3d k_times_transform =
+        m_visionK * Eigen::Vector3d{transform.X().value(),
+                                    transform.Y().value(),
+                                    transform.Rotation().Radians().value()};
 
-    // Step 6: Convert back to Twist2d.
-    Twist2d scaledTwist{units::meter_t{k_times_twist(0)},
-                        units::meter_t{k_times_twist(1)},
-                        units::radian_t{k_times_twist(2)}};
+    // Step 6: Convert back to Transform2d.
+    Transform2d scaledTransform{
+        units::meter_t{k_times_transform(0)},
+        units::meter_t{k_times_transform(1)},
+        Rotation2d{units::radian_t{k_times_transform(2)}}};
 
     // Step 7: Calculate and record the vision update.
-    VisionUpdate visionUpdate{visionSample->Exp(scaledTwist), *odometrySample};
+    VisionUpdate visionUpdate{*visionSample + scaledTransform, *odometrySample};
     m_visionUpdates[timestamp] = visionUpdate;
 
     // Step 8: Remove later vision measurements. (Matches previous behavior)

wpimath/src/main/native/include/frc/estimator/PoseEstimator3d.h

@@ -14,9 +14,10 @@
 #include <wpi/array.h>
 
 #include "frc/EigenCore.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/geometry/Translation2d.h"
+#include "frc/geometry/Pose3d.h"
+#include "frc/geometry/Rotation3d.h"
+#include "frc/geometry/Transform3d.h"
+#include "frc/geometry/Translation3d.h"
 #include "frc/interpolation/TimeInterpolatableBuffer.h"
 #include "frc/kinematics/Kinematics.h"
 #include "frc/kinematics/Odometry3d.h"
@@ -270,26 +271,32 @@ class WPILIB_DLLEXPORT PoseEstimator3d {
       return;
     }
 
-    // Step 4: Measure the twist between the old pose estimate and the vision
-    // pose.
-    auto twist = visionSample.value().Log(visionRobotPose);
+    // Step 4: Measure the transform between the old pose estimate and the
+    // vision pose.
+    auto transform = visionRobotPose - visionSample.value();
 
-    // Step 5: We should not trust the twist entirely, so instead we scale this
-    // twist by a Kalman gain matrix representing how much we trust vision
-    // measurements compared to our current pose.
-    frc::Vectord<6> k_times_twist =
-        m_visionK * frc::Vectord<6>{twist.dx.value(), twist.dy.value(),
-                                    twist.dz.value(), twist.rx.value(),
-                                    twist.ry.value(), twist.rz.value()};
+    // Step 5: We should not trust the transform entirely, so instead we scale
+    // this transform by a Kalman gain matrix representing how much we trust
+    // vision measurements compared to our current pose.
+    frc::Vectord<6> k_times_transform =
+        m_visionK * frc::Vectord<6>{transform.X().value(),
+                                    transform.Y().value(),
+                                    transform.Z().value(),
+                                    transform.Rotation().X().value(),
+                                    transform.Rotation().Y().value(),
+                                    transform.Rotation().Z().value()};
 
-    // Step 6: Convert back to Twist3d.
-    Twist3d scaledTwist{
-        units::meter_t{k_times_twist(0)},  units::meter_t{k_times_twist(1)},
-        units::meter_t{k_times_twist(2)},  units::radian_t{k_times_twist(3)},
-        units::radian_t{k_times_twist(4)}, units::radian_t{k_times_twist(5)}};
+    // Step 6: Convert back to Transform3d.
+    Transform3d scaledTransform{
+        units::meter_t{k_times_transform(0)},
+        units::meter_t{k_times_transform(1)},
+        units::meter_t{k_times_transform(2)},
+        Rotation3d{units::radian_t{k_times_transform(3)},
+                   units::radian_t{k_times_transform(4)},
+                   units::radian_t{k_times_transform(5)}}};
 
     // Step 7: Calculate and record the vision update.
-    VisionUpdate visionUpdate{visionSample->Exp(scaledTwist), *odometrySample};
+    VisionUpdate visionUpdate{*visionSample + scaledTransform, *odometrySample};
     m_visionUpdates[timestamp] = visionUpdate;
 
