Squashed 'third_party/allwpilib/' changes from f1a82828fe..ce550705d7
ce550705d7 [ntcore] Fix client "received unknown id -1" (#6186)
3989617bde [ntcore] NetworkTable::GetStruct: Add I template param (#6183)
f1836e1321 [fieldImages] Fix 2024 field json (#6179)
d05f179a9a [build] Fix running apriltagsvision Java example (#6173)
b1b03bed85 [wpilib] Update MotorControllerGroup deprecation message (#6171)
fa63fbf446 LICENSE.md: Bump year to 2024 (#6169)
4809f3d0fc [apriltag] Add 2024 AprilTag locations (#6168)
dd90965362 [wpiutil] Fix RawFrame.setInfo() NPE (#6167)
8659372d08 [fieldImages] Add 2024 field image (#6166)
a2e4d0b15d [docs] Fix docs for SysID routine (#6164)
0a46a3a618 [wpilib] Make ADXL345 default I2C address public (#6163)
7c26bc70ab [sysid] Load DataLog files directly for analysis (#6103)
f94e3d81b9 [docs] Fix SysId routine JavaDoc warnings (#6159)
6bed82a18e [wpilibc] Clean up C++ SysId routine (#6160)
4595f84719 [wpilib] Report LiveWindow-enabled-in-test (#6158)
707cb06105 [wpilib] Add SysIdRoutine logging utility and command factory (#6033)
3e40b9e5da [wpilib] Correct SmartDashboard usage reporting (#6157)
106518c3f8 [docs] Fix wpilibj JavaDoc warnings (#6154)
19cb2a8eb4 [wpilibj] Make class variables private to match C++ (#6153)
13f4460e00 [docs] Add missing docs to enum fields (NFC) (#6150)
4210f5635d [docs] Fix warnings about undocumented default constructors (#6151)
0f060afb55 [ntcore] Disable WebSocket fragmentation (#6149)
f29a7d2e50 [docs] Add missing JavaDocs (#6146)
6e58db398d [commands] Make Java fields private (#6148)
4ac0720385 [build] Clean up CMake files (#6141)
44db3e0ac0 [sysid] Make constexpr variables outside class scope inline (#6145)
73c7d87db7 [glass] NTStringChooser: Properly set retained (#6144)
25636b712f [build] Remove unnecessary native dependencies in wpilibjExamples (#6143)
01fb98baaa [docs] Add Missing JNI docs from C++ (NFC) (#6139)
5c424248c4 [wpilibj] Remove unused AnalogTriggerException (#6142)
c486972c55 [wpimath] Make ExponentialProfile.State mutable (#6138)
783acb9b72 [wpilibj] Store long preferences as integers (#6136)
99ab836894 [wpiutil] Add missing JavaDocs (NFC) (#6132)
ad0859a8c9 [docs] Add missing JavaDocs (#6125)
5579219716 [docs] Exclude quickbuf files and proto/struct packages from doclint (#6128)
98f06911c7 [sysid] Use eigenvector component instead of eigenvalue for fit quality check (#6131)
e1d49b975c [wpimath] Add LinearFilter reset() overload to initialize input and output buffers (#6133)
8a0bf2b7a4 [hal] Add CANAPITypes to java (#6121)
91d8837c11 [wpilib] Make protected fields in accelerometers/gyros private (#6134)
e7c9f27683 [wpilib] Add functional interface equivalents to MotorController (#6053)
8aca706217 [glass] Add type information to SmartDashboard menu (#6117)
7d3e4ddba9 [docs] Add warning about using user button to docs (NFC) (#6129)
ec3cb3dcba [build] Disable clang-tidy warning about test case names (#6127)
495585b25d [examples] Update april tag family to 36h11 (#6126)
f9aabc5ab2 [wpilib] Throw early when EventLoop is modified while running (#6115)
c16946c0ec [hal] Add CANJNI docs (NFC) (#6120)
b7f4eb2811 [doc] Update maven artifacts for units and apriltags (NFC) (#6123)
f419a62b38 [doc] Update maintainers.md (NFC) (#6124)
938bf45fd9 [wpiutil] Remove type param from ProtobufSerializable and StructSerializable (#6122)
c34debe012 [docs] Link to external OpenCV docs (#6119)
07183765de [hal] Fix formatting of HAL_ENUM enums (NFC) (#6114)
af46034b7f [wpilib] Document only first party controllers are guaranteed to have correct mapping (#6112)
636ef58d94 [hal] Properly error check readCANStreamSession (#6108)
cc631d2a69 [build] Fix generated source set location in the HAL (#6113)
09f76b32c2 [wpimath] Compile with UTF-8 encoding (#6111)
47c5fd8620 [sysid] Check data quality before OLS (#6110)
24a76be694 [hal] Add method to detect if the CAN Stream has overflowed (#6105)
9333951736 [hal] Allocate CANStreamMessage in JNI if null (#6107)
6a2d3c30a6 [wpiutil] Struct: Add info template parameter pack (#6086)
e07de37e64 [commands] Mark ParallelDeadlineGroup.setDeadline() final (#6102)
141241d2d6 [wpilib] Fix usage reporting for static classes (#6090)
f2c2bab7dc [sysid] Fix adjusted R² calculation (#6101)
5659038443 [wpiutil,cscore,apriltag] Fix RawFrame (#6098)
8aeee03626 [commands] Improve error message when composing commands twice in same composition (#6091)
55508706ff [wpiutil,cscore] Move VideoMode.PixelFormat to wpiutil (#6097)
ab78b930e9 [wpilib] ADIS16470: Add access to all 3 axes (#6074)
795d4be9fd [wpilib] Fix precision issue in Color round-and-clamp (#6100)
7aa9ad44b8 [commands] Deprecate C++ TransferOwnership() (#6095)
92c81d0791 [ci] Update pregenerate workflow to actions/checkout@v4 (#6094)
1ce617be07 [ci] Update artifact actions to v4 (#6092)
2441b57156 [wpilib] Add PWMSparkFlex MotorController (#6089)
21d1972d7a [wpiutil] DataLog: Ensure file is written on shutdown (#6087)
c29e8c66cf [wpiutil] DataLog: Fix UB in AppendImpl (#6088)
ab309e34ef [glass] Fix order of loading window settings (#6056)
22a322c9f3 [wpimath] Report error on negative PID gains (#6055)
1dba26c937 [wpilib] Add method to get breaker fault at a specific channel in PowerDistribution[Sticky]Faults (#5521)
ef1cb3f41e [commands] Fix compose-while-scheduled issue and test all compositions (#5581)
aeb1a4aa33 [wpiutil] Add serializable marker interfaces (#6060)
c1178d5add [wpilib] Add StadiaController and command wrapper (#6083)
4e4a468d4d [wpimath] Make feedforward classes throw exceptions for negative Kv or Ka (#6084)
d1793f077d [build] cmake: Add NO_WERROR option to disable -Werror (#6071)
43fb6e9f87 [glass] Add Profiled PID controller support & IZone Support (#5959)
bcef6c5398 [apriltag] Fix Java generation functions (#6063)
4059e0cd9f [hal,wpilib] Add function to control "Radio" LED (#6073)
0b2cfb3abc [dlt] Change datalogtool default folder to logs folder (#6079)
df5e439b0c [wpilib] PS4Controller: enable usage reporting (#6081)
0ff7478968 [cscore] Fix RawFrame class not being loaded in JNI (#6077)
6f23d32fe1 [wpilib] AddressableLED: Update warning about single driver (NFC) (#6069)
35a1c52788 [build] Upgrade quickbuf to 1.3.3 (#6072)
e4e2bafdb1 [sysid] Document timestamp units (#6065)
3d201c71f7 [ntcore] Fix overlapping subscriber handling (#6067)
f02984159f [glass] Check for null entries when updating struct/proto (#6059)
a004c9e05f [commands] SubsystemBase: allow setting name in constructor (#6052)
0b4c6a1546 [wpimath] Add more docs to SimulatedAnnealing (NFC) (#6054)
ab15dae887 [wpilib] ArcadeDrive: Fix max output handling (#6051)
9599c1f56f [hal] Add usage reporting ids from 2024v2 image (#6041)
f87c64af8a [wpimath] MecanumDriveWheelSpeeds: Fix desaturate() (#6040)
8798700cec [wpilibcExamples] Add inline specifier to constexpr constants (#6049)
85c9ae6eff [wpilib] Fix PS5 Controller mappings (#6050)
7c8b7a97ad [wpiutil] Zero out roborio system timestamp (#6042)
d9b504bc84 [wpilib] DataLogManager: Change sim location to logs subdir (#6039)
906b810136 [build] cmake: Fix ntcore generated header install (#6038)
56e5b404d1 Update to final 2024 V2 image (#6034)
8723ee5c39 [ntcore] Add cached topic property (#5494)
192a28af47 Fix JDK 21 warnings (#6028)
d40bdd70ba [build] Upgrade to spotbugs Gradle plugin 6.0.2 (#6027)
7bfadf32e5 [wpilibj] Joystick: make remainder of get axis methods final (#6024)
a770110438 [commands] CommandCompositionError: Include stacktrace of original composition (#5984)
54a55b8b53 [wpiutil,hal] Update image; init Rio Now() HMB with a FPGA session (#6016)
7d4e515a6b [wpimath] Simplify calculation of C for DARE precondition (#6022)
5200316c14 [ntcore] Update transmit period on topic add/remove (#6021)
ddf79a25d4 [wpiunits] Overload Measure.per(Time) to return Measure<Velocity> (#6018)
a71adef316 [wpiutil] Clean up circular_buffer iterator syntax (#6020)
39a0bf4b98 [examples] Call resetOdometry() when controller command is executed (#5905)
f5fc101fda [build] cmake: Export jars and clean up jar installs (#6014)
38bf024c96 [build] Update to Gradle 8.5 (#6007)
9d11544c18 [wpimath] Rotate traveling salesman solution so input and solution have same initial pose (#6015)
28deba20f5 [wpimath] Commit generated quickbuf Java files (#5994)
c2971c0bb3 [build] cmake: Export apriltag and wpimath (#6012)
41cfc961e4 gitattributes: Add linguist-generated locations (#6004)
14c3ade155 [wpimath] Struct cleanup (#6011)
90757b9e90 [wpilib] Make Color::HexString() constexpr (#5985)
2676b77873 Fix compilation issues that occur when building with bazel (#6008)
d32c10487c [examples] Update C++ examples to use CommandPtr (#5988)
9bc5fcf886 [build] cmake: Default WITH_JAVA_SOURCE to WITH_JAVA (#6005)
d431abba3b [upstream_utils] Fix GCEM namespace usage and add hypot(x, y, z) (#6002)
2bb1409b82 Clean up Java style (#5990)
66172ab288 Remove submodule (#6003)
e8f8c0ceb0 [upstream_utils] Update to latest Eigen HEAD (#5996)
890992a849 [hal] Commit generated usage reporting files (#5993)
a583ca01e1 [wpiutil] Change Struct to allow non-constexpr implementation (#5992)
ca272de400 [build] Fix Gradle compile_commands.json and clang-tidy warnings (#5977)
76ae090570 [wpiutil] type_traits: Add is_constexpr() (#5997)
5172ab8fd0 [commands] C++ CommandPtr: Prevent null initialization (#5991)
96914143ba [build] Bump native-utils to fix compile_commands.json (#5989)
464e6121ef [ci] Report failed status to Azure on failed tests (#2654)
5dad46cd45 [wpimath] Commit generated files (#5986)
54ab65a63a [ntcore] Commit generated files (#5962)
7ed900ae3a [wpilib] Add hex string constructor to Color and Color8Bit (#5063)
74b85b76a9 [wpimath] Make gcem call std functions if not constant-evaluated (#5983)
30816111db [wpimath] Fix TimeInterpolatableBuffer crash (#5972)
5cc923de33 [wpilib] DataLogManager: Use logs subdirectory on USB drives (#5975)
1144115da0 [commands] Add GetName to Subsystem, use in Scheduler tracer epochs (#5836)
ac7d726ac3 [wpimath] Add simulated annealing (#5961)
e09be72ee0 [wpimath] Remove unused SimpleMatrixUtils class (#5979)
0f9ebe92d9 [wpimath] Add generic circular buffer class to Java (#5969)
9fa28eb07a [ci] Bump actions/checkout to v4 (#5736)
ca684ac207 [hal] Add capability to read power distribution data as a stream (#4983)
51eecef2bd [wpimath] Optimize 2nd derivative of quintic splines (#3292)
4fcf0b25a1 [build] Apply a formatter for CMake files (#5973)
9b8011aa67 [build] Pin wpiformat version (#5982)
e00a0e84c1 [build] cmake: fix protobuf dependency finding for certain distributions (#5981)
23dd591394 [upstream_utils] Remove libuv patch that adjusts whitespace (#5976)
b0719942f0 [wpiutil] Timestamp: Report errors on Rio HMB init failure (#5974)
7bc89c4322 [wpilib] Update getAlliance() docs (NFC) (#5971)
841ea682d1 [upstream_utils] Upgrade to LLVM 17.0.5 (#5970)
a74db52dae [cameraserver] Add getVideo() pixelFormat overload (#5966)
a7eb422662 [build] Update native utils for new compile commands files (#5968)
544b231d4d [sysid] Add missing cassert include (#5967)
31cd015970 [wpimath] Add SysId doc links to LinearSystemId in C++ (NFC) (#5960)
9280054eab Revert "[build] Export wpimath protobuf symbols (#5952)"
2aba97c610 Export pb files from wpimath
c80b2d2017 [build] Export wpimath protobuf symbols (#5952)
3c0652c18a [cscore] Replace CS_PixelFormat with WPI_PixelFormat (#5954)
95716eb0cb [wpiunits] Documentation improvements (#5932)
423fd75fa8 [wpilib] Default LiveWindowEnabledInTest to false (#5950)
dfdea9c992 [wpimath] Make KalmanFilter variant for asymmetric updates (#5951)
ca81ced409 [wpiutil] Move RawFrame to wpiutil; add generation of RawFrame for AprilTags (#5923)
437cc91af5 [cscore] CvSink: Allow specifying output PixelFormat (#5943)
25b7dca46b [build] Remove CMake flat install option (#5944)
bb05e20247 [wpimath] Add protobuf/struct for trivial types (#5935)
35744a036e [wpimath] Move struct/proto classes to separate files (#5918)
80d7ad58ea [build] Declare platform launcher dependency explicitly (#5909)
f8d983b154 [ntcore] Protobuf/Struct: Use atomic_bool instead of atomic_flag (#5946)
4a44210ee3 [ntcore] NetworkTableInstance: Suppress unused lambda capture warning (#5947)
bdc8620d55 [upstream_utils] Fix fmt compilation errors on Windows (#5948)
0ca1e9b5f9 [wpimath] Add basic wpiunits support (#5821)
cc30824409 [ntcore] Increase client meta-topic decoding limit (#5934)
b1fad062f7 [wpilib] Use RKDP in DifferentialDrivetrainSim (#5931)
ead9ae5a69 [build] Add generateProto dependency to test and dev (#5933)
cfbff32185 [wpiutil] timestamp: Fix startup race on Rio (#5930)
7d90d0bcc3 [wpimath] Clean up StateSpaceUtil (#5891)
7755e45aac [build] Add generated protobuf headers to C++ test include path (#5926)
3985c031da [ntcore] ProtobufSubscriber: Fix typos (#5928)
7a87fe4b60 [ntcore] ProtobufSubscriber: Make mutex and msg mutable (#5927)
09f3ed6a5f [commands] Add static Trigger factories for robot mode changes (#5902)
79dd795bc0 [wpimath] Clean up VecBuilder and MatBuilder (#5906)
e117274a67 [wpilib] Change default Rio log dir from /home/lvuser to /home/lvuser/logs (#5899)
a8b80ca256 [upstream_utils] Update to libuv 1.47.0 (#5889)
b3a9c3e96b [build] Bump macOS deployment target to 12 (#5890)
0f8129677b [build] Distribute wpimath protobuf headers (#5925)
d105f9e3e9 [wpiutil] ProtobufBuffer: Fix buffer reallocation (#5924)
c5f2f6a0fb [fieldImages] Fix typo in field images artifact name (#5922)
c1a57e422a [commands] Clean up make_vector.h (#5917)
78ebc6e9ec [wpimath] change G to gearing in LinearSystemId factories (#5834)
9ada181866 [hal] DriverStation.h: Add stddef.h include (#5897)
95fa5ec72f [wpilibc,ntcoreffi] DataLogManager: join on Stop() call (#5910)
b6f2d3cc14 [build] Remove usage of Version.parse (#5911)
cc2cbeb04c [examples] Replace gyro rotation with poseEstimator rotation (#5900)
fa6b171e1c [wpiutil] Suppress protobuf warning false positives on GCC 13 (#5907)
d504639bbe [apriltag] Improve AprilTag docs (#5895)
3a1194be40 Replace static_cast<void>() with [[maybe_unused]] attribute (#5892)
70392cbbcb [build] cmake: Add protobuf dependency to wpiutil-config (#5886)
17c1bd5a83 [ntcore] Use json_fwd (#5881)
e69a9efeba [wpilibcExamples] Match array parameter bounds (#5880)
14dcd0d26f Use char instead of uint8_t for json::parse (#5877)
ec1d261984 [hal] Fix garbage data for match info before DS connection (#5879)
63dbf5c614 [wpiutil] MemoryBuffer: Fix normal read and file type check (#5875)
b2e7be9250 [ntcore] Only datalog meta-topics if specifically requested (#5873)
201a42a3cd [wpimath] Reorder TrapezoidProfile.calculate() arguments (#5874)
04a781b4d7 [apriltag] Add GetTags to C++ version of AprilTagFieldLayout (#5872)
87a8a1ced4 [docs] Exclude eigen and protobuf from doxygen (#5871)
git-subtree-dir: third_party/allwpilib
git-subtree-split: ce550705d7cdab117c0153a202973fc026a81274
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: Ic8645d0551d62b411b0a816c493f0f33291896a1
diff --git a/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp b/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
index 14fd37f..4ce4197 100644
--- a/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
+++ b/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
@@ -679,8 +679,13 @@
return compAngle;
}
-int ADIS16448_IMU::ConfigDecRate(uint16_t DecimationSetting) {
- uint16_t writeValue = DecimationSetting;
+int ADIS16448_IMU::ConfigDecRate(uint16_t decimationRate) {
+ // Switches the active SPI port to standard SPI mode, writes a new value to
+ // the DECIMATE register in the IMU, and re-enables auto SPI.
+ //
+ // This function enters standard SPI mode, writes a new DECIMATE setting to
+ // the IMU, adjusts the sample scale factor, and re-enters auto SPI mode.
+ uint16_t writeValue = decimationRate;
uint16_t readbackValue;
if (!SwitchToStandardSPI()) {
REPORT_ERROR("Failed to configure/reconfigure standard SPI.");
@@ -688,14 +693,14 @@
}
/* Check max */
- if (DecimationSetting > 9) {
+ if (decimationRate > 9) {
REPORT_ERROR(
"Attempted to write an invalid decimation value. Capping at 9");
- DecimationSetting = 9;
+ decimationRate = 9;
}
/* Shift decimation setting to correct position and select internal sync */
- writeValue = (DecimationSetting << 8) | 0x1;
+ writeValue = (decimationRate << 8) | 0x1;
/* Apply to IMU */
WriteRegister(SMPL_PRD, writeValue);
diff --git a/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp b/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
index 05dac78..1c5c7a1 100644
--- a/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
+++ b/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
@@ -63,14 +63,35 @@
* Constructor.
*/
ADIS16470_IMU::ADIS16470_IMU()
- : ADIS16470_IMU(kZ, SPI::Port::kOnboardCS0, CalibrationTime::_4s) {}
+ : ADIS16470_IMU(kZ, kY, kX, SPI::Port::kOnboardCS0, CalibrationTime::_4s) {}
-ADIS16470_IMU::ADIS16470_IMU(IMUAxis yaw_axis, SPI::Port port,
+ADIS16470_IMU::ADIS16470_IMU(IMUAxis yaw_axis, IMUAxis pitch_axis,
+ IMUAxis roll_axis)
+ : ADIS16470_IMU(yaw_axis, pitch_axis, roll_axis, SPI::Port::kOnboardCS0,
+ CalibrationTime::_4s) {}
+
+ADIS16470_IMU::ADIS16470_IMU(IMUAxis yaw_axis, IMUAxis pitch_axis,
+ IMUAxis roll_axis, SPI::Port port,
CalibrationTime cal_time)
: m_yaw_axis(yaw_axis),
+ m_pitch_axis(pitch_axis),
+ m_roll_axis(roll_axis),
m_spi_port(port),
m_calibration_time(static_cast<uint16_t>(cal_time)),
m_simDevice("Gyro:ADIS16470", port) {
+ if (yaw_axis == kYaw || yaw_axis == kPitch || yaw_axis == kRoll ||
+ pitch_axis == kYaw || pitch_axis == kPitch || pitch_axis == kRoll ||
+ roll_axis == kYaw || roll_axis == kPitch || roll_axis == kRoll) {
+ REPORT_ERROR(
+ "ADIS16470 constructor only allows IMUAxis.kX, IMUAxis.kY or "
+ "IMUAxis.kZ as arguments.");
+ REPORT_ERROR(
+ "Constructing ADIS with default axes. (IMUAxis.kZ is defined as Yaw)");
+ yaw_axis = kZ;
+ pitch_axis = kY;
+ roll_axis = kX;
+ }
+
if (m_simDevice) {
m_connected =
m_simDevice.CreateBoolean("connected", hal::SimDevice::kInput, true);
@@ -266,17 +287,8 @@
m_auto_configured = true;
}
// Do we need to change auto SPI settings?
- switch (m_yaw_axis) {
- case kX:
- m_spi->SetAutoTransmitData(m_autospi_x_packet, 2);
- break;
- case kY:
- m_spi->SetAutoTransmitData(m_autospi_y_packet, 2);
- break;
- default:
- m_spi->SetAutoTransmitData(m_autospi_z_packet, 2);
- break;
- }
+ m_spi->SetAutoTransmitData(m_autospi_allangle_packet, 2);
+
// Configure auto stall time
m_spi->ConfigureAutoStall(HAL_SPI_kOnboardCS0, 5, 1000, 1);
// Kick off DMA SPI (Note: Device configuration impossible after SPI DMA is
@@ -336,31 +348,22 @@
return 0;
}
-/**
- * @brief Switches the active SPI port to standard SPI mode, writes a new value
- *to the DECIMATE register in the IMU, and re-enables auto SPI.
- *
- * @param reg Decimation value to be set.
- *
- * @return An int indicating the success or failure of writing the new DECIMATE
- *setting and returning to auto SPI mode. 0 = Success, 1 = No Change, 2 =
- *Failure
- *
- * This function enters standard SPI mode, writes a new DECIMATE setting to the
- *IMU, adjusts the sample scale factor, and re-enters auto SPI mode.
- **/
-int ADIS16470_IMU::ConfigDecRate(uint16_t reg) {
- uint16_t m_reg = reg;
+int ADIS16470_IMU::ConfigDecRate(uint16_t decimationRate) {
+ // Switches the active SPI port to standard SPI mode, writes a new value to
+ // the DECIMATE register in the IMU, and re-enables auto SPI.
+ //
+ // This function enters standard SPI mode, writes a new DECIMATE setting to
+ // the IMU, adjusts the sample scale factor, and re-enters auto SPI mode.
if (!SwitchToStandardSPI()) {
REPORT_ERROR("Failed to configure/reconfigure standard SPI.");
return 2;
}
- if (m_reg > 1999) {
+ if (decimationRate > 1999) {
REPORT_ERROR("Attempted to write an invalid decimation value.");
- m_reg = 1999;
+ decimationRate = 1999;
}
- m_scaled_sample_rate = (((m_reg + 1.0) / 2000.0) * 1000000.0);
- WriteRegister(DEC_RATE, m_reg);
+ m_scaled_sample_rate = (((decimationRate + 1.0) / 2000.0) * 1000000.0);
+ WriteRegister(DEC_RATE, decimationRate);
if (!SwitchToAutoSPI()) {
REPORT_ERROR("Failed to configure/reconfigure auto SPI.");
return 2;
@@ -445,7 +448,9 @@
**/
void ADIS16470_IMU::Reset() {
std::scoped_lock sync(m_mutex);
- m_integ_angle = 0.0;
+ m_integ_angle_x = 0.0;
+ m_integ_angle_y = 0.0;
+ m_integ_angle_z = 0.0;
}
void ADIS16470_IMU::Close() {
@@ -502,7 +507,7 @@
**/
void ADIS16470_IMU::Acquire() {
// Set data packet length
- const int dataset_len = 19; // 18 data points + timestamp
+ const int dataset_len = 27; // 26 data points + timestamp
/* Fixed buffer size */
const int BUFFER_SIZE = 4000;
@@ -513,7 +518,9 @@
int data_remainder = 0;
int data_to_read = 0;
uint32_t previous_timestamp = 0;
- double delta_angle = 0.0;
+ double delta_angle_x = 0.0;
+ double delta_angle_y = 0.0;
+ double delta_angle_z = 0.0;
double gyro_rate_x = 0.0;
double gyro_rate_y = 0.0;
double gyro_rate_z = 0.0;
@@ -562,14 +569,22 @@
m_dt = (buffer[i] - previous_timestamp) / 1000000.0;
/* Get delta angle value for selected yaw axis and scale by the elapsed
* time (based on timestamp) */
- delta_angle = (ToInt(&buffer[i + 3]) * delta_angle_sf) /
- (m_scaled_sample_rate / (buffer[i] - previous_timestamp));
- gyro_rate_x = (BuffToShort(&buffer[i + 7]) / 10.0);
- gyro_rate_y = (BuffToShort(&buffer[i + 9]) / 10.0);
- gyro_rate_z = (BuffToShort(&buffer[i + 11]) / 10.0);
- accel_x = (BuffToShort(&buffer[i + 13]) / 800.0);
- accel_y = (BuffToShort(&buffer[i + 15]) / 800.0);
- accel_z = (BuffToShort(&buffer[i + 17]) / 800.0);
+ delta_angle_x =
+ (ToInt(&buffer[i + 3]) * delta_angle_sf) /
+ (m_scaled_sample_rate / (buffer[i] - previous_timestamp));
+ delta_angle_y =
+ (ToInt(&buffer[i + 7]) * delta_angle_sf) /
+ (m_scaled_sample_rate / (buffer[i] - previous_timestamp));
+ delta_angle_z =
+ (ToInt(&buffer[i + 11]) * delta_angle_sf) /
+ (m_scaled_sample_rate / (buffer[i] - previous_timestamp));
+
+ gyro_rate_x = (BuffToShort(&buffer[i + 15]) / 10.0);
+ gyro_rate_y = (BuffToShort(&buffer[i + 17]) / 10.0);
+ gyro_rate_z = (BuffToShort(&buffer[i + 19]) / 10.0);
+ accel_x = (BuffToShort(&buffer[i + 21]) / 800.0);
+ accel_y = (BuffToShort(&buffer[i + 23]) / 800.0);
+ accel_z = (BuffToShort(&buffer[i + 25]) / 800.0);
// Convert scaled sensor data to SI units
gyro_rate_x_si = gyro_rate_x * deg_to_rad;
@@ -611,9 +626,13 @@
if (m_first_run) {
/* Don't accumulate first run. previous_timestamp will be "very" old
* and the integration will end up way off */
- m_integ_angle = 0.0;
+ m_integ_angle_x = 0.0;
+ m_integ_angle_y = 0.0;
+ m_integ_angle_z = 0.0;
} else {
- m_integ_angle += delta_angle;
+ m_integ_angle_x += delta_angle_x;
+ m_integ_angle_y += delta_angle_y;
+ m_integ_angle_z += delta_angle_z;
}
m_gyro_rate_x = gyro_rate_x;
m_gyro_rate_y = gyro_rate_y;
@@ -634,7 +653,9 @@
data_remainder = 0;
data_to_read = 0;
previous_timestamp = 0.0;
- delta_angle = 0.0;
+ delta_angle_x = 0.0;
+ delta_angle_y = 0.0;
+ delta_angle_z = 0.0;
gyro_rate_x = 0.0;
gyro_rate_y = 0.0;
gyro_rate_z = 0.0;
@@ -696,50 +717,143 @@
return compAngle;
}
-units::degree_t ADIS16470_IMU::GetAngle() const {
- switch (m_yaw_axis) {
+void ADIS16470_IMU::SetGyroAngle(IMUAxis axis, units::degree_t angle) {
+ switch (axis) {
+ case kYaw:
+ axis = m_yaw_axis;
+ break;
+ case kPitch:
+ axis = m_pitch_axis;
+ break;
+ case kRoll:
+ axis = m_roll_axis;
+ break;
+ default:
+ break;
+ }
+
+ switch (axis) {
+ case kX:
+ SetGyroAngleX(angle);
+ break;
+ case kY:
+ SetGyroAngleY(angle);
+ break;
+ case kZ:
+ SetGyroAngleZ(angle);
+ break;
+ default:
+ break;
+ }
+}
+
+void ADIS16470_IMU::SetGyroAngleX(units::degree_t angle) {
+ std::scoped_lock sync(m_mutex);
+ m_integ_angle_x = angle.value();
+}
+
+void ADIS16470_IMU::SetGyroAngleY(units::degree_t angle) {
+ std::scoped_lock sync(m_mutex);
+ m_integ_angle_y = angle.value();
+}
+
+void ADIS16470_IMU::SetGyroAngleZ(units::degree_t angle) {
+ std::scoped_lock sync(m_mutex);
+ m_integ_angle_z = angle.value();
+}
+
+units::degree_t ADIS16470_IMU::GetAngle(IMUAxis axis) const {
+ switch (axis) {
+ case kYaw:
+ axis = m_yaw_axis;
+ break;
+ case kPitch:
+ axis = m_pitch_axis;
+ break;
+ case kRoll:
+ axis = m_roll_axis;
+ break;
+ default:
+ break;
+ }
+
+ switch (axis) {
case kX:
if (m_simGyroAngleX) {
return units::degree_t{m_simGyroAngleX.Get()};
}
- break;
+ {
+ std::scoped_lock sync(m_mutex);
+ return units::degree_t{m_integ_angle_x};
+ }
case kY:
if (m_simGyroAngleY) {
return units::degree_t{m_simGyroAngleY.Get()};
}
- break;
+ {
+ std::scoped_lock sync(m_mutex);
+ return units::degree_t{m_integ_angle_y};
+ }
case kZ:
if (m_simGyroAngleZ) {
return units::degree_t{m_simGyroAngleZ.Get()};
}
+ {
+ std::scoped_lock sync(m_mutex);
+ return units::degree_t{m_integ_angle_z};
+ }
+ default:
break;
}
- std::scoped_lock sync(m_mutex);
- return units::degree_t{m_integ_angle};
+
+ return units::degree_t{0.0};
}
-units::degrees_per_second_t ADIS16470_IMU::GetRate() const {
- if (m_yaw_axis == kX) {
- if (m_simGyroRateX) {
- return units::degrees_per_second_t{m_simGyroRateX.Get()};
- }
- std::scoped_lock sync(m_mutex);
- return units::degrees_per_second_t{m_gyro_rate_x};
- } else if (m_yaw_axis == kY) {
- if (m_simGyroRateY) {
- return units::degrees_per_second_t{m_simGyroRateY.Get()};
- }
- std::scoped_lock sync(m_mutex);
- return units::degrees_per_second_t{m_gyro_rate_y};
- } else if (m_yaw_axis == kZ) {
- if (m_simGyroRateZ) {
- return units::degrees_per_second_t{m_simGyroRateZ.Get()};
- }
- std::scoped_lock sync(m_mutex);
- return units::degrees_per_second_t{m_gyro_rate_z};
- } else {
- return 0_deg_per_s;
+units::degrees_per_second_t ADIS16470_IMU::GetRate(IMUAxis axis) const {
+ switch (axis) {
+ case kYaw:
+ axis = m_yaw_axis;
+ break;
+ case kPitch:
+ axis = m_pitch_axis;
+ break;
+ case kRoll:
+ axis = m_roll_axis;
+ break;
+ default:
+ break;
}
+
+ switch (axis) {
+ case kX:
+ if (m_simGyroRateX) {
+ return units::degrees_per_second_t{m_simGyroRateX.Get()};
+ }
+ {
+ std::scoped_lock sync(m_mutex);
+ return units::degrees_per_second_t{m_gyro_rate_x};
+ }
+ case kY:
+ if (m_simGyroRateY) {
+ return units::degrees_per_second_t{m_simGyroRateY.Get()};
+ }
+ {
+ std::scoped_lock sync(m_mutex);
+ return units::degrees_per_second_t{m_gyro_rate_y};
+ }
+ case kZ:
+ if (m_simGyroRateZ) {
+ return units::degrees_per_second_t{m_simGyroRateZ.Get()};
+ }
+ {
+ std::scoped_lock sync(m_mutex);
+ return units::degrees_per_second_t{m_gyro_rate_z};
+ }
+ default:
+ break;
+ }
+
+ return 0_deg_per_s;
}
units::meters_per_second_squared_t ADIS16470_IMU::GetAccelX() const {
@@ -790,20 +904,12 @@
return m_yaw_axis;
}
-int ADIS16470_IMU::SetYawAxis(IMUAxis yaw_axis) {
- if (m_yaw_axis == yaw_axis) {
- return 1;
- }
- if (!SwitchToStandardSPI()) {
- REPORT_ERROR("Failed to configure/reconfigure standard SPI.");
- return 2;
- }
- m_yaw_axis = yaw_axis;
- if (!SwitchToAutoSPI()) {
- REPORT_ERROR("Failed to configure/reconfigure auto SPI.");
- return 2;
- }
- return 0;
+ADIS16470_IMU::IMUAxis ADIS16470_IMU::GetPitchAxis() const {
+ return m_pitch_axis;
+}
+
+ADIS16470_IMU::IMUAxis ADIS16470_IMU::GetRollAxis() const {
+ return m_roll_axis;
}
int ADIS16470_IMU::GetPort() const {
@@ -819,5 +925,5 @@
void ADIS16470_IMU::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("ADIS16470 IMU");
builder.AddDoubleProperty(
- "Yaw Angle", [=, this] { return GetAngle().value(); }, nullptr);
+ "Yaw Angle", [=, this] { return GetAngle(kYaw).value(); }, nullptr);
}
diff --git a/wpilibc/src/main/native/cpp/DMA.cpp b/wpilibc/src/main/native/cpp/DMA.cpp
index ce6c532..da45aa3 100644
--- a/wpilibc/src/main/native/cpp/DMA.cpp
+++ b/wpilibc/src/main/native/cpp/DMA.cpp
@@ -40,9 +40,9 @@
FRC_CheckErrorStatus(status, "SetPause");
}
-void DMA::SetTimedTrigger(units::second_t seconds) {
+void DMA::SetTimedTrigger(units::second_t period) {
int32_t status = 0;
- HAL_SetDMATimedTrigger(dmaHandle, seconds.value(), &status);
+ HAL_SetDMATimedTrigger(dmaHandle, period.value(), &status);
FRC_CheckErrorStatus(status, "SetTimedTrigger");
}
diff --git a/wpilibc/src/main/native/cpp/DataLogManager.cpp b/wpilibc/src/main/native/cpp/DataLogManager.cpp
index afe9330..09ac077 100644
--- a/wpilibc/src/main/native/cpp/DataLogManager.cpp
+++ b/wpilibc/src/main/native/cpp/DataLogManager.cpp
@@ -64,20 +64,26 @@
}
#ifdef __FRC_ROBORIO__
// prefer a mounted USB drive if one is accessible
- constexpr std::string_view usbDir{"/u"};
std::error_code ec;
- auto s = fs::status(usbDir, ec);
+ auto s = fs::status("/u", ec);
if (!ec && fs::is_directory(s) &&
(s.permissions() & fs::perms::others_write) != fs::perms::none) {
- return std::string{usbDir};
+ fs::create_directory("/u/logs", ec);
+ return "/u/logs";
}
if (RobotBase::GetRuntimeType() == kRoboRIO) {
FRC_ReportError(warn::Warning,
"DataLogManager: Logging to RoboRIO 1 internal storage is "
"not recommended! Plug in a FAT32 formatted flash drive!");
}
+ fs::create_directory("/home/lvuser/logs", ec);
+ return "/home/lvuser/logs";
+#else
+ std::string logDir = filesystem::GetOperatingDirectory() + "/logs";
+ std::error_code ec;
+ fs::create_directory(logDir, ec);
+ return logDir;
#endif
- return filesystem::GetOperatingDirectory();
}
static std::string MakeLogFilename(std::string_view filenameOverride) {
@@ -328,7 +334,7 @@
void DataLogManager::Stop() {
auto& inst = GetInstance();
inst.owner.GetThread()->m_log.Stop();
- inst.owner.Stop();
+ inst.owner.Join();
}
void DataLogManager::Log(std::string_view message) {
diff --git a/wpilibc/src/main/native/cpp/I2C.cpp b/wpilibc/src/main/native/cpp/I2C.cpp
index da26c0c..232a47f 100644
--- a/wpilibc/src/main/native/cpp/I2C.cpp
+++ b/wpilibc/src/main/native/cpp/I2C.cpp
@@ -4,6 +4,7 @@
#include "frc/I2C.h"
+#include <algorithm>
#include <utility>
#include <hal/FRCUsageReporting.h>
@@ -96,7 +97,7 @@
uint8_t deviceData[4];
for (int i = 0, curRegisterAddress = registerAddress; i < count;
i += 4, curRegisterAddress += 4) {
- int toRead = count - i < 4 ? count - i : 4;
+ int toRead = std::min(count - i, 4);
// Read the chunk of data. Return false if the sensor does not respond.
if (Read(curRegisterAddress, toRead, deviceData)) {
return false;
diff --git a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
index ee941b6..3669bce 100644
--- a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
+++ b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
@@ -8,6 +8,7 @@
#include <fmt/format.h>
#include <hal/DriverStation.h>
+#include <hal/FRCUsageReporting.h>
#include <networktables/NetworkTableInstance.h>
#include "frc/DSControlWord.h"
@@ -97,10 +98,16 @@
}
void IterativeRobotBase::EnableLiveWindowInTest(bool testLW) {
+ static bool hasReported;
if (IsTestEnabled()) {
throw FRC_MakeError(err::IncompatibleMode,
"Can't configure test mode while in test mode!");
}
+ if (!hasReported && testLW) {
+ HAL_Report(HALUsageReporting::kResourceType_SmartDashboard,
+ HALUsageReporting::kSmartDashboard_LiveWindow);
+ hasReported = true;
+ }
m_lwEnabledInTest = testLW;
}
diff --git a/wpilibc/src/main/native/cpp/PS4Controller.cpp b/wpilibc/src/main/native/cpp/PS4Controller.cpp
index 5ac3420..e59e18c 100644
--- a/wpilibc/src/main/native/cpp/PS4Controller.cpp
+++ b/wpilibc/src/main/native/cpp/PS4Controller.cpp
@@ -11,8 +11,7 @@
using namespace frc;
PS4Controller::PS4Controller(int port) : GenericHID(port) {
- // re-enable when PS4Controller is added to Usage Reporting
- // HAL_Report(HALUsageReporting::kResourceType_PS4Controller, port + 1);
+ HAL_Report(HALUsageReporting::kResourceType_PS4Controller, port + 1);
}
double PS4Controller::GetLeftX() const {
diff --git a/wpilibc/src/main/native/cpp/PneumaticHub.cpp b/wpilibc/src/main/native/cpp/PneumaticHub.cpp
index bcbbd55..9101473 100644
--- a/wpilibc/src/main/native/cpp/PneumaticHub.cpp
+++ b/wpilibc/src/main/native/cpp/PneumaticHub.cpp
@@ -23,15 +23,15 @@
/** Converts volts to PSI per the REV Analog Pressure Sensor datasheet. */
units::pounds_per_square_inch_t VoltsToPSI(units::volt_t sensorVoltage,
units::volt_t supplyVoltage) {
- auto pressure = 250 * (sensorVoltage.value() / supplyVoltage.value()) - 25;
- return units::pounds_per_square_inch_t{pressure};
+ return units::pounds_per_square_inch_t{
+ 250 * (sensorVoltage.value() / supplyVoltage.value()) - 25};
}
/** Converts PSI to volts per the REV Analog Pressure Sensor datasheet. */
units::volt_t PSIToVolts(units::pounds_per_square_inch_t pressure,
units::volt_t supplyVoltage) {
- auto voltage = supplyVoltage.value() * (0.004 * pressure.value() + 0.1);
- return units::volt_t{voltage};
+ return units::volt_t{supplyVoltage.value() *
+ (0.004 * pressure.value() + 0.1)};
}
wpi::mutex PneumaticHub::m_handleLock;
@@ -339,6 +339,46 @@
return stickyFaults;
}
+bool PneumaticHub::Faults::GetChannelFault(int channel) const {
+ switch (channel) {
+ case 0:
+ return Channel0Fault != 0;
+ case 1:
+ return Channel1Fault != 0;
+ case 2:
+ return Channel2Fault != 0;
+ case 3:
+ return Channel3Fault != 0;
+ case 4:
+ return Channel4Fault != 0;
+ case 5:
+ return Channel5Fault != 0;
+ case 6:
+ return Channel6Fault != 0;
+ case 7:
+ return Channel7Fault != 0;
+ case 8:
+ return Channel8Fault != 0;
+ case 9:
+ return Channel9Fault != 0;
+ case 10:
+ return Channel10Fault != 0;
+ case 11:
+ return Channel11Fault != 0;
+ case 12:
+ return Channel12Fault != 0;
+ case 13:
+ return Channel13Fault != 0;
+ case 14:
+ return Channel14Fault != 0;
+ case 15:
+ return Channel15Fault != 0;
+ default:
+ throw FRC_MakeError(err::ChannelIndexOutOfRange,
+ "Pneumatics fault channel out of bounds!");
+ }
+}
+
void PneumaticHub::ClearStickyFaults() {
int32_t status = 0;
HAL_ClearREVPHStickyFaults(m_handle, &status);
diff --git a/wpilibc/src/main/native/cpp/PowerDistribution.cpp b/wpilibc/src/main/native/cpp/PowerDistribution.cpp
index ba4cb38..d645178 100644
--- a/wpilibc/src/main/native/cpp/PowerDistribution.cpp
+++ b/wpilibc/src/main/native/cpp/PowerDistribution.cpp
@@ -172,6 +172,118 @@
return faults;
}
+bool PowerDistribution::Faults::GetBreakerFault(int channel) const {
+ switch (channel) {
+ case 0:
+ return Channel0BreakerFault != 0;
+ case 1:
+ return Channel1BreakerFault != 0;
+ case 2:
+ return Channel2BreakerFault != 0;
+ case 3:
+ return Channel3BreakerFault != 0;
+ case 4:
+ return Channel4BreakerFault != 0;
+ case 5:
+ return Channel5BreakerFault != 0;
+ case 6:
+ return Channel6BreakerFault != 0;
+ case 7:
+ return Channel7BreakerFault != 0;
+ case 8:
+ return Channel8BreakerFault != 0;
+ case 9:
+ return Channel9BreakerFault != 0;
+ case 10:
+ return Channel10BreakerFault != 0;
+ case 11:
+ return Channel11BreakerFault != 0;
+ case 12:
+ return Channel12BreakerFault != 0;
+ case 13:
+ return Channel13BreakerFault != 0;
+ case 14:
+ return Channel14BreakerFault != 0;
+ case 15:
+ return Channel15BreakerFault != 0;
+ case 16:
+ return Channel16BreakerFault != 0;
+ case 17:
+ return Channel17BreakerFault != 0;
+ case 18:
+ return Channel18BreakerFault != 0;
+ case 19:
+ return Channel19BreakerFault != 0;
+ case 20:
+ return Channel20BreakerFault != 0;
+ case 21:
+ return Channel21BreakerFault != 0;
+ case 22:
+ return Channel22BreakerFault != 0;
+ case 23:
+ return Channel23BreakerFault != 0;
+ default:
+ throw FRC_MakeError(err::ChannelIndexOutOfRange,
+ "Power distribution fault channel out of bounds!");
+ }
+}
+
+bool PowerDistribution::StickyFaults::GetBreakerFault(int channel) const {
+ switch (channel) {
+ case 0:
+ return Channel0BreakerFault != 0;
+ case 1:
+ return Channel1BreakerFault != 0;
+ case 2:
+ return Channel2BreakerFault != 0;
+ case 3:
+ return Channel3BreakerFault != 0;
+ case 4:
+ return Channel4BreakerFault != 0;
+ case 5:
+ return Channel5BreakerFault != 0;
+ case 6:
+ return Channel6BreakerFault != 0;
+ case 7:
+ return Channel7BreakerFault != 0;
+ case 8:
+ return Channel8BreakerFault != 0;
+ case 9:
+ return Channel9BreakerFault != 0;
+ case 10:
+ return Channel10BreakerFault != 0;
+ case 11:
+ return Channel11BreakerFault != 0;
+ case 12:
+ return Channel12BreakerFault != 0;
+ case 13:
+ return Channel13BreakerFault != 0;
+ case 14:
+ return Channel14BreakerFault != 0;
+ case 15:
+ return Channel15BreakerFault != 0;
+ case 16:
+ return Channel16BreakerFault != 0;
+ case 17:
+ return Channel17BreakerFault != 0;
+ case 18:
+ return Channel18BreakerFault != 0;
+ case 19:
+ return Channel19BreakerFault != 0;
+ case 20:
+ return Channel20BreakerFault != 0;
+ case 21:
+ return Channel21BreakerFault != 0;
+ case 22:
+ return Channel22BreakerFault != 0;
+ case 23:
+ return Channel23BreakerFault != 0;
+ default:
+ throw FRC_MakeError(err::ChannelIndexOutOfRange,
+ "Power distribution fault channel out of bounds!");
+ }
+}
+
PowerDistribution::StickyFaults PowerDistribution::GetStickyFaults() const {
int32_t status = 0;
HAL_PowerDistributionStickyFaults halStickyFaults;
diff --git a/wpilibc/src/main/native/cpp/RobotController.cpp b/wpilibc/src/main/native/cpp/RobotController.cpp
index 8b2b496..2414ed7 100644
--- a/wpilibc/src/main/native/cpp/RobotController.cpp
+++ b/wpilibc/src/main/native/cpp/RobotController.cpp
@@ -8,6 +8,7 @@
#include <hal/CAN.h>
#include <hal/HALBase.h>
+#include <hal/LEDs.h>
#include <hal/Power.h>
#include "frc/Errors.h"
@@ -230,6 +231,30 @@
return units::celsius_t{retVal};
}
+static_assert(RadioLEDState::kOff ==
+ static_cast<RadioLEDState>(HAL_RadioLEDState::HAL_RadioLED_kOff));
+static_assert(
+ RadioLEDState::kGreen ==
+ static_cast<RadioLEDState>(HAL_RadioLEDState::HAL_RadioLED_kGreen));
+static_assert(RadioLEDState::kRed ==
+ static_cast<RadioLEDState>(HAL_RadioLEDState::HAL_RadioLED_kRed));
+static_assert(
+ RadioLEDState::kOrange ==
+ static_cast<RadioLEDState>(HAL_RadioLEDState::HAL_RadioLED_kOrange));
+
+void RobotController::SetRadioLEDState(RadioLEDState state) {
+ int32_t status = 0;
+ HAL_SetRadioLEDState(static_cast<HAL_RadioLEDState>(state), &status);
+ FRC_CheckErrorStatus(status, "SetRadioLEDState");
+}
+
+RadioLEDState RobotController::GetRadioLEDState() {
+ int32_t status = 0;
+ auto retVal = static_cast<RadioLEDState>(HAL_GetRadioLEDState(&status));
+ FRC_CheckErrorStatus(status, "GetRadioLEDState");
+ return retVal;
+}
+
CANStatus RobotController::GetCANStatus() {
int32_t status = 0;
float percentBusUtilization = 0;
diff --git a/wpilibc/src/main/native/cpp/StadiaController.cpp b/wpilibc/src/main/native/cpp/StadiaController.cpp
new file mode 100644
index 0000000..4f8d666
--- /dev/null
+++ b/wpilibc/src/main/native/cpp/StadiaController.cpp
@@ -0,0 +1,272 @@
+// 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/StadiaController.h"
+
+#include <hal/FRCUsageReporting.h>
+
+#include "frc/event/BooleanEvent.h"
+
+using namespace frc;
+
+StadiaController::StadiaController(int port) : GenericHID(port) {
+ // re-enable when StadiaController is added to Usage Reporting
+ // HAL_Report(HALUsageReporting::kResourceType_StadiaController, port + 1);
+}
+
+double StadiaController::GetLeftX() const {
+ return GetRawAxis(Axis::kLeftX);
+}
+
+double StadiaController::GetRightX() const {
+ return GetRawAxis(Axis::kRightX);
+}
+
+double StadiaController::GetLeftY() const {
+ return GetRawAxis(Axis::kLeftY);
+}
+
+double StadiaController::GetRightY() const {
+ return GetRawAxis(Axis::kRightY);
+}
+
+bool StadiaController::GetLeftBumper() const {
+ return GetRawButton(Button::kLeftBumper);
+}
+
+bool StadiaController::GetRightBumper() const {
+ return GetRawButton(Button::kRightBumper);
+}
+
+bool StadiaController::GetLeftBumperPressed() {
+ return GetRawButtonPressed(Button::kLeftBumper);
+}
+
+bool StadiaController::GetRightBumperPressed() {
+ return GetRawButtonPressed(Button::kRightBumper);
+}
+
+bool StadiaController::GetLeftBumperReleased() {
+ return GetRawButtonReleased(Button::kLeftBumper);
+}
+
+bool StadiaController::GetRightBumperReleased() {
+ return GetRawButtonReleased(Button::kRightBumper);
+}
+
+BooleanEvent StadiaController::LeftBumper(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetLeftBumper(); });
+}
+
+BooleanEvent StadiaController::RightBumper(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetRightBumper(); });
+}
+
+bool StadiaController::GetLeftStickButton() const {
+ return GetRawButton(Button::kLeftStick);
+}
+
+bool StadiaController::GetRightStickButton() const {
+ return GetRawButton(Button::kRightStick);
+}
+
+bool StadiaController::GetLeftStickButtonPressed() {
+ return GetRawButtonPressed(Button::kLeftStick);
+}
+
+bool StadiaController::GetRightStickButtonPressed() {
+ return GetRawButtonPressed(Button::kRightStick);
+}
+
+bool StadiaController::GetLeftStickButtonReleased() {
+ return GetRawButtonReleased(Button::kLeftStick);
+}
+
+bool StadiaController::GetRightStickButtonReleased() {
+ return GetRawButtonReleased(Button::kRightStick);
+}
+