     // Step 8: Remove later vision measurements. (Matches previous behavior)

wpimath/src/main/native/include/frc/geometry/Ellipse2d.h

@@ -91,7 +91,7 @@ class WPILIB_DLLEXPORT Ellipse2d {
     auto a = units::math::max(m_xSemiAxis, m_ySemiAxis);
 
     // Minor semi-axis
-    auto b = units::math::min(m_xSemiAxis, m_ySemiAxis);  // NOLINT
+    auto b = units::math::min(m_xSemiAxis, m_ySemiAxis);
 
     auto c = units::math::sqrt(a * a - b * b);
 
@@ -203,7 +203,9 @@ class WPILIB_DLLEXPORT Ellipse2d {
     auto x = rotPoint.X() - m_center.X();
     auto y = rotPoint.Y() - m_center.Y();
 
+    // NOLINTNEXTLINE (bugprone-integer-division)
     return (x * x) / (m_xSemiAxis * m_xSemiAxis) +
+           // NOLINTNEXTLINE (bugprone-integer-division)
            (y * y) / (m_ySemiAxis * m_ySemiAxis);
   }
 };

wpimath/src/main/native/include/frc/geometry/Pose3d.h

@@ -432,8 +432,8 @@ constexpr Pose3d Pose3d::Exp(const Twist3d& twist) const {
       B = 1 / 2.0 - thetaSq / 24 + thetaSq * thetaSq / 720;
       C = 1 / 6.0 - thetaSq / 120 + thetaSq * thetaSq / 5040;
     } else {
-      // A = std::sin(θ)/θ
-      // B = (1 - std::cos(θ)) / θ²
+      // A = sin(θ)/θ
+      // B = (1 - cos(θ)) / θ²
       // C = (1 - A) / θ²
       A = gcem::sin(theta) / theta;
       B = (1 - gcem::cos(theta)) / thetaSq;
@@ -491,8 +491,8 @@ constexpr Twist3d Pose3d::Log(const Pose3d& end) const {
       // https://www.wolframalpha.com/input?i2d=true&i=series+expansion+of+Divide%5B1-Divide%5BDivide%5Bsin%5C%2840%29x%5C%2841%29%2Cx%5D%2C2Divide%5B1-cos%5C%2840%29x%5C%2841%29%2CPower%5Bx%2C2%5D%5D%5D%2CPower%5Bx%2C2%5D%5D+at+x%3D0
       C = 1 / 12.0 + thetaSq / 720 + thetaSq * thetaSq / 30240;
     } else {
-      // A = std::sin(θ)/θ
-      // B = (1 - std::cos(θ)) / θ²
+      // A = sin(θ)/θ
+      // B = (1 - cos(θ)) / θ²
       // C = (1 - A/(2*B)) / θ²
       double A = gcem::sin(theta) / theta;
       double B = (1 - gcem::cos(theta)) / thetaSq;

wpimath/src/main/native/include/frc/geometry/Quaternion.h

@@ -296,8 +296,8 @@ class WPILIB_DLLEXPORT Quaternion {
     // 𝑣⃗ = θ * v̂
     // v̂ = 𝑣⃗ / θ
 
-    // 𝑞 = std::cos(θ/2) + std::sin(θ/2) * v̂
-    // 𝑞 = std::cos(θ/2) + std::sin(θ/2) / θ * 𝑣⃗
+    // 𝑞 = cos(θ/2) + sin(θ/2) * v̂
+    // 𝑞 = cos(θ/2) + sin(θ/2) / θ * 𝑣⃗
 
     double theta = gcem::hypot(rvec(0), rvec(1), rvec(2));
     double cos = gcem::cos(theta / 2);

wpimath/src/main/native/include/frc/system/plant/DCMotor.h

@@ -247,6 +247,31 @@ class WPILIB_DLLEXPORT DCMotor {
     return DCMotor(12_V, 9.37_Nm, 483_A, 2_A, 5800_rpm, numMotors);
   }
 
+  /**
+   * Return a gearbox of Kraken X44 brushless motors.
+   */
+  static constexpr DCMotor KrakenX44(int numMotors = 1) {
+    // From https://motors.ctr-electronics.com/dyno/dynometer-testing/
+    return DCMotor(12_V, 4.11_Nm, 279_A, 2_A, 7758_rpm, numMotors);
+  }
+
+  /**
+   * Return a gearbox of Kraken X44 brushless motors with FOC (Field-Oriented
+   * Control) enabled.
+   */
+  static constexpr DCMotor KrakenX44FOC(int numMotors = 1) {
+    // From https://motors.ctr-electronics.com/dyno/dynometer-testing/
+    return DCMotor(12_V, 5.01_Nm, 329_A, 2_A, 7368_rpm, numMotors);
+  }
+
+  /**
+   * Return a gearbox of Minion brushless motors.
+   */
+  static constexpr DCMotor Minion(int numMotors = 1) {
+    // From https://motors.ctr-electronics.com/dyno/dynometer-testing/
+    return DCMotor(12_V, 3.17_Nm, 211_A, 2_A, 7704_rpm, numMotors);
+  }
+
   /**
    * Return a gearbox of Neo Vortex brushless motors.
    */

wpimath/src/main/native/thirdparty/sleipnir/.clang-format

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wpimath/src/main/native/thirdparty/sleipnir/.clang-tidy

@@ -1,74 +0,0 @@
-Checks:
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-  bugprone-bool-pointer-implicit-conversion,
-  bugprone-copy-constructor-init,
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-  bugprone-dynamic-static-initializers,
-  bugprone-forward-declaration-namespace,
-  bugprone-forwarding-reference-overload,
-  bugprone-inaccurate-erase,
-  bugprone-incorrect-roundings,
-  bugprone-integer-division,
-  bugprone-lambda-function-name,
-  bugprone-misplaced-operator-in-strlen-in-alloc,
-  bugprone-misplaced-widening-cast,
-  bugprone-move-forwarding-reference,
-  bugprone-multiple-statement-macro,
-  bugprone-parent-virtual-call,
-  bugprone-posix-return,
-  bugprone-sizeof-container,
-  bugprone-sizeof-expression,
-  bugprone-spuriously-wake-up-functions,
-  bugprone-string-constructor,
-  bugprone-string-integer-assignment,
-  bugprone-string-literal-with-embedded-nul,
-  bugprone-suspicious-enum-usage,
-  bugprone-suspicious-include,
-  bugprone-suspicious-memset-usage,
-  bugprone-suspicious-missing-comma,
-  bugprone-suspicious-semicolon,
-  bugprone-suspicious-string-compare,
-  bugprone-throw-keyword-missing,
-  bugprone-too-small-loop-variable,
-  bugprone-undefined-memory-manipulation,
-  bugprone-undelegated-constructor,
-  bugprone-unhandled-self-assignment,
-  bugprone-unused-raii,
-  bugprone-virtual-near-miss,
-  cert-err52-cpp,
-  cert-err60-cpp,
-  cert-mem57-cpp,
-  cert-oop57-cpp,
-  cert-oop58-cpp,
-  clang-diagnostic-*,
-  -clang-diagnostic-deprecated-declarations,
-  -clang-diagnostic-#warnings,
-  -clang-diagnostic-pedantic,
-  clang-analyzer-*,
-  -clang-analyzer-core.uninitialized.UndefReturn,
-  -clang-analyzer-optin.cplusplus.UninitializedObject,
-  -clang-analyzer-optin.portability.UnixAPI,
-  -clang-analyzer-unix.Malloc,
-  -cppcoreguidelines-slicing,
-  google-build-namespaces,
-  google-explicit-constructor,
-  google-global-names-in-headers,
-  google-readability-avoid-underscore-in-googletest-name,
-  google-readability-casting,
-  google-runtime-operator,
-  misc-definitions-in-headers,
-  misc-misplaced-const,
-  misc-new-delete-overloads,
-  misc-non-copyable-objects,
-  modernize-avoid-bind,
-  modernize-concat-nested-namespaces,
-  modernize-make-shared,
-  modernize-make-unique,
-  modernize-pass-by-value,
-  modernize-use-default-member-init,
-  modernize-use-noexcept,
-  modernize-use-nullptr,
-  modernize-use-override,
-  modernize-use-using,
-  readability-braces-around-statements'
-FormatStyle: file