+BooleanEvent StadiaController::LeftStick(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetLeftStickButton(); });
+}
+
+BooleanEvent StadiaController::RightStick(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetRightStickButton(); });
+}
+
+bool StadiaController::GetAButton() const {
+ return GetRawButton(Button::kA);
+}
+
+bool StadiaController::GetAButtonPressed() {
+ return GetRawButtonPressed(Button::kA);
+}
+
+bool StadiaController::GetAButtonReleased() {
+ return GetRawButtonReleased(Button::kA);
+}
+
+BooleanEvent StadiaController::A(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetAButton(); });
+}
+
+bool StadiaController::GetBButton() const {
+ return GetRawButton(Button::kB);
+}
+
+bool StadiaController::GetBButtonPressed() {
+ return GetRawButtonPressed(Button::kB);
+}
+
+bool StadiaController::GetBButtonReleased() {
+ return GetRawButtonReleased(Button::kB);
+}
+
+BooleanEvent StadiaController::B(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetBButton(); });
+}
+
+bool StadiaController::GetXButton() const {
+ return GetRawButton(Button::kX);
+}
+
+bool StadiaController::GetXButtonPressed() {
+ return GetRawButtonPressed(Button::kX);
+}
+
+bool StadiaController::GetXButtonReleased() {
+ return GetRawButtonReleased(Button::kX);
+}
+
+BooleanEvent StadiaController::X(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetXButton(); });
+}
+
+bool StadiaController::GetYButton() const {
+ return GetRawButton(Button::kY);
+}
+
+bool StadiaController::GetYButtonPressed() {
+ return GetRawButtonPressed(Button::kY);
+}
+
+bool StadiaController::GetYButtonReleased() {
+ return GetRawButtonReleased(Button::kY);
+}
+
+BooleanEvent StadiaController::Y(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetYButton(); });
+}
+
+bool StadiaController::GetEllipsesButton() const {
+ return GetRawButton(Button::kEllipses);
+}
+
+bool StadiaController::GetEllipsesButtonPressed() {
+ return GetRawButtonPressed(Button::kEllipses);
+}
+
+bool StadiaController::GetEllipsesButtonReleased() {
+ return GetRawButtonReleased(Button::kEllipses);
+}
+
+BooleanEvent StadiaController::Ellipses(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetEllipsesButton(); });
+}
+
+bool StadiaController::GetHamburgerButton() const {
+ return GetRawButton(Button::kHamburger);
+}
+
+bool StadiaController::GetHamburgerButtonPressed() {
+ return GetRawButtonPressed(Button::kHamburger);
+}
+
+bool StadiaController::GetHamburgerButtonReleased() {
+ return GetRawButtonReleased(Button::kHamburger);
+}
+
+BooleanEvent StadiaController::Hamburger(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetHamburgerButton(); });
+}
+
+bool StadiaController::GetStadiaButton() const {
+ return GetRawButton(Button::kStadia);
+}
+
+bool StadiaController::GetStadiaButtonPressed() {
+ return GetRawButtonPressed(Button::kStadia);
+}
+
+bool StadiaController::GetStadiaButtonReleased() {
+ return GetRawButtonReleased(Button::kStadia);
+}
+
+BooleanEvent StadiaController::Stadia(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetStadiaButton(); });
+}
+
+bool StadiaController::GetGoogleButton() const {
+ return GetRawButton(Button::kGoogle);
+}
+
+bool StadiaController::GetGoogleButtonPressed() {
+ return GetRawButtonPressed(Button::kGoogle);
+}
+
+bool StadiaController::GetGoogleButtonReleased() {
+ return GetRawButtonReleased(Button::kGoogle);
+}
+
+BooleanEvent StadiaController::Google(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetGoogleButton(); });
+}
+
+bool StadiaController::GetFrameButton() const {
+ return GetRawButton(Button::kFrame);
+}
+
+bool StadiaController::GetFrameButtonPressed() {
+ return GetRawButtonPressed(Button::kFrame);
+}
+
+bool StadiaController::GetFrameButtonReleased() {
+ return GetRawButtonReleased(Button::kFrame);
+}
+
+BooleanEvent StadiaController::Frame(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetFrameButton(); });
+}
+
+bool StadiaController::GetLeftTriggerButton() const {
+ return GetRawButton(Button::kLeftTrigger);
+}
+
+bool StadiaController::GetLeftTriggerButtonPressed() {
+ return GetRawButtonPressed(Button::kLeftTrigger);
+}
+
+bool StadiaController::GetLeftTriggerButtonReleased() {
+ return GetRawButtonReleased(Button::kLeftTrigger);
+}
+
+BooleanEvent StadiaController::LeftTrigger(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetLeftTriggerButton(); });
+}
+
+bool StadiaController::GetRightTriggerButton() const {
+ return GetRawButton(Button::kRightTrigger);
+}
+
+bool StadiaController::GetRightTriggerButtonPressed() {
+ return GetRawButtonPressed(Button::kRightTrigger);
+}
+
+bool StadiaController::GetRightTriggerButtonReleased() {
+ return GetRawButtonReleased(Button::kRightTrigger);
+}
+
+BooleanEvent StadiaController::RightTrigger(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetRightTriggerButton(); });
+}
diff --git a/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp b/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
index 8cce62e..e3a0a8c 100644
--- a/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
+++ b/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
@@ -16,11 +16,21 @@
using namespace frc;
+WPI_IGNORE_DEPRECATED
+
DifferentialDrive::DifferentialDrive(MotorController& leftMotor,
MotorController& rightMotor)
- : m_leftMotor(&leftMotor), m_rightMotor(&rightMotor) {
- wpi::SendableRegistry::AddChild(this, m_leftMotor);
- wpi::SendableRegistry::AddChild(this, m_rightMotor);
+ : DifferentialDrive{[&](double output) { leftMotor.Set(output); },
+ [&](double output) { rightMotor.Set(output); }} {
+ wpi::SendableRegistry::AddChild(this, &leftMotor);
+ wpi::SendableRegistry::AddChild(this, &rightMotor);
+}
+
+WPI_UNIGNORE_DEPRECATED
+
+DifferentialDrive::DifferentialDrive(std::function<void(double)> leftMotor,
+ std::function<void(double)> rightMotor)
+ : m_leftMotor{std::move(leftMotor)}, m_rightMotor{std::move(rightMotor)} {
static int instances = 0;
++instances;
wpi::SendableRegistry::AddLW(this, "DifferentialDrive", instances);
@@ -40,8 +50,11 @@
auto [left, right] = ArcadeDriveIK(xSpeed, zRotation, squareInputs);
- m_leftMotor->Set(left);
- m_rightMotor->Set(right);
+ m_leftOutput = left * m_maxOutput;
+ m_rightOutput = right * m_maxOutput;
+
+ m_leftMotor(m_leftOutput);
+ m_rightMotor(m_rightOutput);
Feed();
}
@@ -60,8 +73,11 @@
auto [left, right] = CurvatureDriveIK(xSpeed, zRotation, allowTurnInPlace);
- m_leftMotor->Set(left * m_maxOutput);
- m_rightMotor->Set(right * m_maxOutput);
+ m_leftOutput = left * m_maxOutput;
+ m_rightOutput = right * m_maxOutput;
+
+ m_leftMotor(m_leftOutput);
+ m_rightMotor(m_rightOutput);
Feed();
}
@@ -80,8 +96,11 @@
auto [left, right] = TankDriveIK(leftSpeed, rightSpeed, squareInputs);
- m_leftMotor->Set(left * m_maxOutput);
- m_rightMotor->Set(right * m_maxOutput);
+ m_leftOutput = left * m_maxOutput;
+ m_rightOutput = right * m_maxOutput;
+
+ m_leftMotor(m_leftOutput);
+ m_rightMotor(m_rightOutput);
Feed();
}
@@ -157,8 +176,12 @@
}
void DifferentialDrive::StopMotor() {
- m_leftMotor->StopMotor();
- m_rightMotor->StopMotor();
+ m_leftOutput = 0.0;
+ m_rightOutput = 0.0;
+
+ m_leftMotor(0.0);
+ m_rightMotor(0.0);
+
Feed();
}
@@ -171,9 +194,7 @@
builder.SetActuator(true);
builder.SetSafeState([=, this] { StopMotor(); });
builder.AddDoubleProperty(
- "Left Motor Speed", [=, this] { return m_leftMotor->Get(); },
- [=, this](double value) { m_leftMotor->Set(value); });
+ "Left Motor Speed", [&] { return m_leftOutput; }, m_leftMotor);
builder.AddDoubleProperty(
- "Right Motor Speed", [=, this] { return m_rightMotor->Get(); },
- [=, this](double value) { m_rightMotor->Set(value); });
+ "Right Motor Speed", [&] { return m_rightOutput; }, m_rightMotor);
}
diff --git a/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp b/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
index 2bf6a3f..aeec27d 100644
--- a/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
+++ b/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
@@ -16,18 +16,32 @@
using namespace frc;
+WPI_IGNORE_DEPRECATED
+
MecanumDrive::MecanumDrive(MotorController& frontLeftMotor,
MotorController& rearLeftMotor,
MotorController& frontRightMotor,
MotorController& rearRightMotor)
- : m_frontLeftMotor(&frontLeftMotor),
- m_rearLeftMotor(&rearLeftMotor),
- m_frontRightMotor(&frontRightMotor),
- m_rearRightMotor(&rearRightMotor) {
- wpi::SendableRegistry::AddChild(this, m_frontLeftMotor);
- wpi::SendableRegistry::AddChild(this, m_rearLeftMotor);
- wpi::SendableRegistry::AddChild(this, m_frontRightMotor);
- wpi::SendableRegistry::AddChild(this, m_rearRightMotor);
+ : MecanumDrive{[&](double output) { frontLeftMotor.Set(output); },
+ [&](double output) { rearLeftMotor.Set(output); },
+ [&](double output) { frontRightMotor.Set(output); },
+ [&](double output) { rearRightMotor.Set(output); }} {
+ wpi::SendableRegistry::AddChild(this, &frontLeftMotor);
+ wpi::SendableRegistry::AddChild(this, &rearLeftMotor);
+ wpi::SendableRegistry::AddChild(this, &frontRightMotor);
+ wpi::SendableRegistry::AddChild(this, &rearRightMotor);
+}
+
+WPI_UNIGNORE_DEPRECATED
+
+MecanumDrive::MecanumDrive(std::function<void(double)> frontLeftMotor,
+ std::function<void(double)> rearLeftMotor,
+ std::function<void(double)> frontRightMotor,
+ std::function<void(double)> rearRightMotor)
+ : m_frontLeftMotor{std::move(frontLeftMotor)},
+ m_rearLeftMotor{std::move(rearLeftMotor)},
+ m_frontRightMotor{std::move(frontRightMotor)},
+ m_rearRightMotor{std::move(rearRightMotor)} {
static int instances = 0;
++instances;
wpi::SendableRegistry::AddLW(this, "MecanumDrive", instances);
@@ -47,10 +61,15 @@
auto [frontLeft, frontRight, rearLeft, rearRight] =
DriveCartesianIK(xSpeed, ySpeed, zRotation, gyroAngle);
- m_frontLeftMotor->Set(frontLeft * m_maxOutput);
- m_frontRightMotor->Set(frontRight * m_maxOutput);
- m_rearLeftMotor->Set(rearLeft * m_maxOutput);
- m_rearRightMotor->Set(rearRight * m_maxOutput);
+ m_frontLeftOutput = frontLeft * m_maxOutput;
+ m_rearLeftOutput = rearLeft * m_maxOutput;
+ m_frontRightOutput = frontRight * m_maxOutput;
+ m_rearRightOutput = rearRight * m_maxOutput;
+
+ m_frontLeftMotor(m_frontLeftOutput);
+ m_frontRightMotor(m_frontRightOutput);
+ m_rearLeftMotor(m_rearLeftOutput);
+ m_rearRightMotor(m_rearRightOutput);
Feed();
}
@@ -68,10 +87,16 @@
}
void MecanumDrive::StopMotor() {
- m_frontLeftMotor->StopMotor();
- m_frontRightMotor->StopMotor();
- m_rearLeftMotor->StopMotor();
- m_rearRightMotor->StopMotor();
+ m_frontLeftOutput = 0.0;
+ m_frontRightOutput = 0.0;
+ m_rearLeftOutput = 0.0;
+ m_rearRightOutput = 0.0;
+
+ m_frontLeftMotor(0.0);
+ m_frontRightMotor(0.0);
+ m_rearLeftMotor(0.0);
+ m_rearRightMotor(0.0);
+
Feed();
}
@@ -108,15 +133,15 @@
builder.SetActuator(true);
builder.SetSafeState([=, this] { StopMotor(); });
builder.AddDoubleProperty(
- "Front Left Motor Speed", [=, this] { return m_frontLeftMotor->Get(); },
- [=, this](double value) { m_frontLeftMotor->Set(value); });
+ "Front Left Motor Speed", [&] { return m_frontLeftOutput; },
+ m_frontLeftMotor);
builder.AddDoubleProperty(
- "Front Right Motor Speed", [=, this] { return m_frontRightMotor->Get(); },
- [=, this](double value) { m_frontRightMotor->Set(value); });
+ "Front Right Motor Speed", [&] { return m_frontRightOutput; },
+ m_frontRightMotor);
builder.AddDoubleProperty(
- "Rear Left Motor Speed", [=, this] { return m_rearLeftMotor->Get(); },
- [=, this](double value) { m_rearLeftMotor->Set(value); });
+ "Rear Left Motor Speed", [&] { return m_rearLeftOutput; },
+ m_rearLeftMotor);
builder.AddDoubleProperty(
- "Rear Right Motor Speed", [=, this] { return m_rearRightMotor->Get(); },
- [=, this](double value) { m_rearRightMotor->Set(value); });
+ "Rear Right Motor Speed", [&] { return m_rearRightOutput; },
+ m_rearRightMotor);
}
diff --git a/wpilibc/src/main/native/cpp/event/EventLoop.cpp b/wpilibc/src/main/native/cpp/event/EventLoop.cpp
index 5af79c9..c85286b 100644
--- a/wpilibc/src/main/native/cpp/event/EventLoop.cpp
+++ b/wpilibc/src/main/native/cpp/event/EventLoop.cpp
@@ -4,20 +4,41 @@
#include "frc/event/EventLoop.h"
+#include "frc/Errors.h"
+
using namespace frc;
+namespace {
+struct RunningSetter {
+ bool& m_running;
+ explicit RunningSetter(bool& running) noexcept : m_running{running} {
+ m_running = true;
+ }
+ ~RunningSetter() noexcept { m_running = false; }
+};
+} // namespace
+
EventLoop::EventLoop() {}
void EventLoop::Bind(wpi::unique_function<void()> action) {
+ if (m_running) {
+ throw FRC_MakeError(err::Error,
+ "Cannot bind EventLoop while it is running");
+ }
m_bindings.emplace_back(std::move(action));
}
void EventLoop::Poll() {
+ RunningSetter runSetter{m_running};
for (wpi::unique_function<void()>& action : m_bindings) {
action();
}
}
void EventLoop::Clear() {
+ if (m_running) {
+ throw FRC_MakeError(err::Error,
+ "Cannot clear EventLoop while it is running");
+ }
m_bindings.clear();
}
diff --git a/wpilibc/src/main/native/cpp/internal/DriverStationModeThread.cpp b/wpilibc/src/main/native/cpp/internal/DriverStationModeThread.cpp
index 4085658..78d580e 100644
--- a/wpilibc/src/main/native/cpp/internal/DriverStationModeThread.cpp
+++ b/wpilibc/src/main/native/cpp/internal/DriverStationModeThread.cpp
@@ -23,13 +23,14 @@
}
}
-void DriverStationModeThread::InAutonomous(bool entering) {
- m_userInAutonomous = entering;
-}
void DriverStationModeThread::InDisabled(bool entering) {
m_userInDisabled = entering;
}
+void DriverStationModeThread::InAutonomous(bool entering) {
+ m_userInAutonomous = entering;
+}
+
void DriverStationModeThread::InTeleop(bool entering) {
m_userInTeleop = entering;
}
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/MotorController.cpp b/wpilibc/src/main/native/cpp/motorcontrol/MotorController.cpp
index 9d20144..2b64da2 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/MotorController.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/MotorController.cpp
@@ -9,5 +9,6 @@
using namespace frc;
void MotorController::SetVoltage(units::volt_t output) {
+ // NOLINTNEXTLINE(bugprone-integer-division)
Set(output / RobotController::GetBatteryVoltage());
}
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp b/wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp
index f855d14..cf57f7c 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp
@@ -12,6 +12,8 @@
// Can't use a delegated constructor here because of an MSVC bug.
// https://developercommunity.visualstudio.com/content/problem/583/compiler-bug-with-delegating-a-constructor.html
+WPI_IGNORE_DEPRECATED
+
MotorControllerGroup::MotorControllerGroup(
std::vector<std::reference_wrapper<MotorController>>&& motorControllers)
: m_motorControllers(std::move(motorControllers)) {
@@ -74,3 +76,5 @@
"Value", [=, this] { return Get(); },
[=, this](double value) { Set(value); });
}
+
+WPI_UNIGNORE_DEPRECATED
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp b/wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp
index f25aa91..a05b7cc 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp
@@ -11,6 +11,8 @@
using namespace frc;
+WPI_IGNORE_DEPRECATED
+
NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
: m_dio(dioChannel), m_pwm(pwmChannel) {
wpi::SendableRegistry::AddChild(this, &m_dio);
@@ -26,6 +28,8 @@
wpi::SendableRegistry::AddLW(this, "Nidec Brushless", pwmChannel);
}
+WPI_UNIGNORE_DEPRECATED
+
void NidecBrushless::Set(double speed) {
if (!m_disabled) {
m_speed = speed;
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp b/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
index 3692f75..924e4fd 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
@@ -8,13 +8,31 @@
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
+#include "frc/RobotController.h"
+
using namespace frc;
void PWMMotorController::Set(double speed) {
- m_pwm.SetSpeed(m_isInverted ? -speed : speed);
+ if (m_isInverted) {
+ speed = -speed;
+ }
+ m_pwm.SetSpeed(speed);
+
+ for (auto& follower : m_nonowningFollowers) {
+ follower->Set(speed);
+ }
+ for (auto& follower : m_owningFollowers) {
+ follower->Set(speed);
+ }
+
Feed();
}
+void PWMMotorController::SetVoltage(units::volt_t output) {
+ // NOLINTNEXTLINE(bugprone-integer-division)
+ Set(output / RobotController::GetBatteryVoltage());
+}
+
double PWMMotorController::Get() const {
return m_pwm.GetSpeed() * (m_isInverted ? -1.0 : 1.0);
}
@@ -48,11 +66,19 @@
m_pwm.EnableDeadbandElimination(eliminateDeadband);
}
+void PWMMotorController::AddFollower(PWMMotorController& follower) {
+ m_nonowningFollowers.emplace_back(&follower);
+}
+
+WPI_IGNORE_DEPRECATED
+
PWMMotorController::PWMMotorController(std::string_view name, int channel)
: m_pwm(channel, false) {
wpi::SendableRegistry::AddLW(this, name, channel);
}
+WPI_UNIGNORE_DEPRECATED
+
void PWMMotorController::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Motor Controller");
builder.SetActuator(true);
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/PWMSparkFlex.cpp b/wpilibc/src/main/native/cpp/motorcontrol/PWMSparkFlex.cpp
new file mode 100644
index 0000000..945a70e
--- /dev/null
+++ b/wpilibc/src/main/native/cpp/motorcontrol/PWMSparkFlex.cpp
@@ -0,0 +1,20 @@
+// 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/PWMSparkFlex.h"
+
+#include <hal/FRCUsageReporting.h>
+
+using namespace frc;
+
+PWMSparkFlex::PWMSparkFlex(int channel)
+ : PWMMotorController("PWMSparkFlex", channel) {
+ m_pwm.SetBounds(2.003_ms, 1.55_ms, 1.50_ms, 1.46_ms, 0.999_ms);
+ m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
+ m_pwm.SetSpeed(0.0);
+ m_pwm.SetZeroLatch();
+
+ HAL_Report(HALUsageReporting::kResourceType_RevSparkFlexPWM,
+ GetChannel() + 1);
+}
diff --git a/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardInstance.cpp b/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardInstance.cpp
index a19cc6a..8c0880a 100644
--- a/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardInstance.cpp
+++ b/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardInstance.cpp
@@ -30,12 +30,17 @@
m_impl->selectedTabPub =
m_impl->rootMetaTable->GetStringTopic("Selected")
.Publish(nt::PubSubOptions{.keepDuplicates = true});
- HAL_Report(HALUsageReporting::kResourceType_Shuffleboard, 0);
}
ShuffleboardInstance::~ShuffleboardInstance() = default;
+static bool gReported = false;
+
frc::ShuffleboardTab& ShuffleboardInstance::GetTab(std::string_view title) {
+ if (!gReported) {
+ HAL_Report(HALUsageReporting::kResourceType_Shuffleboard, 0);
+ gReported = true;
+ }
if (m_impl->tabs.find(title) == m_impl->tabs.end()) {
m_impl->tabs.try_emplace(title,
std::make_unique<ShuffleboardTab>(*this, title));
diff --git a/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp b/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
index 8c27cdf..d5addb2 100644
--- a/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
@@ -58,7 +58,7 @@
}
void DifferentialDrivetrainSim::Update(units::second_t dt) {
- m_x = RK4([this](auto& x, auto& u) { return Dynamics(x, u); }, m_x, m_u, dt);
+ m_x = RKDP([this](auto& x, auto& u) { return Dynamics(x, u); }, m_x, m_u, dt);
m_y = m_x + frc::MakeWhiteNoiseVector<7>(m_measurementStdDevs);
}
@@ -92,26 +92,22 @@
}
units::ampere_t DifferentialDrivetrainSim::GetLeftCurrentDraw() const {
- auto loadIleft =
- m_motor.Current(
- units::radians_per_second_t{m_x(State::kLeftVelocity) *
- m_currentGearing / m_wheelRadius.value()},
- units::volt_t{m_u(0)}) *
- wpi::sgn(m_u(0));
-
- return loadIleft;
+ return m_motor.Current(units::radians_per_second_t{m_x(State::kLeftVelocity) *
+ m_currentGearing /
+ m_wheelRadius.value()},
+ units::volt_t{m_u(0)}) *
+ wpi::sgn(m_u(0));
}
units::ampere_t DifferentialDrivetrainSim::GetRightCurrentDraw() const {
- auto loadIRight =
- m_motor.Current(
- units::radians_per_second_t{m_x(State::kRightVelocity) *
- m_currentGearing / m_wheelRadius.value()},
- units::volt_t{m_u(1)}) *
- wpi::sgn(m_u(1));
-
- return loadIRight;
+ return m_motor.Current(
+ units::radians_per_second_t{m_x(State::kRightVelocity) *
+ m_currentGearing /
+ m_wheelRadius.value()},
+ units::volt_t{m_u(1)}) *
+ wpi::sgn(m_u(1));
}
+
units::ampere_t DifferentialDrivetrainSim::GetCurrentDraw() const {
return GetLeftCurrentDraw() + GetRightCurrentDraw();
}
diff --git a/wpilibc/src/main/native/cpp/simulation/PneumaticsBaseSim.cpp b/wpilibc/src/main/native/cpp/simulation/PneumaticsBaseSim.cpp
index 476d07a..04aef3a 100644
--- a/wpilibc/src/main/native/cpp/simulation/PneumaticsBaseSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/PneumaticsBaseSim.cpp
@@ -12,11 +12,6 @@
using namespace frc;
using namespace frc::sim;
-PneumaticsBaseSim::PneumaticsBaseSim(int module) : m_index{module} {}
-
-PneumaticsBaseSim::PneumaticsBaseSim(const PneumaticsBase& module)
- : m_index{module.GetModuleNumber()} {}
-
std::shared_ptr<PneumaticsBaseSim> PneumaticsBaseSim::GetForType(
int module, PneumaticsModuleType type) {
switch (type) {
@@ -31,3 +26,8 @@
static_cast<int>(module));
}
}
+
+PneumaticsBaseSim::PneumaticsBaseSim(int module) : m_index{module} {}
+
+PneumaticsBaseSim::PneumaticsBaseSim(const PneumaticsBase& module)
+ : m_index{module.GetModuleNumber()} {}
diff --git a/wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp b/wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp
index 90d9651..728d358 100644
--- a/wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp
@@ -338,6 +338,23 @@
HALSIM_SetRoboRioComments(comments.data(), comments.size());
}
+std::unique_ptr<CallbackStore> RoboRioSim::RegisterRadioLEDStateCallback(
+ NotifyCallback callback, bool initialNotify) {
+ auto store = std::make_unique<CallbackStore>(
+ -1, callback, &HALSIM_CancelRoboRioRadioLEDStateCallback);
+ store->SetUid(HALSIM_RegisterRoboRioRadioLEDStateCallback(
+ &CallbackStoreThunk, store.get(), initialNotify));
+ return store;
+}
+
+RadioLEDState RoboRioSim::GetRadioLEDState() {
+ return static_cast<RadioLEDState>(HALSIM_GetRoboRioRadioLEDState());
+}
+
+void RoboRioSim::SetRadioLEDState(RadioLEDState state) {
+ HALSIM_SetRoboRioRadioLEDState(static_cast<HAL_RadioLEDState>(state));
+}
+
void RoboRioSim::ResetData() {
HALSIM_ResetRoboRioData();
}
diff --git a/wpilibc/src/main/native/cpp/simulation/UltrasonicSim.cpp b/wpilibc/src/main/native/cpp/simulation/UltrasonicSim.cpp
index 30a5650..1016c4b 100644
--- a/wpilibc/src/main/native/cpp/simulation/UltrasonicSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/UltrasonicSim.cpp
@@ -18,8 +18,8 @@
m_simRange = deviceSim.GetDouble("Range (in)");
}
-void UltrasonicSim::SetRangeValid(bool isValid) {
- m_simRangeValid.Set(isValid);
+void UltrasonicSim::SetRangeValid(bool valid) {
+ m_simRangeValid.Set(valid);
}
void UltrasonicSim::SetRange(units::inch_t range) {
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp b/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
index e6991d4..d57473f 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
@@ -19,8 +19,6 @@
namespace {
struct Instance {
- Instance() { HAL_Report(HALUsageReporting::kResourceType_SmartDashboard, 0); }
-
detail::ListenerExecutor listenerExecutor;
std::shared_ptr<nt::NetworkTable> table =
nt::NetworkTableInstance::GetDefault().GetTable("SmartDashboard");
@@ -46,6 +44,8 @@
} // namespace frc::impl
#endif
+static bool gReported = false;
+
void SmartDashboard::init() {
GetInstance();
}
@@ -59,18 +59,23 @@
}
void SmartDashboard::SetPersistent(std::string_view key) {
- GetInstance().table->GetEntry(key).SetPersistent();
+ GetEntry(key).SetPersistent();
}
void SmartDashboard::ClearPersistent(std::string_view key) {
- GetInstance().table->GetEntry(key).ClearPersistent();
+ GetEntry(key).ClearPersistent();
}
bool SmartDashboard::IsPersistent(std::string_view key) {
- return GetInstance().table->GetEntry(key).IsPersistent();
+ return GetEntry(key).IsPersistent();
}
nt::NetworkTableEntry SmartDashboard::GetEntry(std::string_view key) {
+ if (!gReported) {
+ HAL_Report(HALUsageReporting::kResourceType_SmartDashboard,
+ HALUsageReporting::kSmartDashboard_Instance);
+ gReported = true;
+ }
return GetInstance().table->GetEntry(key);
}
@@ -78,6 +83,11 @@
if (!data) {
throw FRC_MakeError(err::NullParameter, "value");
}
+ if (!gReported) {
+ HAL_Report(HALUsageReporting::kResourceType_SmartDashboard,
+ HALUsageReporting::kSmartDashboard_Instance);
+ gReported = true;
+ }
auto& inst = GetInstance();
std::scoped_lock lock(inst.tablesToDataMutex);
auto& uid = inst.tablesToData[key];
@@ -120,7 +130,7 @@
bool SmartDashboard::SetDefaultBoolean(std::string_view key,
bool defaultValue) {
- return GetInstance().table->GetEntry(key).SetDefaultBoolean(defaultValue);
+ return GetEntry(key).SetDefaultBoolean(defaultValue);
}
bool SmartDashboard::GetBoolean(std::string_view keyName, bool defaultValue) {
@@ -133,7 +143,7 @@
bool SmartDashboard::SetDefaultNumber(std::string_view key,
double defaultValue) {
- return GetInstance().table->GetEntry(key).SetDefaultDouble(defaultValue);
+ return GetEntry(key).SetDefaultDouble(defaultValue);
}
double SmartDashboard::GetNumber(std::string_view keyName,
@@ -148,7 +158,7 @@
bool SmartDashboard::SetDefaultString(std::string_view key,
std::string_view defaultValue) {
- return GetInstance().table->GetEntry(key).SetDefaultString(defaultValue);
+ return GetEntry(key).SetDefaultString(defaultValue);
}
std::string SmartDashboard::GetString(std::string_view keyName,
@@ -158,63 +168,62 @@
bool SmartDashboard::PutBooleanArray(std::string_view key,
std::span<const int> value) {
- return GetInstance().table->GetEntry(key).SetBooleanArray(value);
+ return GetEntry(key).SetBooleanArray(value);
}
bool SmartDashboard::SetDefaultBooleanArray(std::string_view key,
std::span<const int> defaultValue) {
- return GetInstance().table->GetEntry(key).SetDefaultBooleanArray(
- defaultValue);
+ return GetEntry(key).SetDefaultBooleanArray(defaultValue);
}
std::vector<int> SmartDashboard::GetBooleanArray(
std::string_view key, std::span<const int> defaultValue) {
- return GetInstance().table->GetEntry(key).GetBooleanArray(defaultValue);
+ return GetEntry(key).GetBooleanArray(defaultValue);
}
bool SmartDashboard::PutNumberArray(std::string_view key,
std::span<const double> value) {
- return GetInstance().table->GetEntry(key).SetDoubleArray(value);
+ return GetEntry(key).SetDoubleArray(value);
}
bool SmartDashboard::SetDefaultNumberArray(
std::string_view key, std::span<const double> defaultValue) {
- return GetInstance().table->GetEntry(key).SetDefaultDoubleArray(defaultValue);
+ return GetEntry(key).SetDefaultDoubleArray(defaultValue);
}
std::vector<double> SmartDashboard::GetNumberArray(
std::string_view key, std::span<const double> defaultValue) {
- return GetInstance().table->GetEntry(key).GetDoubleArray(defaultValue);
+ return GetEntry(key).GetDoubleArray(defaultValue);
}
bool SmartDashboard::PutStringArray(std::string_view key,
std::span<const std::string> value) {
- return GetInstance().table->GetEntry(key).SetStringArray(value);
+ return GetEntry(key).SetStringArray(value);
}
bool SmartDashboard::SetDefaultStringArray(
std::string_view key, std::span<const std::string> defaultValue) {
- return GetInstance().table->GetEntry(key).SetDefaultStringArray(defaultValue);
+ return GetEntry(key).SetDefaultStringArray(defaultValue);
}
std::vector<std::string> SmartDashboard::GetStringArray(
std::string_view key, std::span<const std::string> defaultValue) {
- return GetInstance().table->GetEntry(key).GetStringArray(defaultValue);
+ return GetEntry(key).GetStringArray(defaultValue);
}
bool SmartDashboard::PutRaw(std::string_view key,
std::span<const uint8_t> value) {
- return GetInstance().table->GetEntry(key).SetRaw(value);
+ return GetEntry(key).SetRaw(value);
}
bool SmartDashboard::SetDefaultRaw(std::string_view key,
std::span<const uint8_t> defaultValue) {
- return GetInstance().table->GetEntry(key).SetDefaultRaw(defaultValue);
+ return GetEntry(key).SetDefaultRaw(defaultValue);
}
std::vector<uint8_t> SmartDashboard::GetRaw(
std::string_view key, std::span<const uint8_t> defaultValue) {
- return GetInstance().table->GetEntry(key).GetRaw(defaultValue);
+ return GetEntry(key).GetRaw(defaultValue);
}
bool SmartDashboard::PutValue(std::string_view keyName,
@@ -224,7 +233,7 @@
bool SmartDashboard::SetDefaultValue(std::string_view key,
const nt::Value& defaultValue) {
- return GetInstance().table->GetEntry(key).SetDefaultValue(defaultValue);
+ return GetEntry(key).SetDefaultValue(defaultValue);
}
nt::Value SmartDashboard::GetValue(std::string_view keyName) {
diff --git a/wpilibc/src/main/native/cpp/sysid/SysIdRoutineLog.cpp b/wpilibc/src/main/native/cpp/sysid/SysIdRoutineLog.cpp
new file mode 100644
index 0000000..b99b792
--- /dev/null
+++ b/wpilibc/src/main/native/cpp/sysid/SysIdRoutineLog.cpp
@@ -0,0 +1,66 @@
+// 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/sysid/SysIdRoutineLog.h"
+
+#include <fmt/format.h>
+
+#include "frc/DataLogManager.h"
+
+using namespace frc::sysid;
+
+SysIdRoutineLog::SysIdRoutineLog(std::string_view logName)
+ : m_logName(logName),
+ m_state(wpi::log::StringLogEntry{
+ frc::DataLogManager::GetLog(),
+ fmt::format("sysid-test-state{}", logName)}) {
+ m_state.Append(StateEnumToString(State::kNone));
+}
+
+SysIdRoutineLog::MotorLog::MotorLog(std::string_view motorName,
+ std::string_view logName,
+ LogEntries* logEntries)
+ : m_motorName(motorName), m_logName(logName), m_logEntries(logEntries) {
+ (*logEntries)[motorName] = MotorEntries();
+}
+
+SysIdRoutineLog::MotorLog& SysIdRoutineLog::MotorLog::value(
+ std::string_view name, double value, std::string_view unit) {
+ auto& motorEntries = (*m_logEntries)[m_motorName];
+
+ if (!motorEntries.contains(name)) {
+ wpi::log::DataLog& log = frc::DataLogManager::GetLog();
+
+ motorEntries[name] = wpi::log::DoubleLogEntry(
+ log, fmt::format("{}-{}-{}", name, m_motorName, m_logName), unit);
+ }
+
+ motorEntries[name].Append(value);
+ return *this;
+}
+
+SysIdRoutineLog::MotorLog SysIdRoutineLog::Motor(std::string_view motorName) {
+ return MotorLog{motorName, m_logName, &m_logEntries};
+}
+
+void SysIdRoutineLog::RecordState(State state) {
+ m_state.Append(StateEnumToString(state));
+}
+
+std::string SysIdRoutineLog::StateEnumToString(State state) {
+ switch (state) {
+ case State::kQuasistaticForward:
+ return "quasistatic-forward";
+ case State::kQuasistaticReverse:
+ return "quasistatic-reverse";
+ case State::kDynamicForward:
+ return "dynamic-forward";
+ case State::kDynamicReverse:
+ return "dynamic-reverse";
+ case State::kNone:
+ return "none";
+ default:
+ return "none";
+ }
+}
diff --git a/wpilibc/src/main/native/cpp/util/Color.cpp b/wpilibc/src/main/native/cpp/util/Color.cpp
deleted file mode 100644
index e3adaf2..0000000
--- a/wpilibc/src/main/native/cpp/util/Color.cpp
+++ /dev/null
@@ -1,15 +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/util/Color.h"
-
-#include <fmt/format.h>
-
-using namespace frc;
-
-std::string Color::HexString() const {
- return fmt::format("#{:02X}{:02X}{:02X}", static_cast<int>(255.0 * red),
- static_cast<int>(255.0 * green),
- static_cast<int>(255.0 * blue));
-}
diff --git a/wpilibc/src/main/native/cpp/util/Color8Bit.cpp b/wpilibc/src/main/native/cpp/util/Color8Bit.cpp
deleted file mode 100644
index af200a2..0000000
--- a/wpilibc/src/main/native/cpp/util/Color8Bit.cpp
+++ /dev/null
@@ -1,13 +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/util/Color8Bit.h"
-
-#include <fmt/format.h>
-
-using namespace frc;
-
-std::string Color8Bit::HexString() const {
- return fmt::format("#{:02X}{:02X}{:02X}", red, green, blue);
-}
diff --git a/wpilibc/src/main/native/include/frc/ADIS16448_IMU.h b/wpilibc/src/main/native/include/frc/ADIS16448_IMU.h
index 3f4a1c2..41c66c1 100644
--- a/wpilibc/src/main/native/include/frc/ADIS16448_IMU.h
+++ b/wpilibc/src/main/native/include/frc/ADIS16448_IMU.h
@@ -56,23 +56,47 @@
class ADIS16448_IMU : public wpi::Sendable,
public wpi::SendableHelper<ADIS16448_IMU> {
public:
- /* ADIS16448 Calibration Time Enum Class */
+ /**
+ * ADIS16448 calibration times.
+ */
enum class CalibrationTime {
+ /// 32 ms calibration time.
_32ms = 0,
+ /// 64 ms calibration time.
_64ms = 1,
+ /// 128 ms calibration time.
_128ms = 2,
+ /// 256 ms calibration time.
_256ms = 3,
+ /// 512 ms calibration time.
_512ms = 4,
+ /// 1 s calibration time.
_1s = 5,
+ /// 2 s calibration time.
_2s = 6,
+ /// 4 s calibration time.
_4s = 7,
+ /// 8 s calibration time.
_8s = 8,
+ /// 16 s calibration time.
_16s = 9,
+ /// 32 s calibration time.
_32s = 10,
+ /// 64 s calibration time.
_64s = 11
};
- enum IMUAxis { kX, kY, kZ };
+ /**
+ * IMU axes.
+ */
+ enum IMUAxis {
+ /// The IMU's X axis.
+ kX,
+ /// The IMU's Y axis.
+ kY,
+ /// The IMU's Z axis.
+ kZ
+ };
/**
* IMU constructor on onboard MXP CS0, Z-up orientation, and complementary
@@ -183,31 +207,71 @@
*/
units::meters_per_second_squared_t GetAccelZ() const;
+ /**
+ * Returns the complementary angle around the X axis computed from
+ * accelerometer and gyro rate measurements.
+ */
units::degree_t GetXComplementaryAngle() const;
+ /**
+ * Returns the complementary angle around the Y axis computed from
+ * accelerometer and gyro rate measurements.
+ */
units::degree_t GetYComplementaryAngle() const;
+ /**
+ * Returns the X-axis filtered acceleration angle.
+ */
units::degree_t GetXFilteredAccelAngle() const;
+ /**
+ * Returns the Y-axis filtered acceleration angle.
+ */
units::degree_t GetYFilteredAccelAngle() const;
+ /**
+ * Returns the magnetic field strength in the X axis.
+ */
units::tesla_t GetMagneticFieldX() const;
+ /**
+ * Returns the magnetic field strength in the Y axis.
+ */
units::tesla_t GetMagneticFieldY() const;
+ /**
+ * Returns the magnetic field strength in the Z axis.
+ */
units::tesla_t GetMagneticFieldZ() const;
+ /**
+ * Returns the barometric pressure.
+ */
units::pounds_per_square_inch_t GetBarometricPressure() const;
+ /**
+ * Returns the temperature.
+ */
units::celsius_t GetTemperature() const;
IMUAxis GetYawAxis() const;
int SetYawAxis(IMUAxis yaw_axis);
+ /**
+ * Checks the connection status of the IMU.
+ *
+ * @return True if the IMU is connected, false otherwise.
+ */
bool IsConnected() const;
- int ConfigDecRate(uint16_t DecimationRate);
+ /**
+ * Configures the decimation rate of the IMU.
+ *
+ * @param decimationRate The new decimation value.
+ * @return 0 if success, 1 if no change, 2 if error.
+ */
+ int ConfigDecRate(uint16_t decimationRate);
/**
* Get the SPI port number.
diff --git a/wpilibc/src/main/native/include/frc/ADIS16470_IMU.h b/wpilibc/src/main/native/include/frc/ADIS16470_IMU.h
index e3b521c..f594c2b 100644
--- a/wpilibc/src/main/native/include/frc/ADIS16470_IMU.h
+++ b/wpilibc/src/main/native/include/frc/ADIS16470_IMU.h
@@ -53,55 +53,109 @@
class ADIS16470_IMU : public wpi::Sendable,
public wpi::SendableHelper<ADIS16470_IMU> {
public:
- /* ADIS16470 Calibration Time Enum Class */
+ /**
+ * ADIS16470 calibration times.
+ */
enum class CalibrationTime {
+ /// 32 ms calibration time.
_32ms = 0,
+ /// 64 ms calibration time.
_64ms = 1,
+ /// 128 ms calibration time.
_128ms = 2,
+ /// 256 ms calibration time.
_256ms = 3,
+ /// 512 ms calibration time.
_512ms = 4,
+ /// 1 s calibration time.
_1s = 5,
+ /// 2 s calibration time.
_2s = 6,
+ /// 4 s calibration time.
_4s = 7,
+ /// 8 s calibration time.
_8s = 8,
+ /// 16 s calibration time.
_16s = 9,
+ /// 32 s calibration time.
_32s = 10,
+ /// 64 s calibration time.
_64s = 11
};
- enum IMUAxis { kX, kY, kZ };
+ /**
+ * IMU axes.
+ *
+ * kX, kY, and kZ refer to the IMU's X, Y, and Z axes respectively. kYaw,
+ * kPitch, and kRoll are configured by the user to refer to an X, Y, or Z
+ * axis.
+ */
+ enum IMUAxis {
+ /// The IMU's X axis.
+ kX,
+ /// The IMU's Y axis.
+ kY,
+ /// The IMU's Z axis.
+ kZ,
+ /// The user-configured yaw axis.
+ kYaw,
+ /// The user-configured pitch axis.
+ kPitch,
+ /// The user-configured roll axis.
+ kRoll
+ };
/**
- * @brief Default constructor. Uses CS0 on the 10-pin SPI port, the yaw axis
- * is set to the IMU Z axis, and calibration time is defaulted to 4 seconds.
+ * Creates a new ADIS16740 IMU object.
+ *
+ * The default setup is the onboard SPI port with a calibration time of 4
+ * seconds. Yaw, pitch, and roll are kZ, kX, and kY respectively.
*/
ADIS16470_IMU();
/**
- * @brief Customizable constructor. Allows the SPI port and CS to be
- * customized, the yaw axis used for GetAngle() is adjustable, and initial
- * calibration time can be modified.
+ * Creates a new ADIS16740 IMU object.
*
- * @param yaw_axis Selects the "default" axis to use for GetAngle() and
- * GetRate()
+ * The default setup is the onboard SPI port with a calibration time of 4
+ * seconds.
*
- * @param port The SPI port and CS where the IMU is connected.
+ * <b><i>Input axes limited to kX, kY and kZ. Specifying kYaw, kPitch,or kRoll
+ * will result in an error.</i></b>
*
- * @param cal_time The calibration time that should be used on start-up.
+ * @param yaw_axis The axis that measures the yaw
+ * @param pitch_axis The axis that measures the pitch
+ * @param roll_axis The axis that measures the roll
*/
- explicit ADIS16470_IMU(IMUAxis yaw_axis, SPI::Port port,
- CalibrationTime cal_time);
+ ADIS16470_IMU(IMUAxis yaw_axis, IMUAxis pitch_axis, IMUAxis roll_axis);
/**
- * @brief Destructor. Kills the acquisition loop and closes the SPI
- * peripheral.
+ * Creates a new ADIS16740 IMU object.
+ *
+ * <b><i>Input axes limited to kX, kY and kZ. Specifying kYaw, kPitch, or
+ * kRoll will result in an error.</i></b>
+ *
+ * @param yaw_axis The axis that measures the yaw
+ * @param pitch_axis The axis that measures the pitch
+ * @param roll_axis The axis that measures the roll
+ * @param port The SPI Port the gyro is plugged into
+ * @param cal_time Calibration time
*/
+ explicit ADIS16470_IMU(IMUAxis yaw_axis, IMUAxis pitch_axis,
+ IMUAxis roll_axis, frc::SPI::Port port,
+ CalibrationTime cal_time);
+
~ADIS16470_IMU() override;
ADIS16470_IMU(ADIS16470_IMU&&) = default;
ADIS16470_IMU& operator=(ADIS16470_IMU&&) = default;
- int ConfigDecRate(uint16_t reg);
+ /**
+ * Configures the decimation rate of the IMU.
+ *
+ * @param decimationRate The new decimation value.
+ * @return 0 if success, 1 if no change, 2 if error.
+ */
+ int ConfigDecRate(uint16_t decimationRate);
/**
* @brief Switches the active SPI port to standard SPI mode, writes the
@@ -116,22 +170,66 @@
int ConfigCalTime(CalibrationTime new_cal_time);
/**
- * @brief Resets (zeros) the xgyro, ygyro, and zgyro angle integrations.
+ * Reset the gyro.
*
* Resets the gyro accumulations to a heading of zero. This can be used if
- * the "zero" orientation of the sensor needs to be changed in runtime.
+ * there is significant drift in the gyro and it needs to be recalibrated
+ * after running.
*/
void Reset();
/**
- * Returns the yaw axis angle in degrees (CCW positive).
+ * Allow the designated gyro angle to be set to a given value. This may happen
+ * with unread values in the buffer, it is suggested that the IMU is not
+ * moving when this method is run.
+ *
+ * @param axis IMUAxis that will be changed
+ * @param angle The new angle (CCW positive)
*/
- units::degree_t GetAngle() const;
+ void SetGyroAngle(IMUAxis axis, units::degree_t angle);
/**
- * Returns the yaw axis angular rate in degrees per second (CCW positive).
+ * Allow the gyro angle X to be set to a given value. This may happen with
+ * unread values in the buffer, it is suggested that the IMU is not moving
+ * when this method is run.
+ *
+ * @param angle The new angle (CCW positive)
*/
- units::degrees_per_second_t GetRate() const;
+ void SetGyroAngleX(units::degree_t angle);
+
+ /**
+ * Allow the gyro angle Y to be set to a given value. This may happen with
+ * unread values in the buffer, it is suggested that the IMU is not moving
+ * when this method is run.
+ *
+ * @param angle The new angle (CCW positive)
+ */
+ void SetGyroAngleY(units::degree_t angle);
+
+ /**
+ * Allow the gyro angle Z to be set to a given value. This may happen with
+ * unread values in the buffer, it is suggested that the IMU is not moving
+ * when this method is run.
+ *
+ * @param angle The new angle (CCW positive)
+ */
+ void SetGyroAngleZ(units::degree_t angle);
+
+ /**
+ * Returns the axis angle (CCW positive).
+ *
+ * @param axis The IMUAxis whose angle to return.
+ * @return The axis angle (CCW positive).
+ */
+ units::degree_t GetAngle(IMUAxis axis) const;
+
+ /**
+ * Returns the axis angular rate (CCW positive).
+ *
+ * @param axis The IMUAxis whose rate to return.
+ * @return Axis angular rate (CCW positive).
+ */
+ units::degrees_per_second_t GetRate(IMUAxis axis) const;
/**
* Returns the acceleration in the X axis.
@@ -148,25 +246,60 @@
*/
units::meters_per_second_squared_t GetAccelZ() const;
+ /**
+ * Returns the X-axis complementary angle.
+ */
units::degree_t GetXComplementaryAngle() const;
+ /**
+ * Returns the Y-axis complementary angle.
+ */
units::degree_t GetYComplementaryAngle() const;
+ /**
+ * Returns the X-axis filtered acceleration angle.
+ */
units::degree_t GetXFilteredAccelAngle() const;
+ /**
+ * Returns the Y-axis filtered acceleration angle.
+ */
units::degree_t GetYFilteredAccelAngle() const;
+ /**
+ * Returns which axis, kX, kY, or kZ, is set to the yaw axis.
+ *
+ * @return IMUAxis Yaw Axis
+ */
IMUAxis GetYawAxis() const;
- int SetYawAxis(IMUAxis yaw_axis);
-
- bool IsConnected() const;
-
- // IMU yaw axis
- IMUAxis m_yaw_axis;
+ /**
+ * Returns which axis, kX, kY, or kZ, is set to the pitch axis.
+ *
+ * @return IMUAxis Pitch Axis
+ */
+ IMUAxis GetPitchAxis() const;
/**
- * Get the SPI port number.
+ * Returns which axis, kX, kY, or kZ, is set to the roll axis.
+ *
+ * @return IMUAxis Roll Axis
+ */
+ IMUAxis GetRollAxis() const;
+
+ /**
+ * Checks the connection status of the IMU.
+ *
+ * @return True if the IMU is connected, false otherwise.
+ */
+ bool IsConnected() const;
+
+ IMUAxis m_yaw_axis;
+ IMUAxis m_pitch_axis;
+ IMUAxis m_roll_axis;
+
+ /**
+ * Gets the SPI port number.
*
* @return The SPI port number.
*/
@@ -175,7 +308,7 @@
void InitSendable(wpi::SendableBuilder& builder) override;
private:
- /* ADIS16470 Register Map Declaration */
+ // Register Map Declaration
static constexpr uint8_t FLASH_CNT = 0x00; // Flash memory write count
static constexpr uint8_t DIAG_STAT =
0x02; // Diagnostic and operational status
@@ -276,25 +409,15 @@
static constexpr uint8_t FLSHCNT_HIGH =
0x7E; // Flash update count, upper word
- /* ADIS16470 Auto SPI Data Packets */
- static constexpr uint8_t m_autospi_x_packet[16] = {
- X_DELTANG_OUT, FLASH_CNT, X_DELTANG_LOW, FLASH_CNT, X_GYRO_OUT, FLASH_CNT,
- Y_GYRO_OUT, FLASH_CNT, Z_GYRO_OUT, FLASH_CNT, X_ACCL_OUT, FLASH_CNT,
- Y_ACCL_OUT, FLASH_CNT, Z_ACCL_OUT, FLASH_CNT};
+ // Auto SPI Data Packet to read all thrre gyro axes.