wpimath/src/main/native/thirdparty/sleipnir/.styleguide

@@ -1,23 +0,0 @@
-cppHeaderFileInclude {
-  \.hpp$
-}
-
-cppSrcFileInclude {
-  \.cpp$
-}
-
-modifiableFileExclude {
-  \.patch$
-  \.png$
-  \.svg$
-  jormungandr/cpp/docstrings\.hpp$
-  jormungandr/py\.typed$
-}
-
-includeOtherLibs {
-  ^Eigen/
-  ^catch2/
-  ^gch/
-  ^nanobind/
-  ^sleipnir/
-}

wpimath/src/main/native/thirdparty/sleipnir/.styleguide-license

@@ -1 +0,0 @@
-// Copyright (c) Sleipnir contributors

wpimath/src/main/native/thirdparty/sleipnir/include/.styleguide

@@ -1,14 +0,0 @@
-cppHeaderFileInclude {
-  \.hpp$
-}
-
-cppSrcFileInclude {
-  \.cpp$
-}
-
-includeOtherLibs {
-  ^Eigen/
-  ^fmt/
-  ^gch/
-  ^wpi/
-}

wpimath/src/main/native/thirdparty/sleipnir/src/.styleguide

@@ -1,13 +0,0 @@
-cppHeaderFileInclude {
-  \.hpp$
-}
-
-cppSrcFileInclude {
-  \.cpp$
-}
-
-includeOtherLibs {
-  ^Eigen/
-  ^fmt/
-  ^gch/
-}

wpimath/src/test/native/cpp/filter/LinearFilterOutputTest.cpp

@@ -192,11 +192,11 @@ TEST(LinearFilterOutputTest, CentralFiniteDifference) {
 
   AssertCentralResults<1, 3>(
       [](double x) {
-        // f(x) = std::sin(x)
+        // f(x) = sin(x)
         return std::sin(x);
       },
       [](double x) {
-        // df/dx = std::cos(x)
+        // df/dx = cos(x)
         return std::cos(x);
       },
       h, -20.0, 20.0);
@@ -225,11 +225,11 @@ TEST(LinearFilterOutputTest, CentralFiniteDifference) {
 
   AssertCentralResults<2, 5>(
       [](double x) {
-        // f(x) = std::sin(x)
+        // f(x) = sin(x)
         return std::sin(x);
       },
       [](double x) {
-        // d²f/dx² = -std::sin(x)
+        // d²f/dx² = -sin(x)
         return -std::sin(x);
       },
       h, -20.0, 20.0);
@@ -265,11 +265,11 @@ TEST(LinearFilterOutputTest, BackwardFiniteDifference) {
 
   AssertBackwardResults<1, 2>(
       [](double x) {
-        // f(x) = std::sin(x)
+        // f(x) = sin(x)
         return std::sin(x);
       },
       [](double x) {
-        // df/dx = std::cos(x)
+        // df/dx = cos(x)
         return std::cos(x);
       },
       h, -20.0, 20.0);
@@ -298,11 +298,11 @@ TEST(LinearFilterOutputTest, BackwardFiniteDifference) {
 
   AssertBackwardResults<2, 4>(
       [](double x) {
-        // f(x) = std::sin(x)
+        // f(x) = sin(x)
         return std::sin(x);
       },
       [](double x) {
-        // d²f/dx² = -std::sin(x)
+        // d²f/dx² = -sin(x)
         return -std::sin(x);
       },
       h, -20.0, 20.0);

wpiutil/src/main/native/include/wpi/sendable/SendableHelper.h

@@ -39,8 +39,7 @@ class SendableHelper {
   // See https://bugzilla.mozilla.org/show_bug.cgi?id=1442819
   __attribute__((no_sanitize("vptr")))
 #endif
-  constexpr SendableHelper&
-  operator=(SendableHelper&& rhs) {
+  constexpr SendableHelper& operator=(SendableHelper&& rhs) {
     if (!std::is_constant_evaluated()) {
       // it is safe to call Move() multiple times with the same rhs
       SendableRegistry::Move(static_cast<Derived*>(this),