+ static constexpr uint8_t m_autospi_allangle_packet[24] = {
+ X_DELTANG_OUT, FLASH_CNT, X_DELTANG_LOW, FLASH_CNT, Y_DELTANG_OUT,
+ FLASH_CNT, Y_DELTANG_LOW, FLASH_CNT, Z_DELTANG_OUT, FLASH_CNT,
+ Z_DELTANG_LOW, FLASH_CNT, X_GYRO_OUT, FLASH_CNT, Y_GYRO_OUT,
+ FLASH_CNT, Z_GYRO_OUT, FLASH_CNT, X_ACCL_OUT, FLASH_CNT,
+ Y_ACCL_OUT, FLASH_CNT, Z_ACCL_OUT, FLASH_CNT};
- static constexpr uint8_t m_autospi_y_packet[16] = {
- Y_DELTANG_OUT, FLASH_CNT, Y_DELTANG_LOW, FLASH_CNT, X_GYRO_OUT, FLASH_CNT,
- Y_GYRO_OUT, FLASH_CNT, Z_GYRO_OUT, FLASH_CNT, X_ACCL_OUT, FLASH_CNT,
- Y_ACCL_OUT, FLASH_CNT, Z_ACCL_OUT, FLASH_CNT};
-
- static constexpr uint8_t m_autospi_z_packet[16] = {
- Z_DELTANG_OUT, FLASH_CNT, Z_DELTANG_LOW, FLASH_CNT, X_GYRO_OUT, FLASH_CNT,
- Y_GYRO_OUT, FLASH_CNT, Z_GYRO_OUT, FLASH_CNT, X_ACCL_OUT, FLASH_CNT,
- Y_ACCL_OUT, FLASH_CNT, Z_ACCL_OUT, FLASH_CNT};
-
- /* ADIS16470 Constants */
- static constexpr double delta_angle_sf =
- 2160.0 / 2147483648.0; /* 2160 / (2^31) */
+ static constexpr double delta_angle_sf = 2160.0 / 2147483648.0;
static constexpr double rad_to_deg = 57.2957795;
static constexpr double deg_to_rad = 0.0174532;
static constexpr double grav = 9.81;
@@ -350,8 +473,10 @@
void Close();
- // Integrated gyro value
- double m_integ_angle = 0.0;
+ // Integrated gyro angles.
+ double m_integ_angle_x = 0.0;
+ double m_integ_angle_y = 0.0;
+ double m_integ_angle_z = 0.0;
// Instant raw outputs
double m_gyro_rate_x = 0.0;
diff --git a/wpilibc/src/main/native/include/frc/ADXL345_I2C.h b/wpilibc/src/main/native/include/frc/ADXL345_I2C.h
index 2fe0da4..4c6d9df 100644
--- a/wpilibc/src/main/native/include/frc/ADXL345_I2C.h
+++ b/wpilibc/src/main/native/include/frc/ADXL345_I2C.h
@@ -26,17 +26,48 @@
class ADXL345_I2C : public nt::NTSendable,
public wpi::SendableHelper<ADXL345_I2C> {
public:
- enum Range { kRange_2G = 0, kRange_4G = 1, kRange_8G = 2, kRange_16G = 3 };
-
- enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
-
- struct AllAxes {
- double XAxis;
- double YAxis;
- double ZAxis;
+ /**
+ * Accelerometer range.
+ */
+ enum Range {
+ /// 2 Gs max.
+ kRange_2G = 0,
+ /// 4 Gs max.
+ kRange_4G = 1,
+ /// 8 Gs max.
+ kRange_8G = 2,
+ /// 16 Gs max.
+ kRange_16G = 3
};
/**
+ * Accelerometer axes.
+ */
+ enum Axes {
+ /// X axis.
+ kAxis_X = 0x00,
+ /// Y axis.
+ kAxis_Y = 0x02,
+ /// Z axis.
+ kAxis_Z = 0x04
+ };
+
+ /**
+ * Container type for accelerations from all axes.
+ */
+ struct AllAxes {
+ /// Acceleration along the X axis in g-forces.
+ double XAxis = 0.0;
+ /// Acceleration along the Y axis in g-forces.
+ double YAxis = 0.0;
+ /// Acceleration along the Z axis in g-forces.
+ double ZAxis = 0.0;
+ };
+
+ /// Default I2C device address.
+ static constexpr int kAddress = 0x1D;
+
+ /**
* Constructs the ADXL345 Accelerometer over I2C.
*
* @param port The I2C port the accelerometer is attached to
@@ -100,7 +131,7 @@
void InitSendable(nt::NTSendableBuilder& builder) override;
- protected:
+ private:
I2C m_i2c;
hal::SimDevice m_simDevice;
@@ -109,7 +140,6 @@
hal::SimDouble m_simY;
hal::SimDouble m_simZ;
- static constexpr int kAddress = 0x1D;
static constexpr int kPowerCtlRegister = 0x2D;
static constexpr int kDataFormatRegister = 0x31;
static constexpr int kDataRegister = 0x32;
diff --git a/wpilibc/src/main/native/include/frc/ADXL345_SPI.h b/wpilibc/src/main/native/include/frc/ADXL345_SPI.h
index 3f2d8ae..305be92 100644
--- a/wpilibc/src/main/native/include/frc/ADXL345_SPI.h
+++ b/wpilibc/src/main/native/include/frc/ADXL345_SPI.h
@@ -21,14 +21,42 @@
class ADXL345_SPI : public nt::NTSendable,
public wpi::SendableHelper<ADXL345_SPI> {
public:
- enum Range { kRange_2G = 0, kRange_4G = 1, kRange_8G = 2, kRange_16G = 3 };
+ /**
+ * Accelerometer range.
+ */
+ enum Range {
+ /// 2 Gs max.
+ kRange_2G = 0,
+ /// 4 Gs max.
+ kRange_4G = 1,
+ /// 8 Gs max.
+ kRange_8G = 2,
+ /// 16 Gs max.
+ kRange_16G = 3
+ };
- enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
+ /**
+ * Accelerometer axes.
+ */
+ enum Axes {
+ /// X axis.
+ kAxis_X = 0x00,
+ /// Y axis.
+ kAxis_Y = 0x02,
+ /// Z axis.
+ kAxis_Z = 0x04
+ };
+ /**
+ * Container type for accelerations from all axes.
+ */
struct AllAxes {
- double XAxis;
- double YAxis;
- double ZAxis;
+ /// Acceleration along the X axis in g-forces.
+ double XAxis = 0.0;
+ /// Acceleration along the Y axis in g-forces.
+ double YAxis = 0.0;
+ /// Acceleration along the Z axis in g-forces.
+ double ZAxis = 0.0;
};
/**
@@ -93,7 +121,7 @@
void InitSendable(nt::NTSendableBuilder& builder) override;
- protected:
+ private:
SPI m_spi;
hal::SimDevice m_simDevice;
diff --git a/wpilibc/src/main/native/include/frc/ADXL362.h b/wpilibc/src/main/native/include/frc/ADXL362.h
index ddf6ebe..0332b31 100644
--- a/wpilibc/src/main/native/include/frc/ADXL362.h
+++ b/wpilibc/src/main/native/include/frc/ADXL362.h
@@ -19,13 +19,40 @@
*/
class ADXL362 : public nt::NTSendable, public wpi::SendableHelper<ADXL362> {
public:
- enum Range { kRange_2G = 0, kRange_4G = 1, kRange_8G = 2 };
+ /**
+ * Accelerometer range.
+ */
+ enum Range {
+ /// 2 Gs max.
+ kRange_2G = 0,
+ /// 4 Gs max.
+ kRange_4G = 1,
+ /// 8 Gs max.
+ kRange_8G = 2
+ };
- enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
+ /**
+ * Accelerometer axes.
+ */
+ enum Axes {
+ /// X axis.
+ kAxis_X = 0x00,
+ /// Y axis.
+ kAxis_Y = 0x02,
+ /// Z axis.
+ kAxis_Z = 0x04
+ };
+
+ /**
+ * Container type for accelerations from all axes.
+ */
struct AllAxes {
- double XAxis;
- double YAxis;
- double ZAxis;
+ /// Acceleration along the X axis in g-forces.
+ double XAxis = 0.0;
+ /// Acceleration along the Y axis in g-forces.
+ double YAxis = 0.0;
+ /// Acceleration along the Z axis in g-forces.
+ double ZAxis = 0.0;
};
public:
diff --git a/wpilibc/src/main/native/include/frc/AddressableLED.h b/wpilibc/src/main/native/include/frc/AddressableLED.h
index 198eb67..26738bb 100644
--- a/wpilibc/src/main/native/include/frc/AddressableLED.h
+++ b/wpilibc/src/main/native/include/frc/AddressableLED.h
@@ -22,7 +22,9 @@
* By default, the timing supports WS2812B LEDs, but is configurable using
* SetBitTiming()
*
- * <p>Only 1 LED driver is currently supported by the roboRIO.
+ * <p>Only 1 LED driver is currently supported by the roboRIO. However,
+ * multiple LED strips can be connected in series and controlled from the
+ * single driver.
*/
class AddressableLED {
public:
diff --git a/wpilibc/src/main/native/include/frc/AnalogGyro.h b/wpilibc/src/main/native/include/frc/AnalogGyro.h
index 0c472fb..3913b40 100644
--- a/wpilibc/src/main/native/include/frc/AnalogGyro.h
+++ b/wpilibc/src/main/native/include/frc/AnalogGyro.h
@@ -218,10 +218,8 @@
void InitSendable(wpi::SendableBuilder& builder) override;
- protected:
- std::shared_ptr<AnalogInput> m_analog;
-
private:
+ std::shared_ptr<AnalogInput> m_analog;
hal::Handle<HAL_GyroHandle> m_gyroHandle;
};
diff --git a/wpilibc/src/main/native/include/frc/AnalogOutput.h b/wpilibc/src/main/native/include/frc/AnalogOutput.h
index ccb3c9c..4151ae6 100644
--- a/wpilibc/src/main/native/include/frc/AnalogOutput.h
+++ b/wpilibc/src/main/native/include/frc/AnalogOutput.h
@@ -33,14 +33,14 @@
/**
* Set the value of the analog output.
*
- * @param voltage The output value in Volts, from 0.0 to +5.0
+ * @param voltage The output value in Volts, from 0.0 to +5.0.
*/
void SetVoltage(double voltage);
/**
- * Get the voltage of the analog output
+ * Get the voltage of the analog output.
*
- * @return The value in Volts, from 0.0 to +5.0
+ * @return The value in Volts, from 0.0 to +5.0.
*/
double GetVoltage() const;
diff --git a/wpilibc/src/main/native/include/frc/AnalogTriggerType.h b/wpilibc/src/main/native/include/frc/AnalogTriggerType.h
index c706c34..0db114d 100644
--- a/wpilibc/src/main/native/include/frc/AnalogTriggerType.h
+++ b/wpilibc/src/main/native/include/frc/AnalogTriggerType.h
@@ -6,10 +6,15 @@
namespace frc {
+/** Defines the state in which the AnalogTrigger triggers. */
enum class AnalogTriggerType {
+ /// In window.
kInWindow = 0,
+ /// State.
kState = 1,
+ /// Rising Pulse.
kRisingPulse = 2,
+ /// Falling pulse.
kFallingPulse = 3
};
diff --git a/wpilibc/src/main/native/include/frc/BuiltInAccelerometer.h b/wpilibc/src/main/native/include/frc/BuiltInAccelerometer.h
index a8f0adc..270ed80 100644
--- a/wpilibc/src/main/native/include/frc/BuiltInAccelerometer.h
+++ b/wpilibc/src/main/native/include/frc/BuiltInAccelerometer.h
@@ -17,7 +17,17 @@
class BuiltInAccelerometer : public wpi::Sendable,
public wpi::SendableHelper<BuiltInAccelerometer> {
public:
- enum Range { kRange_2G = 0, kRange_4G = 1, kRange_8G = 2 };
+ /**
+ * Accelerometer range.
+ */
+ enum Range {
+ /// 2 Gs max.
+ kRange_2G = 0,
+ /// 4 Gs max.
+ kRange_4G = 1,
+ /// 8 Gs max.
+ kRange_8G = 2
+ };
/**
* Constructor.
diff --git a/wpilibc/src/main/native/include/frc/CAN.h b/wpilibc/src/main/native/include/frc/CAN.h
index dc04988..1f5d168 100644
--- a/wpilibc/src/main/native/include/frc/CAN.h
+++ b/wpilibc/src/main/native/include/frc/CAN.h
@@ -170,7 +170,10 @@
*/
static uint64_t GetTimestampBaseTime();
+ /// Team manufacturer.
static constexpr HAL_CANManufacturer kTeamManufacturer = HAL_CAN_Man_kTeamUse;
+
+ /// Team device type.
static constexpr HAL_CANDeviceType kTeamDeviceType =
HAL_CAN_Dev_kMiscellaneous;
diff --git a/wpilibc/src/main/native/include/frc/CompressorConfigType.h b/wpilibc/src/main/native/include/frc/CompressorConfigType.h
index 5a5a1c1..b933804 100644
--- a/wpilibc/src/main/native/include/frc/CompressorConfigType.h
+++ b/wpilibc/src/main/native/include/frc/CompressorConfigType.h
@@ -5,10 +5,17 @@
#pragma once
namespace frc {
+/**
+ * Compressor config type.
+ */
enum class CompressorConfigType {
+ /// Disabled.
Disabled = 0,
+ /// Digital.
Digital = 1,
+ /// Analog.
Analog = 2,
+ /// Hybrid.
Hybrid = 3
};
diff --git a/wpilibc/src/main/native/include/frc/Counter.h b/wpilibc/src/main/native/include/frc/Counter.h
index 71eebca..3720dde 100644
--- a/wpilibc/src/main/native/include/frc/Counter.h
+++ b/wpilibc/src/main/native/include/frc/Counter.h
@@ -451,17 +451,20 @@
void InitSendable(wpi::SendableBuilder& builder) override;
protected:
- // Makes the counter count up.
+ /// Makes the counter count up.
std::shared_ptr<DigitalSource> m_upSource;
- // Makes the counter count down.
+ /// Makes the counter count down.
std::shared_ptr<DigitalSource> m_downSource;
- // The FPGA counter object
+ /// The FPGA counter object
hal::Handle<HAL_CounterHandle> m_counter;
private:
- int m_index = 0; // The index of this counter.
+ /// The index of this counter.
+ int m_index = 0;
+
+ /// Distance of travel for each tick.
double m_distancePerPulse = 1;
friend class DigitalGlitchFilter;
diff --git a/wpilibc/src/main/native/include/frc/DMA.h b/wpilibc/src/main/native/include/frc/DMA.h
index 1bbf268..d09368f 100644
--- a/wpilibc/src/main/native/include/frc/DMA.h
+++ b/wpilibc/src/main/native/include/frc/DMA.h
@@ -17,6 +17,9 @@
class PWM;
class PWMMotorController;
+/**
+ * Class for configuring Direct Memory Access (DMA) of FPGA inputs.
+ */
class DMA {
friend class DMASample;
@@ -27,32 +30,162 @@
DMA& operator=(DMA&& other) = default;
DMA(DMA&& other) = default;
+ /**
+ * Sets whether DMA is paused.
+ *
+ * @param pause True pauses DMA.
+ */
void SetPause(bool pause);
- void SetTimedTrigger(units::second_t seconds);
+
+ /**
+ * Sets DMA to trigger at an interval.
+ *
+ * @param period Period at which to trigger DMA.
+ */
+ void SetTimedTrigger(units::second_t period);
+
+ /**
+ * Sets number of DMA cycles to trigger.
+ *
+ * @param cycles Number of cycles.
+ */
void SetTimedTriggerCycles(int cycles);
+ /**
+ * Adds position data for an encoder to be collected by DMA.
+ *
+ * This can only be called if DMA is not started.
+ *
+ * @param encoder Encoder to add to DMA.
+ */
void AddEncoder(const Encoder* encoder);
+
+ /**
+ * Adds timer data for an encoder to be collected by DMA.
+ *
+ * This can only be called if DMA is not started.
+ *
+ * @param encoder Encoder to add to DMA.
+ */
void AddEncoderPeriod(const Encoder* encoder);
+ /**
+ * Adds position data for an counter to be collected by DMA.
+ *
+ * This can only be called if DMA is not started.
+ *
+ * @param counter Counter to add to DMA.
+ */
void AddCounter(const Counter* counter);
+
+ /**
+ * Adds timer data for an counter to be collected by DMA.
+ *
+ * This can only be called if DMA is not started.
+ *
+ * @param counter Counter to add to DMA.
+ */
void AddCounterPeriod(const Counter* counter);
+ /**
+ * Adds a digital source to be collected by DMA.
+ *
+ * This can only be called if DMA is not started.
+ *
+ * @param digitalSource DigitalSource to add to DMA.
+ */
void AddDigitalSource(const DigitalSource* digitalSource);
+ /**
+ * Adds a digital source to be collected by DMA.
+ *
+ * This can only be called if DMA is not started.
+ *
+ * @param digitalSource DigitalSource to add to DMA.
+ */
void AddDutyCycle(const DutyCycle* digitalSource);
+ /**
+ * Adds an analog input to be collected by DMA.
+ *
+ * This can only be called if DMA is not started.
+ *
+ * @param analogInput AnalogInput to add to DMA.
+ */
void AddAnalogInput(const AnalogInput* analogInput);
+
+ /**
+ * Adds averaged data of an analog input to be collected by DMA.
+ *
+ * This can only be called if DMA is not started.
+ *
+ * @param analogInput AnalogInput to add to DMA.
+ */
void AddAveragedAnalogInput(const AnalogInput* analogInput);
+
+ /**
+ * Adds accumulator data of an analog input to be collected by DMA.
+ *
+ * This can only be called if DMA is not started.
+ *
+ * @param analogInput AnalogInput to add to DMA.
+ */
void AddAnalogAccumulator(const AnalogInput* analogInput);
+ /**
+ * Sets an external DMA trigger.
+ *
+ * @param source the source to trigger from.
+ * @param rising trigger on rising edge.
+ * @param falling trigger on falling edge.
+ * @return the index of the trigger
+ */
int SetExternalTrigger(DigitalSource* source, bool rising, bool falling);
+
+ /**
+ * Sets a DMA PWM edge trigger.
+ *
+ * @param pwm the PWM to trigger from.
+ * @param rising trigger on rising edge.
+ * @param falling trigger on falling edge.
+ * @return the index of the trigger
+ */
int SetPwmEdgeTrigger(PWM* pwm, bool rising, bool falling);
+
+ /**
+ * Sets a DMA PWMMotorController edge trigger.
+ *
+ * @param pwm the PWMMotorController to trigger from.
+ * @param rising trigger on rising edge.
+ * @param falling trigger on falling edge.
+ * @return the index of the trigger
+ */
int SetPwmEdgeTrigger(PWMMotorController* pwm, bool rising, bool falling);
+ /**
+ * Clear all sensors from the DMA collection list.
+ *
+ * This can only be called if DMA is not started.
+ */
void ClearSensors();
+
+ /**
+ * Clear all external triggers from the DMA trigger list.
+ *
+ * This can only be called if DMA is not started.
+ */
void ClearExternalTriggers();
+ /**
+ * Starts DMA Collection.
+ *
+ * @param queueDepth The number of objects to be able to queue.
+ */
void Start(int queueDepth);
+
+ /**
+ * Stops DMA Collection.
+ */
void Stop();
private:
diff --git a/wpilibc/src/main/native/include/frc/DMASample.h b/wpilibc/src/main/native/include/frc/DMASample.h
index 48a0a9e..b2bed41 100644
--- a/wpilibc/src/main/native/include/frc/DMASample.h
+++ b/wpilibc/src/main/native/include/frc/DMASample.h
@@ -17,30 +17,71 @@
#include "frc/Encoder.h"
namespace frc {
+/**
+ * DMA sample.
+ */
class DMASample : public HAL_DMASample {
public:
+ /**
+ * DMA read status.
+ */
enum class DMAReadStatus {
+ /// OK status.
kOk = HAL_DMA_OK,
+ /// Timeout status.
kTimeout = HAL_DMA_TIMEOUT,
+ /// Error status.
kError = HAL_DMA_ERROR
};
+ /**
+ * Retrieves a new DMA sample.
+ *
+ * @param dma DMA object.
+ * @param timeout Timeout for retrieval.
+ * @param remaining Number of remaining samples.
+ * @param status DMA read status.
+ */
DMAReadStatus Update(const DMA* dma, units::second_t timeout,
int32_t* remaining, int32_t* status) {
return static_cast<DMAReadStatus>(
HAL_ReadDMA(dma->dmaHandle, this, timeout.value(), remaining, status));
}
+ /**
+ * Returns the DMA sample time in microseconds.
+ *
+ * @return The DMA sample time in microseconds.
+ */
uint64_t GetTime() const { return timeStamp; }
+ /**
+ * Returns the DMA sample timestamp.
+ *
+ * @return The DMA sample timestamp.
+ */
units::second_t GetTimeStamp() const {
return units::second_t{static_cast<double>(GetTime()) * 1.0e-6};
}
+ /**
+ * Returns raw encoder value from DMA.
+ *
+ * @param encoder Encoder used for DMA.
+ * @param status DMA read status.
+ * @return Raw encoder value from DMA.
+ */
int32_t GetEncoderRaw(const Encoder* encoder, int32_t* status) const {
return HAL_GetDMASampleEncoderRaw(this, encoder->m_encoder, status);
}
+ /**
+ * Returns encoder distance from DMA.
+ *
+ * @param encoder Encoder used for DMA.
+ * @param status DMA read status.
+ * @return Encoder distance from DMA.
+ */
double GetEncoderDistance(const Encoder* encoder, int32_t* status) const {
double val = GetEncoderRaw(encoder, status);
val *= encoder->DecodingScaleFactor();
@@ -48,41 +89,97 @@
return val;
}
+ /**
+ * Returns raw encoder period from DMA.
+ *
+ * @param encoder Encoder used for DMA.
+ * @param status DMA read status.
+ * @return Raw encoder period from DMA.
+ */
int32_t GetEncoderPeriodRaw(const Encoder* encoder, int32_t* status) const {
return HAL_GetDMASampleEncoderPeriodRaw(this, encoder->m_encoder, status);
}
+ /**
+ * Returns counter value from DMA.
+ *
+ * @param counter Counter used for DMA.
+ * @param status DMA read status.
+ * @return Counter value from DMA.
+ */
int32_t GetCounter(const Counter* counter, int32_t* status) const {
return HAL_GetDMASampleCounter(this, counter->m_counter, status);
}
+ /**
+ * Returns counter period from DMA.
+ *
+ * @param counter Counter used for DMA.
+ * @param status DMA read status.
+ * @return Counter period from DMA.
+ */
int32_t GetCounterPeriod(const Counter* counter, int32_t* status) const {
return HAL_GetDMASampleCounterPeriod(this, counter->m_counter, status);
}
+ /**
+ * Returns digital source value from DMA.
+ *
+ * @param digitalSource DigitalSource used for DMA.
+ * @param status DMA read status.
+ * @return DigitalSource value from DMA.
+ */
bool GetDigitalSource(const DigitalSource* digitalSource,
int32_t* status) const {
return HAL_GetDMASampleDigitalSource(
this, digitalSource->GetPortHandleForRouting(), status);
}
+ /**
+ * Returns raw analog input value from DMA.
+ *
+ * @param analogInput AnalogInput used for DMA.
+ * @param status DMA read status.
+ * @return Raw analog input value from DMA.
+ */
int32_t GetAnalogInputRaw(const AnalogInput* analogInput,
int32_t* status) const {
return HAL_GetDMASampleAnalogInputRaw(this, analogInput->m_port, status);
}
+ /**
+ * Returns analog input voltage from DMA.
+ *
+ * @param analogInput AnalogInput used for DMA.
+ * @param status DMA read status.
+ * @return Analog input voltage from DMA.
+ */
double GetAnalogInputVoltage(const AnalogInput* analogInput,
int32_t* status) {
return HAL_GetAnalogValueToVolts(
analogInput->m_port, GetAnalogInputRaw(analogInput, status), status);
}
+ /**
+ * Returns averaged analog input raw value from DMA.
+ *
+ * @param analogInput AnalogInput used for DMA.
+ * @param status DMA read status.
+ * @return Averaged analog input raw value from DMA.
+ */
int32_t GetAveragedAnalogInputRaw(const AnalogInput* analogInput,
int32_t* status) const {
return HAL_GetDMASampleAveragedAnalogInputRaw(this, analogInput->m_port,
status);
}
+ /**
+ * Returns averaged analog input voltage from DMA.
+ *
+ * @param analogInput AnalogInput used for DMA.
+ * @param status DMA read status.
+ * @return Averaged analog input voltage from DMA.
+ */
double GetAveragedAnalogInputVoltage(const AnalogInput* analogInput,
int32_t* status) {
return HAL_GetAnalogValueToVolts(
@@ -90,18 +187,40 @@
status);
}
+ /**
+ * Returns analog accumulator value from DMA.
+ *
+ * @param analogInput AnalogInput used for DMA.
+ * @param count Accumulator sample count.
+ * @param value Accumulator value.
+ * @param status DMA read status.
+ */
void GetAnalogAccumulator(const AnalogInput* analogInput, int64_t* count,
int64_t* value, int32_t* status) const {
return HAL_GetDMASampleAnalogAccumulator(this, analogInput->m_port, count,
value, status);
}
+ /**
+ * Returns raw duty cycle output from DMA.
+ *
+ * @param dutyCycle DutyCycle used for DMA.
+ * @param status DMA read status.
+ * @return Raw duty cycle output from DMA.
+ */
int32_t GetDutyCycleOutputRaw(const DutyCycle* dutyCycle,
int32_t* status) const {
return HAL_GetDMASampleDutyCycleOutputRaw(this, dutyCycle->m_handle,
status);
}
+ /**
+ * Returns duty cycle output (0-1) from DMA.
+ *
+ * @param dutyCycle DutyCycle used for DMA.
+ * @param status DMA read status.
+ * @return Duty cycle output (0-1) from DMA.
+ */
double GetDutyCycleOutput(const DutyCycle* dutyCycle, int32_t* status) {
return GetDutyCycleOutputRaw(dutyCycle, status) /
static_cast<double>(dutyCycle->GetOutputScaleFactor());
diff --git a/wpilibc/src/main/native/include/frc/DataLogManager.h b/wpilibc/src/main/native/include/frc/DataLogManager.h
index 336af4a..f171cd3 100644
--- a/wpilibc/src/main/native/include/frc/DataLogManager.h
+++ b/wpilibc/src/main/native/include/frc/DataLogManager.h
@@ -17,8 +17,8 @@
* Centralized data log that provides automatic data log file management. It
* automatically cleans up old files when disk space is low and renames the file
* based either on current date/time or (if available) competition match number.
- * The deta file will be saved to a USB flash drive if one is attached, or to
- * /home/lvuser otherwise.
+ * The data file will be saved to a USB flash drive in a folder named "logs" if
+ * one is attached, or to /home/lvuser/logs otherwise.
*
* Log files are initially named "FRC_TBD_{random}.wpilog" until the DS
* connects. After the DS connects, the log file is renamed to
diff --git a/wpilibc/src/main/native/include/frc/DoubleSolenoid.h b/wpilibc/src/main/native/include/frc/DoubleSolenoid.h
index f02ba5a..57c2c11 100644
--- a/wpilibc/src/main/native/include/frc/DoubleSolenoid.h
+++ b/wpilibc/src/main/native/include/frc/DoubleSolenoid.h
@@ -25,7 +25,17 @@
class DoubleSolenoid : public wpi::Sendable,
public wpi::SendableHelper<DoubleSolenoid> {
public:
- enum Value { kOff, kForward, kReverse };
+ /**
+ * Possible values for a DoubleSolenoid.
+ */
+ enum Value {
+ /// Off position.
+ kOff,
+ /// Forward position.
+ kForward,
+ /// Reverse position.
+ kReverse
+ };
/**
* Constructs a double solenoid for a specified module of a specific module
diff --git a/wpilibc/src/main/native/include/frc/DriverStation.h b/wpilibc/src/main/native/include/frc/DriverStation.h
index ea568a7..b9b683f 100644
--- a/wpilibc/src/main/native/include/frc/DriverStation.h
+++ b/wpilibc/src/main/native/include/frc/DriverStation.h
@@ -22,9 +22,31 @@
*/
class DriverStation final {
public:
- enum Alliance { kRed, kBlue };
- enum MatchType { kNone, kPractice, kQualification, kElimination };
+ /**
+ * The robot alliance that the robot is a part of.
+ */
+ enum Alliance {
+ /// Red alliance.
+ kRed,
+ /// Blue alliance.
+ kBlue
+ };
+ /**
+ * The type of robot match that the robot is part of.
+ */
+ enum MatchType {
+ /// None.
+ kNone,
+ /// Practice.
+ kPractice,
+ /// Qualification.
+ kQualification,
+ /// Elimination.
+ kElimination
+ };
+
+ /// Number of Joystick ports.
static constexpr int kJoystickPorts = 6;
/**
@@ -274,14 +296,13 @@
static int GetReplayNumber();
/**
- * Return the alliance that the driver station says it is on from the FMS.
+ * Get the current alliance from the FMS.
*
* If the FMS is not connected, it is set from the team alliance setting on
* the driver station.
*
- * This could return kRed or kBlue.
- *
- * @return The Alliance enum (kRed, kBlue or kInvalid)
+ * @return The alliance (red or blue) or an empty optional if the alliance is
+ * invalid
*/
static std::optional<Alliance> GetAlliance();
@@ -334,9 +355,25 @@
*/
static double GetBatteryVoltage();
+ /**
+ * Copy data from the DS task for the user. If no new data exists, it will
+ * just be returned, otherwise the data will be copied from the DS polling
+ * loop.
+ */
static void RefreshData();
+ /**
+ * Registers the given handle for DS data refresh notifications.
+ *
+ * @param handle The event handle.
+ */
static void ProvideRefreshedDataEventHandle(WPI_EventHandle handle);
+
+ /**
+ * Unregisters the given handle from DS data refresh notifications.
+ *
+ * @param handle The event handle.
+ */
static void RemoveRefreshedDataEventHandle(WPI_EventHandle handle);
/**
diff --git a/wpilibc/src/main/native/include/frc/Encoder.h b/wpilibc/src/main/native/include/frc/Encoder.h
index 7315e16..8d6c10a 100644
--- a/wpilibc/src/main/native/include/frc/Encoder.h
+++ b/wpilibc/src/main/native/include/frc/Encoder.h
@@ -42,10 +42,17 @@
friend class DMASample;
public:
+ /**
+ * Encoder indexing types.
+ */
enum IndexingType {
+ /// Reset while the signal is high.
kResetWhileHigh,
+ /// Reset while the signal is low.
kResetWhileLow,
+ /// Reset on falling edge of the signal.
kResetOnFallingEdge,
+ /// Reset on rising edge of the signal.
kResetOnRisingEdge
};
diff --git a/wpilibc/src/main/native/include/frc/GenericHID.h b/wpilibc/src/main/native/include/frc/GenericHID.h
index f6db94c..aac4bec 100644
--- a/wpilibc/src/main/native/include/frc/GenericHID.h
+++ b/wpilibc/src/main/native/include/frc/GenericHID.h
@@ -23,25 +23,55 @@
*/
class GenericHID {
public:
- enum RumbleType { kLeftRumble, kRightRumble, kBothRumble };
+ /**
+ * Represents a rumble output on the Joystick.
+ */
+ enum RumbleType {
+ /// Left rumble motor.
+ kLeftRumble,
+ /// Right rumble motor.
+ kRightRumble,
+ /// Both left and right rumble motors.
+ kBothRumble
+ };
+ /**
+ * USB HID interface type.
+ */
enum HIDType {
+ /// Unknown.
kUnknown = -1,
+ /// XInputUnknown.
kXInputUnknown = 0,
+ /// XInputGamepad.
kXInputGamepad = 1,
+ /// XInputWheel.
kXInputWheel = 2,
+ /// XInputArcadeStick.
kXInputArcadeStick = 3,
+ /// XInputFlightStick.
kXInputFlightStick = 4,
+ /// XInputDancePad.
kXInputDancePad = 5,
+ /// XInputGuitar.
kXInputGuitar = 6,
+ /// XInputGuitar2.
kXInputGuitar2 = 7,
+ /// XInputDrumKit.
kXInputDrumKit = 8,
+ /// XInputGuitar3.
kXInputGuitar3 = 11,
+ /// XInputArcadePad.
kXInputArcadePad = 19,
+ /// HIDJoystick.
kHIDJoystick = 20,
+ /// HIDGamepad.
kHIDGamepad = 21,
+ /// HIDDriving.
kHIDDriving = 22,
+ /// HIDFlight.
kHIDFlight = 23,
+ /// HID1stPerson.
kHID1stPerson = 24
};
diff --git a/wpilibc/src/main/native/include/frc/I2C.h b/wpilibc/src/main/native/include/frc/I2C.h
index 9489fcf..07f3d4a 100644
--- a/wpilibc/src/main/native/include/frc/I2C.h
+++ b/wpilibc/src/main/native/include/frc/I2C.h
@@ -22,7 +22,15 @@
*/
class I2C {
public:
- enum Port { kOnboard = 0, kMXP };
+ /**
+ * I2C connection ports.
+ */
+ enum Port {
+ /// Onboard I2C port.
+ kOnboard = 0,
+ /// MXP (roboRIO MXP) I2C port.
+ kMXP
+ };
/**
* Constructor.
@@ -37,7 +45,18 @@
I2C(I2C&&) = default;
I2C& operator=(I2C&&) = default;
+ /**
+ * Returns I2C port.
+ *
+ * @return I2C port.
+ */
Port GetPort() const;
+
+ /**
+ * Returns I2C device address.
+ *
+ * @return I2C device address.
+ */
int GetDeviceAddress() const;
/**
diff --git a/wpilibc/src/main/native/include/frc/IterativeRobotBase.h b/wpilibc/src/main/native/include/frc/IterativeRobotBase.h
index 42b0c71..be7687d 100644
--- a/wpilibc/src/main/native/include/frc/IterativeRobotBase.h
+++ b/wpilibc/src/main/native/include/frc/IterativeRobotBase.h
@@ -215,7 +215,7 @@
/**
* Sets whether LiveWindow operation is enabled during test mode.
*
- * @param testLW True to enable, false to disable. Defaults to true.
+ * @param testLW True to enable, false to disable. Defaults to false.
* @throws if called in test mode.
*/
void EnableLiveWindowInTest(bool testLW);
@@ -243,6 +243,9 @@
IterativeRobotBase(IterativeRobotBase&&) = default;
IterativeRobotBase& operator=(IterativeRobotBase&&) = default;
+ /**
+ * Loop function.
+ */
void LoopFunc();
private:
@@ -252,7 +255,7 @@
units::second_t m_period;
Watchdog m_watchdog;
bool m_ntFlushEnabled = true;
- bool m_lwEnabledInTest = true;
+ bool m_lwEnabledInTest = false;
bool m_calledDsConnected = false;
void PrintLoopOverrunMessage();
diff --git a/wpilibc/src/main/native/include/frc/Joystick.h b/wpilibc/src/main/native/include/frc/Joystick.h
index a955718..d9c4144 100644
--- a/wpilibc/src/main/native/include/frc/Joystick.h
+++ b/wpilibc/src/main/native/include/frc/Joystick.h
@@ -22,14 +22,42 @@
*/
class Joystick : public GenericHID {
public:
+ /// Default X axis channel.
static constexpr int kDefaultXChannel = 0;
+ /// Default Y axis channel.
static constexpr int kDefaultYChannel = 1;
+ /// Default Z axis channel.
static constexpr int kDefaultZChannel = 2;
+ /// Default twist axis channel.
static constexpr int kDefaultTwistChannel = 2;
+ /// Default throttle axis channel.
static constexpr int kDefaultThrottleChannel = 3;
- enum AxisType { kXAxis, kYAxis, kZAxis, kTwistAxis, kThrottleAxis };
- enum ButtonType { kTriggerButton, kTopButton };
+ /**
+ * Represents an analog axis on a joystick.
+ */
+ enum AxisType {
+ /// X axis.
+ kXAxis,
+ /// Y axis.
+ kYAxis,
+ /// Z axis.
+ kZAxis,
+ /// Twist axis.
+ kTwistAxis,
+ /// Throttle axis.
+ kThrottleAxis
+ };
+
+ /**
+ * Represents a digital button on a joystick.
+ */
+ enum ButtonType {
+ /// kTrigger.
+ kTriggerButton,
+ /// kTop.
+ kTopButton
+ };
/**
* Construct an instance of a joystick.
diff --git a/wpilibc/src/main/native/include/frc/MotorSafety.h b/wpilibc/src/main/native/include/frc/MotorSafety.h
index a17cdc0..efe7806 100644
--- a/wpilibc/src/main/native/include/frc/MotorSafety.h
+++ b/wpilibc/src/main/native/include/frc/MotorSafety.h
@@ -93,12 +93,15 @@
*/
static void CheckMotors();
+ /**
+ * Called to stop the motor when the timeout expires.
+ */
virtual void StopMotor() = 0;
/**
- * The return value from this method is printed out when an error occurs
+ * Returns a description to print when an error occurs.
*
- * This method must not throw!
+ * @return Description to print when an error occurs.
*/
virtual std::string GetDescription() const = 0;
diff --git a/wpilibc/src/main/native/include/frc/PS4Controller.h b/wpilibc/src/main/native/include/frc/PS4Controller.h
index 9487634..881f856 100644
--- a/wpilibc/src/main/native/include/frc/PS4Controller.h
+++ b/wpilibc/src/main/native/include/frc/PS4Controller.h
@@ -11,10 +11,14 @@
/**
* Handle input from PS4 controllers connected to the Driver Station.
*
- * <p>This class handles PS4 input that comes from the Driver Station. Each time
+ * This class handles PS4 input that comes from the Driver Station. Each time
* a value is requested the most recent value is returned. There is a single
* class instance for each controller and the mapping of ports to hardware
* buttons depends on the code in the Driver Station.
+ *
+ * Only first party controllers from Sony are guaranteed to have the correct
+ * mapping, and only through the official NI DS. Sim is not guaranteed to have
+ * the same mapping, as well as any 3rd party controllers.
*/
class PS4Controller : public GenericHID {
public:
@@ -499,29 +503,55 @@
*/
BooleanEvent Touchpad(EventLoop* loop) const;
+ /**
+ * Represents a digital button on a PS4Controller.
+ */
struct Button {
+ /// Square button.
static constexpr int kSquare = 1;
+ /// X button.
static constexpr int kCross = 2;
+ /// Circle button.
static constexpr int kCircle = 3;
+ /// Triangle button.
static constexpr int kTriangle = 4;
+ /// Left Trigger 1 button.
static constexpr int kL1 = 5;
+ /// Right Trigger 1 button.
static constexpr int kR1 = 6;
+ /// Left Trigger 2 button.
static constexpr int kL2 = 7;
+ /// Right Trigger 2 button.
static constexpr int kR2 = 8;
+ /// Share button.
static constexpr int kShare = 9;
+ /// Option button.
static constexpr int kOptions = 10;
+ /// Left stick button.
static constexpr int kL3 = 11;
+ /// Right stick button.
static constexpr int kR3 = 12;
+ /// PlayStation button.
static constexpr int kPS = 13;
+ /// Touchpad click button.
static constexpr int kTouchpad = 14;
};
+ /**
+ * Represents an axis on a PS4Controller.
+ */
struct Axis {
+ /// Left X axis.
static constexpr int kLeftX = 0;
+ /// Left Y axis.
static constexpr int kLeftY = 1;
+ /// Right X axis.
static constexpr int kRightX = 2;
+ /// Right Y axis.
static constexpr int kRightY = 5;
+ /// Left Trigger 2.
static constexpr int kL2 = 3;
+ /// Right Trigger 2.
static constexpr int kR2 = 4;
};
};
diff --git a/wpilibc/src/main/native/include/frc/PS5Controller.h b/wpilibc/src/main/native/include/frc/PS5Controller.h
index 2a24f5e..e9d5235 100644
--- a/wpilibc/src/main/native/include/frc/PS5Controller.h
+++ b/wpilibc/src/main/native/include/frc/PS5Controller.h
@@ -11,10 +11,14 @@
/**
* Handle input from PS5 controllers connected to the Driver Station.
*
- * <p>This class handles PS5 input that comes from the Driver Station. Each time
+ * This class handles PS5 input that comes from the Driver Station. Each time
* a value is requested the most recent value is returned. There is a single
* class instance for each controller and the mapping of ports to hardware
* buttons depends on the code in the Driver Station.
+ *
+ * Only first party controllers from Sony are guaranteed to have the correct
+ * mapping, and only through the official NI DS. Sim is not guaranteed to have
+ * the same mapping, as well as any 3rd party controllers.
*/
class PS5Controller : public GenericHID {
public:
@@ -499,30 +503,56 @@
*/
BooleanEvent Touchpad(EventLoop* loop) const;
+ /**
+ * Represents a digital button on a PS5Controller.
+ */
struct Button {
- static constexpr int kSquare = 3;
- static constexpr int kCross = 1;
- static constexpr int kCircle = 2;
+ /// Square button.
+ static constexpr int kSquare = 1;
+ /// X button.
+ static constexpr int kCross = 2;
+ /// Circle button.
+ static constexpr int kCircle = 3;
+ /// Triangle button.
static constexpr int kTriangle = 4;
+ /// Left trigger 1 button.
static constexpr int kL1 = 5;
+ /// Right trigger 1 button.
static constexpr int kR1 = 6;
+ /// Left trigger 2 button.
static constexpr int kL2 = 7;
+ /// Right trigger 2 button.
static constexpr int kR2 = 8;
+ /// Create button.
static constexpr int kCreate = 9;
+ /// Options button.
static constexpr int kOptions = 10;
- static constexpr int kL3 = 12;
- static constexpr int kR3 = 13;
- static constexpr int kPS = 11;
+ /// Left stick button.
+ static constexpr int kL3 = 11;
+ /// Right stick button.
+ static constexpr int kR3 = 12;
+ /// PlayStation button.
+ static constexpr int kPS = 13;
+ /// Touchpad click button.
static constexpr int kTouchpad = 14;
};
+ /**
+ * Represents an axis on a PS5Controller.
+ */
struct Axis {
+ /// Left X axis.
static constexpr int kLeftX = 0;
+ /// Left Y axis.
static constexpr int kLeftY = 1;
- static constexpr int kRightX = 3;
- static constexpr int kRightY = 4;
- static constexpr int kL2 = 2;
- static constexpr int kR2 = 5;
+ /// Right X axis.
+ static constexpr int kRightX = 2;
+ /// Right Y axis.
+ static constexpr int kRightY = 5;
+ /// Left Trigger 2.
+ static constexpr int kL2 = 3;
+ /// Right Trigger 2.
+ static constexpr int kR2 = 4;
};
};
diff --git a/wpilibc/src/main/native/include/frc/PWM.h b/wpilibc/src/main/native/include/frc/PWM.h
index 0871c9c..c1f162e 100644
--- a/wpilibc/src/main/native/include/frc/PWM.h
+++ b/wpilibc/src/main/native/include/frc/PWM.h
@@ -144,6 +144,9 @@
*/
void SetPeriodMultiplier(PeriodMultiplier mult);
+ /**
+ * Latches PWM to zero.
+ */
void SetZeroLatch();
/**
diff --git a/wpilibc/src/main/native/include/frc/PneumaticHub.h b/wpilibc/src/main/native/include/frc/PneumaticHub.h
index b69b3d5..790a9d0 100644
--- a/wpilibc/src/main/native/include/frc/PneumaticHub.h
+++ b/wpilibc/src/main/native/include/frc/PneumaticHub.h
@@ -7,6 +7,7 @@
#include <memory>
#include <hal/Types.h>
+#include <units/pressure.h>
#include <wpi/DenseMap.h>
#include <wpi/mutex.h>
@@ -157,6 +158,15 @@
uint32_t Brownout : 1;
uint32_t CanWarning : 1;
uint32_t HardwareFault : 1;
+
+ /**
+ * Gets whether there is a fault at the specified channel.
+ * @param channel Channel to check for faults.
+ * @return True if a a fault exists at the channel, otherwise false.
+ * @throws A ChannelIndexOutOfRange error if the provided channel is outside
+ * of the range supported by the hardware.
+ */
+ bool GetChannelFault(int channel) const;
};
/**
diff --git a/wpilibc/src/main/native/include/frc/PneumaticsBase.h b/wpilibc/src/main/native/include/frc/PneumaticsBase.h
index 59f899f..52ae9b0 100644
--- a/wpilibc/src/main/native/include/frc/PneumaticsBase.h
+++ b/wpilibc/src/main/native/include/frc/PneumaticsBase.h
@@ -18,6 +18,10 @@
class Solenoid;
class DoubleSolenoid;
class Compressor;
+
+/**
+ * Base class for pneumatics devices.
+ */
class PneumaticsBase {
public:
virtual ~PneumaticsBase() = default;
diff --git a/wpilibc/src/main/native/include/frc/PneumaticsModuleType.h b/wpilibc/src/main/native/include/frc/PneumaticsModuleType.h
index 7f70662..4fb225a 100644
--- a/wpilibc/src/main/native/include/frc/PneumaticsModuleType.h
+++ b/wpilibc/src/main/native/include/frc/PneumaticsModuleType.h
@@ -5,5 +5,13 @@
#pragma once
namespace frc {
-enum class PneumaticsModuleType { CTREPCM, REVPH };
+/**
+ * Pneumatics module type.
+ */
+enum class PneumaticsModuleType {
+ /// CTRE PCM.
+ CTREPCM,
+ /// REV PH.
+ REVPH
+};
} // namespace frc
diff --git a/wpilibc/src/main/native/include/frc/PowerDistribution.h b/wpilibc/src/main/native/include/frc/PowerDistribution.h
index 763e6bf..4a6eb4f 100644
--- a/wpilibc/src/main/native/include/frc/PowerDistribution.h
+++ b/wpilibc/src/main/native/include/frc/PowerDistribution.h
@@ -17,8 +17,18 @@
class PowerDistribution : public wpi::Sendable,
public wpi::SendableHelper<PowerDistribution> {
public:
+ /// Default module number.
static constexpr int kDefaultModule = -1;
- enum class ModuleType { kCTRE = 1, kRev = 2 };
+
+ /**
+ * Power distribution module type.
+ */
+ enum class ModuleType {
+ /// CTRE (Cross The Road Electronics) CTRE Power Distribution Panel (PDP).
+ kCTRE = 1,
+ /// REV Power Distribution Hub (PDH).
+ kRev = 2
+ };
/**
* Constructs a PowerDistribution object.
@@ -159,8 +169,22 @@
uint32_t Brownout : 1;
uint32_t CanWarning : 1;
uint32_t HardwareFault : 1;
+
+ /**
+ * Gets whether there is a breaker fault at a specified channel.
+ * @param channel Channel to check for faults.
+ * @return If there is a breaker fault.
+ * @throws A ChannelIndexOutOfRange error if the given int is outside of the
+ * range supported by the hardware.
+ */
+ bool GetBreakerFault(int channel) const;
};
+ /**
+ * Returns the power distribution faults.
+ *
+ * @return The power distribution faults.
+ */
Faults GetFaults() const;
struct StickyFaults {
@@ -192,8 +216,23 @@
uint32_t CanWarning : 1;
uint32_t CanBusOff : 1;
uint32_t HasReset : 1;
+
+ /**
+ * Gets whether there is a sticky breaker fault at the specified channel.
+ * @param channel Index to check for sticky faults.
+ * @return True if there is a sticky breaker fault at the channel, otherwise
+ * false.
+ * @throws A ChannelIndexOutOfRange error if the provided channel is outside
+ * of the range supported by the hardware.
+ */
+ bool GetBreakerFault(int channel) const;
};
+ /**
+ * Returns the power distribution sticky faults.
+ *
+ * @return The power distribution sticky faults.
+ */
StickyFaults GetStickyFaults() const;
void InitSendable(wpi::SendableBuilder& builder) override;
diff --git a/wpilibc/src/main/native/include/frc/Relay.h b/wpilibc/src/main/native/include/frc/Relay.h
index 4765c64..d08a000 100644
--- a/wpilibc/src/main/native/include/frc/Relay.h
+++ b/wpilibc/src/main/native/include/frc/Relay.h
@@ -31,8 +31,31 @@
public wpi::Sendable,
public wpi::SendableHelper<Relay> {
public:
- enum Value { kOff, kOn, kForward, kReverse };
- enum Direction { kBothDirections, kForwardOnly, kReverseOnly };
+ /**
+ * The state to drive a Relay to.
+ */
+ enum Value {
+ /// Off.
+ kOff,
+ /// On.
+ kOn,
+ /// Forward.
+ kForward,
+ /// Reverse.
+ kReverse
+ };
+
+ /**
+ * The Direction(s) that a relay is configured to operate in.
+ */
+ enum Direction {
+ /// Both directions are valid.
+ kBothDirections,
+ /// Only forward is valid.
+ kForwardOnly,
+ /// Only reverse is valid.
+ kReverseOnly
+ };
/**
* Relay constructor given a channel.
diff --git a/wpilibc/src/main/native/include/frc/RobotBase.h b/wpilibc/src/main/native/include/frc/RobotBase.h
index 504ac81..6dff369 100644
--- a/wpilibc/src/main/native/include/frc/RobotBase.h
+++ b/wpilibc/src/main/native/include/frc/RobotBase.h
@@ -189,7 +189,9 @@
bool IsTestEnabled() const;
/**
- * Gets the ID of the main robot thread.
+ * Returns the main thread ID.
+ *
+ * @return The main thread ID.
*/
static std::thread::id GetThreadId();
diff --git a/wpilibc/src/main/native/include/frc/RobotController.h b/wpilibc/src/main/native/include/frc/RobotController.h
index bf65a8c..5d8ddfb 100644
--- a/wpilibc/src/main/native/include/frc/RobotController.h
+++ b/wpilibc/src/main/native/include/frc/RobotController.h
@@ -21,6 +21,8 @@
int transmitErrorCount;
};
+enum RadioLEDState { kOff = 0, kGreen = 1, kRed = 2, kOrange = 3 };
+
class RobotController {
public:
RobotController() = delete;
@@ -81,6 +83,10 @@
/**
* Get the state of the "USER" button on the roboRIO.
*
+ * @warning the User Button is used to stop user programs from automatically
+ * loading if it is held for more then 5 seconds. Because of this, it's not
+ * recommended to be used by teams for any other purpose.
+ *
* @return True if the button is currently pressed down
*/
static bool GetUserButton();
@@ -275,6 +281,23 @@
static units::celsius_t GetCPUTemp();
/**
+ * Set the state of the "Radio" LED. On the RoboRIO, this writes to sysfs, so
+ * this function should not be called multiple times per loop cycle to avoid
+ * overruns.
+ * @param state The state to set the LED to.
+ */
+ static void SetRadioLEDState(RadioLEDState state);
+
+ /**
+ * Get the state of the "Radio" LED. On the RoboRIO, this reads from sysfs, so
+ * this function should not be called multiple times per loop cycle to avoid
+ * overruns.
+ *
+ * @return The state of the LED.
+ */
+ static RadioLEDState GetRadioLEDState();
+
+ /**
* Get the current status of the CAN bus.
*
* @return The status of the CAN bus
diff --git a/wpilibc/src/main/native/include/frc/RobotState.h b/wpilibc/src/main/native/include/frc/RobotState.h
index 0489b9b..ec8700e 100644
--- a/wpilibc/src/main/native/include/frc/RobotState.h
+++ b/wpilibc/src/main/native/include/frc/RobotState.h
@@ -6,15 +6,53 @@
namespace frc {
+/**
+ * Robot state utility functions.
+ */
class RobotState {
public:
RobotState() = delete;
+ /**
+ * Returns true if the robot is disabled.
+ *
+ * @return True if the robot is disabled.
+ */
static bool IsDisabled();
+
+ /**
+ * Returns true if the robot is enabled.
+ *
+ * @return True if the robot is enabled.
+ */
static bool IsEnabled();
+
+ /**
+ * Returns true if the robot is E-stopped.
+ *
+ * @return True if the robot is E-stopped.
+ */
static bool IsEStopped();
+
+ /**
+ * Returns true if the robot is in teleop mode.
+ *
+ * @return True if the robot is in teleop mode.
+ */
static bool IsTeleop();
+
+ /**
+ * Returns true if the robot is in autonomous mode.
+ *
+ * @return True if the robot is in autonomous mode.
+ */
static bool IsAutonomous();
+
+ /**
+ * Returns true if the robot is in test mode.
+ *
+ * @return True if the robot is in test mode.
+ */
static bool IsTest();
};
diff --git a/wpilibc/src/main/native/include/frc/RuntimeType.h b/wpilibc/src/main/native/include/frc/RuntimeType.h
index c3a8a0b..2be444a 100644
--- a/wpilibc/src/main/native/include/frc/RuntimeType.h
+++ b/wpilibc/src/main/native/include/frc/RuntimeType.h
@@ -5,5 +5,15 @@
#pragma once
namespace frc {
-enum RuntimeType { kRoboRIO, kRoboRIO2, kSimulation };
+/**
+ * Runtime type.
+ */
+enum RuntimeType {
+ /// roboRIO 1.0.
+ kRoboRIO,
+ /// roboRIO 2.0.
+ kRoboRIO2,
+ /// Simulation runtime.
+ kSimulation
+};
} // namespace frc
diff --git a/wpilibc/src/main/native/include/frc/SPI.h b/wpilibc/src/main/native/include/frc/SPI.h
index 1158cbd..5b170ba 100644
--- a/wpilibc/src/main/native/include/frc/SPI.h
+++ b/wpilibc/src/main/native/include/frc/SPI.h
@@ -25,14 +25,34 @@
*/
class SPI {
public:
- enum Port { kOnboardCS0 = 0, kOnboardCS1, kOnboardCS2, kOnboardCS3, kMXP };
+ /**
+ * SPI port.
+ */
+ enum Port {
+ /// Onboard SPI bus port CS0.
+ kOnboardCS0 = 0,
+ /// Onboard SPI bus port CS1.
+ kOnboardCS1,
+ /// Onboard SPI bus port CS2.
+ kOnboardCS2,
+ /// Onboard SPI bus port CS3.
+ kOnboardCS3,
+ /// MXP (roboRIO MXP) SPI bus port.
+ kMXP
+ };
+
+ /**
+ * SPI mode.
+ */
enum Mode {
- kMode0 = HAL_SPI_kMode0, /*!< Clock idle low, data sampled on rising edge */
- kMode1 =
- HAL_SPI_kMode1, /*!< Clock idle low, data sampled on falling edge */
- kMode2 =
- HAL_SPI_kMode2, /*!< Clock idle high, data sampled on falling edge */
- kMode3 = HAL_SPI_kMode3 /*!< Clock idle high, data sampled on rising edge */
+ /// Clock idle low, data sampled on rising edge.
+ kMode0 = HAL_SPI_kMode0,
+ /// Clock idle low, data sampled on falling edge.
+ kMode1 = HAL_SPI_kMode1,
+ /// Clock idle high, data sampled on falling edge.
+ kMode2 = HAL_SPI_kMode2,
+ /// Clock idle high, data sampled on rising edge.
+ kMode3 = HAL_SPI_kMode3
};
/**
@@ -47,6 +67,11 @@
SPI(SPI&&) = default;
SPI& operator=(SPI&&) = default;
+ /**
+ * Returns the SPI port.
+ *
+ * @return The SPI port.
+ */
Port GetPort() const;
/**
diff --git a/wpilibc/src/main/native/include/frc/SerialPort.h b/wpilibc/src/main/native/include/frc/SerialPort.h
index dcc0a2e..b7784da 100644
--- a/wpilibc/src/main/native/include/frc/SerialPort.h
+++ b/wpilibc/src/main/native/include/frc/SerialPort.h
@@ -26,30 +26,73 @@
*/
class SerialPort {
public:
+ /**
+ * Serial port.
+ */
+ enum Port {
+ /// Onboard serial port on the roboRIO.
+ kOnboard = 0,
+ /// MXP (roboRIO MXP) serial port.
+ kMXP = 1,
+ /// USB serial port (same as KUSB1).
+ kUSB = 2,
+ /// USB serial port 1.
+ kUSB1 = 2,
+ /// USB serial port 2.
+ kUSB2 = 3
+ };
+
+ /**
+ * Represents the parity to use for serial communications.
+ */
enum Parity {
+ /// No parity.
kParity_None = 0,
+ /// Odd parity.
kParity_Odd = 1,
+ /// Even parity.
kParity_Even = 2,
+ /// Parity bit always on.
kParity_Mark = 3,
+ /// Parity bit always off.
kParity_Space = 4
};
+ /**
+ * Represents the number of stop bits to use for Serial Communication.
+ */
enum StopBits {
+ /// One stop bit.
kStopBits_One = 10,
+ /// One and a half stop bits.
kStopBits_OnePointFive = 15,
+ /// Two stop bits.
kStopBits_Two = 20
};
+ /**
+ * Represents what type of flow control to use for serial communication.
+ */
enum FlowControl {
+ /// No flow control.
kFlowControl_None = 0,
+ /// XON/XOFF flow control.
kFlowControl_XonXoff = 1,
+ /// RTS/CTS flow control.
kFlowControl_RtsCts = 2,
+ /// DTS/DSR flow control.
kFlowControl_DtrDsr = 4
};
- enum WriteBufferMode { kFlushOnAccess = 1, kFlushWhenFull = 2 };
-
- enum Port { kOnboard = 0, kMXP = 1, kUSB = 2, kUSB1 = 2, kUSB2 = 3 };
+ /**
+ * Represents which type of buffer mode to use when writing to a serial port.
+ */
+ enum WriteBufferMode {
+ /// Flush the buffer on each access.
+ kFlushOnAccess = 1,
+ /// Flush the buffer when it is full.
+ kFlushWhenFull = 2
+ };
/**
* Create an instance of a Serial Port class.
diff --git a/wpilibc/src/main/native/include/frc/Servo.h b/wpilibc/src/main/native/include/frc/Servo.h
index 9383641..76b39a0 100644
--- a/wpilibc/src/main/native/include/frc/Servo.h
+++ b/wpilibc/src/main/native/include/frc/Servo.h
@@ -19,6 +19,11 @@
class Servo : public PWM {
public:
/**
+ * Constructor.
+ *
+ * By default, 2.4 ms is used as the max PWM value and 0.6 ms is used as the
+ * min PWM value.
+ *
* @param channel The PWM channel to which the servo is attached. 0-9 are
* on-board, 10-19 are on the MXP port
*/
diff --git a/wpilibc/src/main/native/include/frc/StadiaController.h b/wpilibc/src/main/native/include/frc/StadiaController.h
new file mode 100644
index 0000000..cc9dbae
--- /dev/null
+++ b/wpilibc/src/main/native/include/frc/StadiaController.h
@@ -0,0 +1,568 @@
+// 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 "frc/GenericHID.h"
+
+namespace frc {
+
+/**
+ * Handle input from Stadia controllers connected to the Driver
+ * Station.
+ *
+ * This class handles Stadia input that comes from the Driver Station. Each time
+ * a value is requested the most recent value is returned. There is a single
+ * class instance for each controller and the mapping of ports to hardware
+ * buttons depends on the code in the Driver Station.
+ */
+class StadiaController : public GenericHID {
+ public:
+ /**
+ * Construct an instance of a Stadia controller.
+ *
+ * The controller index is the USB port on the Driver Station.
+ *
+ * @param port The port on the Driver Station that the controller is plugged
+ * into (0-5).
+ */
+ explicit StadiaController(int port);
+
+ ~StadiaController() override = default;
+
+ StadiaController(StadiaController&&) = default;
+ StadiaController& operator=(StadiaController&&) = default;
+
+ /**
+ * Get the X axis value of left side of the controller.
+ *
+ * @return the axis value
+ */
+ double GetLeftX() const;
+
+ /**
+ * Get the X axis value of right side of the controller.
+ *
+ * @return the axis value
+ */
+ double GetRightX() const;
+
+ /**
+ * Get the Y axis value of left side of the controller.
+ *
+ * @return the axis value
+ */
+ double GetLeftY() const;
+
+ /**
+ * Get the Y axis value of right side of the controller.
+ *
+ * @return the axis value
+ */
+ double GetRightY() const;
+
+ /**
+ * Read the value of the left bumper (LB) button on the controller.
+ *
+ * @return the state of the button
+ */
+ bool GetLeftBumper() const;
+
+ /**
+ * Read the value of the right bumper (RB) button on the controller.
+ *
+ * @return the state of the button
+ */
+ bool GetRightBumper() const;
+
+ /**
+ * Whether the left bumper (LB) was pressed since the last check.
+ *
+ * @return Whether the button was pressed since the last check
+ */
+ bool GetLeftBumperPressed();
+
+ /**
+ * Whether the right bumper (RB) was pressed since the last check.
+ *
+ * @return Whether the button was pressed since the last check
+ */
+ bool GetRightBumperPressed();
+
+ /**
+ * Whether the left bumper (LB) was released since the last check.
+ *
+ * @return Whether the button was released since the last check.
+ */
+ bool GetLeftBumperReleased();
+
+ /**
+ * Whether the right bumper (RB) was released since the last check.
+ *
+ * @return Whether the button was released since the last check.
+ */
+ bool GetRightBumperReleased();
+
+ /**
+ * Constructs an event instance around the left bumper's digital signal.
+ *
+ * @param loop the event loop instance to attach the event to.
+ * @return an event instance representing the left bumper's digital signal
+ * attached to the given loop.
+ */
+ BooleanEvent LeftBumper(EventLoop* loop) const;
+
+ /**
+ * Constructs an event instance around the right bumper's digital signal.
+ *
+ * @param loop the event loop instance to attach the event to.
+ * @return an event instance representing the right bumper's digital signal
+ * attached to the given loop.
+ */
+ BooleanEvent RightBumper(EventLoop* loop) const;
+
+ /**
+ * Read the value of the left stick button (LSB) on the controller.
+ *
+ * @return the state of the button
+ */
+ bool GetLeftStickButton() const;
+
+ /**
+ * Read the value of the right stick button (RSB) on the controller.
+ *
+ * @return the state of the button
+ */
+ bool GetRightStickButton() const;
+
+ /**
+ * Whether the left stick button (LSB) was pressed since the last check.
+ *
+ * @return Whether the button was pressed since the last check.
+ */
+ bool GetLeftStickButtonPressed();
+
+ /**
+ * Whether the right stick button (RSB) was pressed since the last check.
+ *
+ * @return Whether the button was pressed since the last check
+ */
+ bool GetRightStickButtonPressed();
+
+ /**
+ * Whether the left stick button (LSB) was released since the last check.
+ *
+ * @return Whether the button was released since the last check.
+ */
+ bool GetLeftStickButtonReleased();
+
+ /**
+ * Whether the right stick button (RSB) was released since the last check.
+ *
+ * @return Whether the button was released since the last check.
+ */
+ bool GetRightStickButtonReleased();
+
+ /**
+ * Constructs an event instance around the left stick's digital signal.
+ *
+ * @param loop the event loop instance to attach the event to.
+ * @return an event instance representing the left stick's digital signal
+ * attached to the given loop.
+ */
+ BooleanEvent LeftStick(EventLoop* loop) const;
+
+ /**
+ * Constructs an event instance around the right stick's digital signal.
+ *
+ * @param loop the event loop instance to attach the event to.
+ * @return an event instance representing the right stick's digital signal
+ * attached to the given loop.
+ */
+ BooleanEvent RightStick(EventLoop* loop) const;
+
+ /**
+ * Read the value of the A button on the controller.
+ *
+ * @return The state of the button.
+ */
+ bool GetAButton() const;
+
+ /**
+ * Whether the A button was pressed since the last check.
+ *
+ * @return Whether the button was pressed since the last check.
+ */
+ bool GetAButtonPressed();
+
+ /**
+ * Whether the A button was released since the last check.
+ *
+ * @return Whether the button was released since the last check.
+ */
+ bool GetAButtonReleased();
+
+ /**
+ * Constructs an event instance around the A button's digital signal.
+ *
+ * @param loop the event loop instance to attach the event to.
+ * @return an event instance representing the A button's digital signal
+ * attached to the given loop.
+ */
+ BooleanEvent A(EventLoop* loop) const;
+
+ /**
+ * Read the value of the B button on the controller.
+ *
+ * @return The state of the button.
+ */
+ bool GetBButton() const;
+
+ /**
+ * Whether the B button was pressed since the last check.
+ *
+ * @return Whether the button was pressed since the last check.
+ */
+ bool GetBButtonPressed();
+
+ /**
+ * Whether the B button was released since the last check.
+ *
+ * @return Whether the button was released since the last check.
+ */
+ bool GetBButtonReleased();
+
+ /**
+ * Constructs an event instance around the B button's digital signal.
+ *
+ * @param loop the event loop instance to attach the event to.
+ * @return an event instance representing the B button's digital signal
+ * attached to the given loop.
+ */
+ BooleanEvent B(EventLoop* loop) const;
+
+ /**
+ * Read the value of the X button on the controller.
+ *
+ * @return The state of the button.
+ */
+ bool GetXButton() const;
+
+ /**
+ * Whether the X button was pressed since the last check.
+ *
+ * @return Whether the button was pressed since the last check.
+ */
+ bool GetXButtonPressed();
+
+ /**
+ * Whether the X button was released since the last check.
+ *
+ * @return Whether the button was released since the last check.
+ */
+ bool GetXButtonReleased();
+
+ /**
+ * Constructs an event instance around the X button's digital signal.
+ *
+ * @param loop the event loop instance to attach the event to.
+ * @return an event instance representing the X button's digital signal
+ * attached to the given loop.
+ */
+ BooleanEvent X(EventLoop* loop) const;
+
+ /**
+ * Read the value of the Y button on the controller.
+ *
+ * @return The state of the button.
+ */
+ bool GetYButton() const;
+
+ /**
+ * Whether the Y button was pressed since the last check.
+ *
+ * @return Whether the button was pressed since the last check.
+ */
+ bool GetYButtonPressed();
+
+ /**
+ * Whether the Y button was released since the last check.
+ *
+ * @return Whether the button was released since the last check.
+ */
+ bool GetYButtonReleased();
+
+ /**
+ * Constructs an event instance around the Y button's digital signal.
+ *
+ * @param loop the event loop instance to attach the event to.
+ * @return an event instance representing the Y button's digital signal
+ * attached to the given loop.
+ */
+ BooleanEvent Y(EventLoop* loop) const;
+
+ /**
+ * Read the value of the ellipses button on the controller.
+ *
+ * @return The state of the button.
+ */
+ bool GetEllipsesButton() const;
+
+ /**
+ * Whether the ellipses button was pressed since the last check.
+ *
+ * @return Whether the button was pressed since the last check.
+ */
+ bool GetEllipsesButtonPressed();
+
+ /**
+ * Whether the ellipses button was released since the last check.
+ *
+ * @return Whether the button was released since the last check.
+ */
+ bool GetEllipsesButtonReleased();
+
+ /**
+ * Constructs an event instance around the ellipses button's digital signal.
+ *
+ * @param loop the event loop instance to attach the event to.
+ * @return an event instance representing the ellipses button's digital signal
+ * attached to the given loop.
+ */
+ BooleanEvent Ellipses(EventLoop* loop) const;
+
+ /**
+ * Read the value of the hamburger button on the controller.
+ *
+ * @return The state of the button.
+ */
+ bool GetHamburgerButton() const;
+
+ /**
+ * Whether the hamburger button was pressed since the last check.
+ *
+ * @return Whether the button was pressed since the last check.
+ */
+ bool GetHamburgerButtonPressed();
+
+ /**
+ * Whether the hamburger button was released since the last check.
+ *
+ * @return Whether the button was released since the last check.
+ */
+ bool GetHamburgerButtonReleased();
+
+ /**
+ * Constructs an event instance around the hamburger button's digital signal.
+ *
+ * @param loop the event loop instance to attach the event to.
+ * @return an event instance representing the hamburger button's digital
+ * signal attached to the given loop.
+ */
+ BooleanEvent Hamburger(EventLoop* loop) const;
+
+ /**
+ * Read the value of the stadia button on the controller.
+ *
+ * @return The state of the button.
+ */
+ bool GetStadiaButton() const;
+
+ /**
+ * Whether the stadia button was pressed since the last check.
+ *
+ * @return Whether the button was pressed since the last check.
+ */
+ bool GetStadiaButtonPressed();
+
+ /**
+ * Whether the stadia button was released since the last check.
+ *
+ * @return Whether the button was released since the last check.
+ */
+ bool GetStadiaButtonReleased();
+
+ /**
+ * Constructs an event instance around the stadia button's digital signal.
+ *
+ * @param loop the event loop instance to attach the event to.
+ * @return an event instance representing the stadia button's digital signal
+ * attached to the given loop.
+ */
+ BooleanEvent Stadia(EventLoop* loop) const;
+
+ /**
+ * Read the value of the google button on the controller.
+ *
+ * @return The state of the button.
+ */
+ bool GetGoogleButton() const;
+
+ /**
+ * Whether the google button was pressed since the last check.
+ *
+ * @return Whether the button was pressed since the last check.
+ */
+ bool GetGoogleButtonPressed();
+
+ /**
+ * Whether the google button was released since the last check.
+ *
+ * @return Whether the button was released since the last check.
+ */
+ bool GetGoogleButtonReleased();
+
+ /**
+ * Constructs an event instance around the google button's digital signal.
+ *
+ * @param loop the event loop instance to attach the event to.
+ * @return an event instance representing the google button's digital signal
+ * attached to the given loop.
+ */
+ BooleanEvent Google(EventLoop* loop) const;
+
+ /**
+ * Read the value of the frame button on the controller.
+ *
+ * @return The state of the button.
+ */
+ bool GetFrameButton() const;
+
+ /**
+ * Whether the frame button was pressed since the last check.
+ *
+ * @return Whether the button was pressed since the last check.
+ */
+ bool GetFrameButtonPressed();
+
+ /**
+ * Whether the frame button was released since the last check.
+ *
+ * @return Whether the button was released since the last check.
+ */
+ bool GetFrameButtonReleased();
+
+ /**
+ * Constructs an event instance around the frame button's digital signal.
+ *
+ * @param loop the event loop instance to attach the event to.
+ * @return an event instance representing the frame button's digital signal
+ * attached to the given loop.
+ */
+ BooleanEvent Frame(EventLoop* loop) const;
+
+ /**
+ * Read the value of the left trigger button on the controller.
+ *
+ * @return The state of the button.
+ */
+ bool GetLeftTriggerButton() const;
+
+ /**
+ * Whether the left trigger button was pressed since the last check.
+ *
+ * @return Whether the button was pressed since the last check.
+ */
+ bool GetLeftTriggerButtonPressed();
+
+ /**
+ * Whether the left trigger button was released since the last check.
+ *
+ * @return Whether the button was released since the last check.
+ */
+ bool GetLeftTriggerButtonReleased();
+
+ /**
+ * Constructs an event instance around the left trigger button's digital
+ * signal.
+ *
+ * @param loop the event loop instance to attach the event to.
+ * @return an event instance representing the left trigger button's digital
+ * signal attached to the given loop.
+ */
+ BooleanEvent LeftTrigger(EventLoop* loop) const;
+
+ /**
+ * Read the value of the right trigger button on the controller.
+ *
+ * @return The state of the button.
+ */
+ bool GetRightTriggerButton() const;
+
+ /**
+ * Whether the right trigger button was pressed since the last check.
+ *
+ * @return Whether the button was pressed since the last check.
+ */
+ bool GetRightTriggerButtonPressed();
+
+ /**
+ * Whether the right trigger button was released since the last check.
+ *
+ * @return Whether the button was released since the last check.
+ */
+ bool GetRightTriggerButtonReleased();
+
+ /**
+ * Constructs an event instance around the right trigger button's digital
+ * signal.
+ *
+ * @param loop the event loop instance to attach the event to.
+ * @return an event instance representing the right trigger button's digital
+ * signal attached to the given loop.
+ */
+ BooleanEvent RightTrigger(EventLoop* loop) const;
+
+ /**
+ * Represents a digital button on a StadiaController.
+ */
+ struct Button {
+ /// A button.
+ static constexpr int kA = 1;
+ /// B button.
+ static constexpr int kB = 2;
+ /// X button.
+ static constexpr int kX = 3;
+ /// Y button.
+ static constexpr int kY = 4;
+ /// Left bumper button.
+ static constexpr int kLeftBumper = 5;
+ /// Right bumper button.
+ static constexpr int kRightBumper = 6;
+ /// Left stick button.
+ static constexpr int kLeftStick = 7;
+ /// Right stick button.
+ static constexpr int kRightStick = 8;
+ /// Ellipses button.
+ static constexpr int kEllipses = 9;
+ /// Hamburger button.
+ static constexpr int kHamburger = 10;
+ /// Stadia button.
+ static constexpr int kStadia = 11;
+ /// Right trigger button.
+ static constexpr int kRightTrigger = 12;
+ /// Left trigger button.
+ static constexpr int kLeftTrigger = 13;
+ /// Google button.
+ static constexpr int kGoogle = 14;
+ /// Frame button.
+ static constexpr int kFrame = 15;
+ };
+
+ /**
+ * Represents an axis on a StadiaController.
+ */
+ struct Axis {
+ /// Left X axis.
+ static constexpr int kLeftX = 0;
+ /// Right X axis.
+ static constexpr int kRightX = 4;
+ /// Left Y axis.
+ static constexpr int kLeftY = 1;
+ /// Right Y axis.
+ static constexpr int kRightY = 5;
+ };
+};
+
+} // namespace frc
diff --git a/wpilibc/src/main/native/include/frc/SynchronousInterrupt.h b/wpilibc/src/main/native/include/frc/SynchronousInterrupt.h
index fbe0fca..3e396e8 100644
--- a/wpilibc/src/main/native/include/frc/SynchronousInterrupt.h
+++ b/wpilibc/src/main/native/include/frc/SynchronousInterrupt.h
@@ -25,9 +25,13 @@
* Event trigger combinations for a synchronous interrupt.
*/
enum WaitResult {
+ /// Timeout event.
kTimeout = 0x0,
+ /// Rising edge event.
kRisingEdge = 0x1,
+ /// Falling edge event.
kFallingEdge = 0x100,
+ /// Both rising and falling edge events.
kBoth = 0x101,
};
diff --git a/wpilibc/src/main/native/include/frc/TimedRobot.h b/wpilibc/src/main/native/include/frc/TimedRobot.h
index f32e748..dcc510a 100644
--- a/wpilibc/src/main/native/include/frc/TimedRobot.h
+++ b/wpilibc/src/main/native/include/frc/TimedRobot.h
@@ -29,6 +29,7 @@
*/
class TimedRobot : public IterativeRobotBase {
public:
+ /// Default loop period.
static constexpr auto kDefaultPeriod = 20_ms;
/**
diff --git a/wpilibc/src/main/native/include/frc/Ultrasonic.h b/wpilibc/src/main/native/include/frc/Ultrasonic.h
index 137a5b7..f06392c 100644
--- a/wpilibc/src/main/native/include/frc/Ultrasonic.h
+++ b/wpilibc/src/main/native/include/frc/Ultrasonic.h
@@ -90,6 +90,11 @@
Ultrasonic(Ultrasonic&&) = default;
Ultrasonic& operator=(Ultrasonic&&) = default;
+ /**
+ * Returns the echo channel.
+ *
+ * @return The echo channel.
+ */
int GetEchoChannel() const;
/**
diff --git a/wpilibc/src/main/native/include/frc/XboxController.h b/wpilibc/src/main/native/include/frc/XboxController.h
index 3caba1a..4b720c1 100644
--- a/wpilibc/src/main/native/include/frc/XboxController.h
+++ b/wpilibc/src/main/native/include/frc/XboxController.h
@@ -16,6 +16,10 @@
* value is requested the most recent value is returned. There is a single class
* instance for each controller and the mapping of ports to hardware buttons
* depends on the code in the Driver Station.
+ *
+ * Only first party controllers from Microsoft are guaranteed to have the
+ * correct mapping, and only through the official NI DS. Sim is not guaranteed
+ * to have the same mapping, as well as any 3rd party controllers.
*/
class XboxController : public GenericHID {
public:
@@ -422,25 +426,43 @@
*/
BooleanEvent RightTrigger(EventLoop* loop) const;
+ /** Represents a digital button on an XboxController. */
struct Button {
+ /// Left bumper.
static constexpr int kLeftBumper = 5;
+ /// Right bumper.
static constexpr int kRightBumper = 6;
+ /// Left stick.
static constexpr int kLeftStick = 9;
+ /// Right stick.
static constexpr int kRightStick = 10;
+ /// A.
static constexpr int kA = 1;
+ /// B.
static constexpr int kB = 2;
+ /// X.
static constexpr int kX = 3;
+ /// Y.
static constexpr int kY = 4;
+ /// Back.
static constexpr int kBack = 7;
+ /// Start.
static constexpr int kStart = 8;
};
+ /** Represents an axis on an XboxController. */
struct Axis {
+ /// Left X.
static constexpr int kLeftX = 0;
+ /// Right X.
static constexpr int kRightX = 4;
+ /// Left Y.
static constexpr int kLeftY = 1;
+ /// Right Y.
static constexpr int kRightY = 5;
+ /// Left trigger.
static constexpr int kLeftTrigger = 2;
+ /// Right trigger.
static constexpr int kRightTrigger = 3;
};
};
diff --git a/wpilibc/src/main/native/include/frc/counter/EdgeConfiguration.h b/wpilibc/src/main/native/include/frc/counter/EdgeConfiguration.h
index 508117d..4f5a039 100644
--- a/wpilibc/src/main/native/include/frc/counter/EdgeConfiguration.h
+++ b/wpilibc/src/main/native/include/frc/counter/EdgeConfiguration.h
@@ -5,10 +5,17 @@
#pragma once
namespace frc {
+/**
+ * Edge configuration.
+ */
enum class EdgeConfiguration {
+ /// No edge configuration (neither rising nor falling).
kNone = 0,
+ /// Rising edge configuration.
kRisingEdge = 0x1,
+ /// Falling edge configuration.
kFallingEdge = 0x2,
+ /// Both rising and falling edges configuration.
kBoth = 0x3
};
} // namespace frc
diff --git a/wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h b/wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h
index 2e701a3..ccda644 100644
--- a/wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h
+++ b/wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h
@@ -4,8 +4,10 @@
#pragma once
+#include <functional>
#include <string>
+#include <wpi/deprecated.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
@@ -20,43 +22,9 @@
* the Kit of Parts drive base, "tank drive", or West Coast Drive.
*
* These drive bases typically have drop-center / skid-steer with two or more
- * wheels per side (e.g., 6WD or 8WD). This class takes a MotorController per
- * side. For four and six motor drivetrains, construct and pass in
- * MotorControllerGroup instances as follows.
- *
- * Four motor drivetrain:
- * @code{.cpp}
- * class Robot {
- * public:
- * frc::PWMVictorSPX m_frontLeft{1};
- * frc::PWMVictorSPX m_rearLeft{2};
- * frc::MotorControllerGroup m_left{m_frontLeft, m_rearLeft};
- *
- * frc::PWMVictorSPX m_frontRight{3};
- * frc::PWMVictorSPX m_rearRight{4};
- * frc::MotorControllerGroup m_right{m_frontRight, m_rearRight};
- *
- * frc::DifferentialDrive m_drive{m_left, m_right};
- * };
- * @endcode
- *
- * Six motor drivetrain:
- * @code{.cpp}
- * class Robot {
- * public:
- * frc::PWMVictorSPX m_frontLeft{1};
- * frc::PWMVictorSPX m_midLeft{2};
- * frc::PWMVictorSPX m_rearLeft{3};
- * frc::MotorControllerGroup m_left{m_frontLeft, m_midLeft, m_rearLeft};
- *
- * frc::PWMVictorSPX m_frontRight{4};
- * frc::PWMVictorSPX m_midRight{5};
- * frc::PWMVictorSPX m_rearRight{6};
- * frc::MotorControllerGroup m_right{m_frontRight, m_midRight, m_rearRight};
- *
- * frc::DifferentialDrive m_drive{m_left, m_right};
- * };
- * @endcode
+ * wheels per side (e.g., 6WD or 8WD). This class takes a setter per side. For
+ * four and six motor drivetrains, use CAN motor controller followers or
+ * PWMMotorController::AddFollower().
*
* A differential drive robot has left and right wheels separated by an
* arbitrary width.
@@ -97,17 +65,39 @@
* Uses normalized voltage [-1.0..1.0].
*/
struct WheelSpeeds {
+ /// Left wheel speed.
double left = 0.0;
+ /// Right wheel speed.
double right = 0.0;
};
+ WPI_IGNORE_DEPRECATED
+
+ /**
+ * Construct a DifferentialDrive.
+ *
+ * To pass multiple motors per side, use CAN motor controller followers or
+ * PWMSpeedController::AddFollower(). If a motor needs to be inverted, do so
+ * before passing it in.
+ *
+ * @param leftMotor Left motor.
+ * @param rightMotor Right motor.
+ */
+ DifferentialDrive(MotorController& leftMotor, MotorController& rightMotor);
+
+ WPI_UNIGNORE_DEPRECATED
+
/**
* Construct a DifferentialDrive.
*
* To pass multiple motors per side, use a MotorControllerGroup. If a motor
* needs to be inverted, do so before passing it in.
+ *
+ * @param leftMotor Left motor setter.
+ * @param rightMotor Right motor setter.
*/
- DifferentialDrive(MotorController& leftMotor, MotorController& rightMotor);
+ DifferentialDrive(std::function<void(double)> leftMotor,
+ std::function<void(double)> rightMotor);
~DifferentialDrive() override = default;
@@ -210,8 +200,12 @@
void InitSendable(wpi::SendableBuilder& builder) override;
private:
- MotorController* m_leftMotor;
- MotorController* m_rightMotor;
+ std::function<void(double)> m_leftMotor;
+ std::function<void(double)> m_rightMotor;
+
+ // Used for Sendable property getters
+ double m_leftOutput = 0.0;
+ double m_rightOutput = 0.0;
};
} // namespace frc
diff --git a/wpilibc/src/main/native/include/frc/drive/MecanumDrive.h b/wpilibc/src/main/native/include/frc/drive/MecanumDrive.h
index f4c28f4..6d8ebac 100644
--- a/wpilibc/src/main/native/include/frc/drive/MecanumDrive.h
+++ b/wpilibc/src/main/native/include/frc/drive/MecanumDrive.h
@@ -4,10 +4,12 @@
#pragma once
+#include <functional>
#include <memory>
#include <string>
#include <units/angle.h>
+#include <wpi/deprecated.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
@@ -63,21 +65,49 @@
* Uses normalized voltage [-1.0..1.0].
*/
struct WheelSpeeds {
+ /// Front-left wheel speed.
double frontLeft = 0.0;
+ /// Front-right wheel speed.
double frontRight = 0.0;
+ /// Rear-left wheel speed.
double rearLeft = 0.0;
+ /// Rear-right wheel speed.
double rearRight = 0.0;
};
+ WPI_IGNORE_DEPRECATED
+
/**
* Construct a MecanumDrive.
*
* If a motor needs to be inverted, do so before passing it in.
+ *
+ * @param frontLeftMotor Front-left motor.
+ * @param rearLeftMotor Rear-left motor.
+ * @param frontRightMotor Front-right motor.
+ * @param rearRightMotor Rear-right motor.
*/
MecanumDrive(MotorController& frontLeftMotor, MotorController& rearLeftMotor,
MotorController& frontRightMotor,
MotorController& rearRightMotor);
+ WPI_UNIGNORE_DEPRECATED
+
+ /**
+ * Construct a MecanumDrive.
+ *
+ * If a motor needs to be inverted, do so before passing it in.
+ *
+ * @param frontLeftMotor Front-left motor setter.
+ * @param rearLeftMotor Rear-left motor setter.
+ * @param frontRightMotor Front-right motor setter.
+ * @param rearRightMotor Rear-right motor setter.
+ */
+ MecanumDrive(std::function<void(double)> frontLeftMotor,
+ std::function<void(double)> rearLeftMotor,
+ std::function<void(double)> frontRightMotor,
+ std::function<void(double)> rearRightMotor);
+
~MecanumDrive() override = default;
MecanumDrive(MecanumDrive&&) = default;
@@ -141,10 +171,16 @@
void InitSendable(wpi::SendableBuilder& builder) override;
private:
- MotorController* m_frontLeftMotor;
- MotorController* m_rearLeftMotor;
- MotorController* m_frontRightMotor;
- MotorController* m_rearRightMotor;
+ std::function<void(double)> m_frontLeftMotor;
+ std::function<void(double)> m_rearLeftMotor;
+ std::function<void(double)> m_frontRightMotor;
+ std::function<void(double)> m_rearRightMotor;
+
+ // Used for Sendable property getters
+ double m_frontLeftOutput = 0.0;
+ double m_rearLeftOutput = 0.0;
+ double m_frontRightOutput = 0.0;
+ double m_rearRightOutput = 0.0;
bool reported = false;
};
diff --git a/wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h b/wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h
index b3fb56b..2a74643 100644
--- a/wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h
+++ b/wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h
@@ -23,12 +23,19 @@
* The location of a motor on the robot for the purpose of driving.
*/
enum MotorType {
+ /// Front-left motor.
kFrontLeft = 0,
+ /// Front-right motor.
kFrontRight = 1,
+ /// Rear-left motor.
kRearLeft = 2,
+ /// Rear-right motor.
kRearRight = 3,
+ /// Left motor.
kLeft = 0,
+ /// Right motor.
kRight = 1,
+ /// Back motor.
kBack = 2
};
@@ -70,14 +77,23 @@
std::string GetDescription() const override = 0;
protected:
+ /// Default input deadband.
+ static constexpr double kDefaultDeadband = 0.02;
+
+ /// Default maximum output.
+ static constexpr double kDefaultMaxOutput = 1.0;
+
/**
* Renormalize all wheel speeds if the magnitude of any wheel is greater than
* 1.0.
*/
static void Desaturate(std::span<double> wheelSpeeds);
- double m_deadband = 0.02;
- double m_maxOutput = 1.0;
+ /// Input deadband.
+ double m_deadband = kDefaultDeadband;
+
+ /// Maximum output.
+ double m_maxOutput = kDefaultMaxOutput;
};
} // namespace frc
diff --git a/wpilibc/src/main/native/include/frc/event/EventLoop.h b/wpilibc/src/main/native/include/frc/event/EventLoop.h
index 224dd3b..dca6122 100644
--- a/wpilibc/src/main/native/include/frc/event/EventLoop.h
+++ b/wpilibc/src/main/native/include/frc/event/EventLoop.h
@@ -38,5 +38,6 @@
private:
std::vector<wpi::unique_function<void()>> m_bindings;
+ bool m_running{false};
};
} // namespace frc
diff --git a/wpilibc/src/main/native/include/frc/interfaces/Accelerometer.h b/wpilibc/src/main/native/include/frc/interfaces/Accelerometer.h
index 77f1d5b..ceafeba 100644
--- a/wpilibc/src/main/native/include/frc/interfaces/Accelerometer.h
+++ b/wpilibc/src/main/native/include/frc/interfaces/Accelerometer.h
@@ -20,7 +20,27 @@
Accelerometer(Accelerometer&&) = default;
Accelerometer& operator=(Accelerometer&&) = default;
- enum Range { kRange_2G = 0, kRange_4G = 1, kRange_8G = 2, kRange_16G = 3 };
+ /**
+ * Accelerometer range.
+ */
+ enum Range {
+ /**
+ * 2 Gs max.
+ */
+ kRange_2G = 0,
+ /**
+ * 4 Gs max.
+ */
+ kRange_4G = 1,
+ /**
+ * 8 Gs max.
+ */
+ kRange_8G = 2,
+ /**
+ * 16 Gs max.
+ */
+ kRange_16G = 3
+ };
/**
* Common interface for setting the measuring range of an accelerometer.
diff --git a/wpilibc/src/main/native/include/frc/internal/DriverStationModeThread.h b/wpilibc/src/main/native/include/frc/internal/DriverStationModeThread.h
index f4fd11c..e646e15 100644
--- a/wpilibc/src/main/native/include/frc/internal/DriverStationModeThread.h
+++ b/wpilibc/src/main/native/include/frc/internal/DriverStationModeThread.h
@@ -8,9 +8,16 @@
#include <thread>
namespace frc::internal {
+/**
+ * For internal use only.
+ */
class DriverStationModeThread {
public:
+ /**
+ * For internal use only.
+ */
DriverStationModeThread();
+
~DriverStationModeThread();
DriverStationModeThread(const DriverStationModeThread& other) = delete;
@@ -19,9 +26,39 @@
delete;
DriverStationModeThread& operator=(DriverStationModeThread&& other) = delete;
- void InAutonomous(bool entering);
+ /**
+ * Only to be used to tell the Driver Station what code you claim to be
+ * executing for diagnostic purposes only.
+ *
+ * @param entering If true, starting disabled code; if false, leaving disabled
+ * code
+ */
void InDisabled(bool entering);
+
+ /**
+ * Only to be used to tell the Driver Station what code you claim to be
+ * executing for diagnostic purposes only.
+ *
+ * @param entering If true, starting autonomous code; if false, leaving
+ * autonomous code
+ */
+ void InAutonomous(bool entering);
+
+ /**
+ * Only to be used to tell the Driver Station what code you claim to be
+ * executing for diagnostic purposes only.
+ *
+ * @param entering If true, starting teleop code; if false, leaving teleop
+ * code
+ */
void InTeleop(bool entering);
+
+ /**
+ * Only to be used to tell the Driver Station what code you claim to be
+ * executing for diagnostic purposes only.
+ *
+ * @param entering If true, starting test code; if false, leaving test code
+ */
void InTest(bool entering);
private:
diff --git a/wpilibc/src/main/native/include/frc/livewindow/LiveWindow.h b/wpilibc/src/main/native/include/frc/livewindow/LiveWindow.h
index 3714146..2f0a349 100644
--- a/wpilibc/src/main/native/include/frc/livewindow/LiveWindow.h
+++ b/wpilibc/src/main/native/include/frc/livewindow/LiveWindow.h
@@ -19,14 +19,14 @@
class LiveWindow final {
public:
/**
- * Set function to be called when LiveWindow is enabled.
+ * Sets function to be called when LiveWindow is enabled.
*
* @param func function (or nullptr for none)
*/
static void SetEnabledCallback(std::function<void()> func);
/**
- * Set function to be called when LiveWindow is disabled.
+ * Sets function to be called when LiveWindow is disabled.
*
* @param func function (or nullptr for none)
*/
@@ -56,6 +56,11 @@
*/
static void EnableAllTelemetry();
+ /**
+ * Returns true if LiveWindow is enabled.
+ *
+ * @return True if LiveWindow is enabled.
+ */
static bool IsEnabled();
/**
diff --git a/wpilibc/src/main/native/include/frc/motorcontrol/MotorControllerGroup.h b/wpilibc/src/main/native/include/frc/motorcontrol/MotorControllerGroup.h
index 99a9e4e..6500fb3 100644
--- a/wpilibc/src/main/native/include/frc/motorcontrol/MotorControllerGroup.h
+++ b/wpilibc/src/main/native/include/frc/motorcontrol/MotorControllerGroup.h
@@ -7,23 +7,42 @@
#include <functional>
#include <vector>
+#include <wpi/deprecated.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
#include "frc/motorcontrol/MotorController.h"
+WPI_IGNORE_DEPRECATED
+
namespace frc {
/**
* Allows multiple MotorController objects to be linked together.
*/
-class MotorControllerGroup : public wpi::Sendable,
- public MotorController,
- public wpi::SendableHelper<MotorControllerGroup> {
+class [[deprecated(
+ "Use PWMMotorController::AddFollower() or if using CAN motor controllers,"
+ "use their method of following.")]] MotorControllerGroup
+ : public wpi::Sendable,
+ public MotorController,
+ public wpi::SendableHelper<MotorControllerGroup> {
public:
+ /**
+ * Create a new MotorControllerGroup with the provided MotorControllers.
+ *
+ * @tparam MotorControllers The MotorController types.
+ * @param motorController The first MotorController to add
+ * @param motorControllers The MotorControllers to add
+ */
template <class... MotorControllers>
explicit MotorControllerGroup(MotorController& motorController,
MotorControllers&... motorControllers);
+
+ /**
+ * Create a new MotorControllerGroup with the provided MotorControllers.
+ *
+ * @param motorControllers The MotorControllers to add.
+ */
explicit MotorControllerGroup(
std::vector<std::reference_wrapper<MotorController>>&& motorControllers);
@@ -50,3 +69,5 @@
} // namespace frc
#include "frc/motorcontrol/MotorControllerGroup.inc"
+
+WPI_UNIGNORE_DEPRECATED
diff --git a/wpilibc/src/main/native/include/frc/motorcontrol/NidecBrushless.h b/wpilibc/src/main/native/include/frc/motorcontrol/NidecBrushless.h
index cc95d71..d50c836 100644
--- a/wpilibc/src/main/native/include/frc/motorcontrol/NidecBrushless.h
+++ b/wpilibc/src/main/native/include/frc/motorcontrol/NidecBrushless.h
@@ -6,6 +6,7 @@
#include <string>
+#include <wpi/deprecated.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
@@ -16,6 +17,8 @@
namespace frc {
+WPI_IGNORE_DEPRECATED
+
/**
* Nidec Brushless Motor.
*/
@@ -95,4 +98,6 @@
double m_speed = 0.0;
};
+WPI_UNIGNORE_DEPRECATED
+
} // namespace frc
diff --git a/wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h b/wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h
index bca5d7f..54a16bb 100644
--- a/wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h
+++ b/wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h
@@ -4,9 +4,16 @@
#pragma once
+#include <concepts>
+#include <memory>
#include <string>
#include <string_view>
+#include <type_traits>
+#include <utility>
+#include <vector>
+#include <units/voltage.h>
+#include <wpi/deprecated.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
@@ -17,6 +24,8 @@
namespace frc {
class DMA;
+WPI_IGNORE_DEPRECATED
+
/**
* Common base class for all PWM Motor Controllers.
*/
@@ -41,6 +50,20 @@
void Set(double value) override;
/**
+ * Sets the voltage output of the PWMMotorController. Compensates for
+ * the current bus voltage to ensure that the desired voltage is output even
+ * if the battery voltage is below 12V - highly useful when the voltage
+ * outputs are "meaningful" (e.g. they come from a feedforward calculation).
+ *
+ * <p>NOTE: This function *must* be called regularly in order for voltage
+ * compensation to work properly - unlike the ordinary set function, it is not
+ * "set it and forget it."
+ *
+ * @param output The voltage to output.
+ */
+ void SetVoltage(units::volt_t output) override;
+
+ /**
* Get the recently set value of the PWM. This value is affected by the
* inversion property. If you want the value that is sent directly to the
* MotorController, use PWM::GetSpeed() instead.
@@ -71,6 +94,24 @@
*/
void EnableDeadbandElimination(bool eliminateDeadband);
+ /**
+ * Make the given PWM motor controller follow the output of this one.
+ *
+ * @param follower The motor controller follower.
+ */
+ void AddFollower(PWMMotorController& follower);
+
+ /**
+ * Make the given PWM motor controller follow the output of this one.
+ *
+ * @param follower The motor controller follower.
+ */
+ template <std::derived_from<PWMMotorController> T>
+ void AddFollower(T&& follower) {
+ m_owningFollowers.emplace_back(
+ std::make_unique<std::decay_t<T>>(std::forward<T>(follower)));
+ }
+
protected:
/**
* Constructor for a PWM Motor %Controller connected via PWM.
@@ -83,12 +124,17 @@
void InitSendable(wpi::SendableBuilder& builder) override;
+ /// PWM instances for motor controller.
PWM m_pwm;
private:
bool m_isInverted = false;
+ std::vector<PWMMotorController*> m_nonowningFollowers;
+ std::vector<std::unique_ptr<PWMMotorController>> m_owningFollowers;
PWM* GetPwm() { return &m_pwm; }
};
+WPI_UNIGNORE_DEPRECATED
+
} // namespace frc
diff --git a/wpilibc/src/main/native/include/frc/motorcontrol/PWMSparkFlex.h b/wpilibc/src/main/native/include/frc/motorcontrol/PWMSparkFlex.h
new file mode 100644
index 0000000..3106921
--- /dev/null
+++ b/wpilibc/src/main/native/include/frc/motorcontrol/PWMSparkFlex.h
@@ -0,0 +1,41 @@
+// 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 "frc/motorcontrol/PWMMotorController.h"
+
+namespace frc {
+
+/**
+ * REV Robotics SPARK Flex Motor %Controller.
+ *
+ * Note that the SPARK Flex 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 SPARK Flex User
+ * Manual available from REV Robotics.
+ *
+ * \li 2.003ms = full "forward"
+ * \li 1.550ms = the "high end" of the deadband range
+ * \li 1.500ms = center of the deadband range (off)
+ * \li 1.460ms = the "low end" of the deadband range
+ * \li 0.999ms = full "reverse"
+ */
+class PWMSparkFlex : public PWMMotorController {
+ public:
+ /**
+ * Constructor for a SPARK Flex.
+ *
+ * @param channel The PWM channel that the SPARK Flex is attached to. 0-9 are
+ * on-board, 10-19 are on the MXP port
+ */
+ explicit PWMSparkFlex(int channel);
+
+ PWMSparkFlex(PWMSparkFlex&&) = default;
+ PWMSparkFlex& operator=(PWMSparkFlex&&) = default;
+};
+
+} // namespace frc
diff --git a/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardComponent.h b/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardComponent.h
index fc15948..8cb8673 100644
--- a/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardComponent.h
+++ b/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardComponent.h
@@ -26,6 +26,13 @@
template <typename Derived>
class ShuffleboardComponent : public ShuffleboardComponentBase {
public:
+ /**
+ * Constructs a ShuffleboardComponent.
+ *
+ * @param parent The parent container.
+ * @param title The component title.
+ * @param type The component type.
+ */
ShuffleboardComponent(ShuffleboardContainer& parent, std::string_view title,
std::string_view type = "");
diff --git a/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardEventImportance.h b/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardEventImportance.h
index 1fa9c91..ea251ec 100644
--- a/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardEventImportance.h
+++ b/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardEventImportance.h
@@ -14,6 +14,11 @@
enum ShuffleboardEventImportance { kTrivial, kLow, kNormal, kHigh, kCritical };
+/**
+ * Returns name of the given enum.
+ *
+ * @return Name of the given enum.
+ */
inline std::string_view ShuffleboardEventImportanceName(
ShuffleboardEventImportance importance) {
switch (importance) {
diff --git a/wpilibc/src/main/native/include/frc/simulation/ADXL345Sim.h b/wpilibc/src/main/native/include/frc/simulation/ADXL345Sim.h
index af96b39..3cf6162 100644
--- a/wpilibc/src/main/native/include/frc/simulation/ADXL345Sim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/ADXL345Sim.h
@@ -14,7 +14,7 @@
namespace sim {
/**
- * Class to control a simulated ADXRS450 gyroscope.
+ * Class to control a simulated ADXL345.
*/
class ADXL345Sim {
public:
diff --git a/wpilibc/src/main/native/include/frc/simulation/ADXL362Sim.h b/wpilibc/src/main/native/include/frc/simulation/ADXL362Sim.h
index 269732b..cc63af2 100644
--- a/wpilibc/src/main/native/include/frc/simulation/ADXL362Sim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/ADXL362Sim.h
@@ -13,7 +13,7 @@
namespace sim {
/**
- * Class to control a simulated ADXRS450 gyroscope.
+ * Class to control a simulated ADXL362.
*/
class ADXL362Sim {
public:
diff --git a/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h b/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
index 78310d7..644e348 100644
--- a/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
@@ -187,6 +187,13 @@
*/
void SetPose(const frc::Pose2d& pose);
+ /**
+ * The differential drive dynamics function.
+ *
+ * @param x The state.
+ * @param u The input.
+ * @return The state derivative with respect to time.
+ */
Vectord<7> Dynamics(const Vectord<7>& x, const Eigen::Vector2d& u);
class State {
@@ -210,32 +217,54 @@
*/
class KitbotGearing {
public:
+ /// Gear ratio of 12.75:1.
static constexpr double k12p75 = 12.75;
+ /// Gear ratio of 10.71:1.
static constexpr double k10p71 = 10.71;
+ /// Gear ratio of 8.45:1.
static constexpr double k8p45 = 8.45;
+ /// Gear ratio of 7.31:1.
static constexpr double k7p31 = 7.31;
+ /// Gear ratio of 5.95:1.
static constexpr double k5p95 = 5.95;
};
+ /**
+ * Represents common motor layouts of the kit drivetrain.
+ */
class KitbotMotor {
public:
+ /// One CIM motor per drive side.
static constexpr frc::DCMotor SingleCIMPerSide = frc::DCMotor::CIM(1);
+ /// Two CIM motors per drive side.
static constexpr frc::DCMotor DualCIMPerSide = frc::DCMotor::CIM(2);
+ /// One Mini CIM motor per drive side.
static constexpr frc::DCMotor SingleMiniCIMPerSide =
frc::DCMotor::MiniCIM(1);
+ /// Two Mini CIM motors per drive side.
static constexpr frc::DCMotor DualMiniCIMPerSide = frc::DCMotor::MiniCIM(2);
+ /// One Falcon 500 motor per drive side.
static constexpr frc::DCMotor SingleFalcon500PerSide =
frc::DCMotor::Falcon500(1);
+ /// Two Falcon 500 motors per drive side.
static constexpr frc::DCMotor DualFalcon500PerSide =
frc::DCMotor::Falcon500(2);
+ /// One NEO motor per drive side.
static constexpr frc::DCMotor SingleNEOPerSide = frc::DCMotor::NEO(1);
+ /// Two NEO motors per drive side.
static constexpr frc::DCMotor DualNEOPerSide = frc::DCMotor::NEO(2);
};
+ /**
+ * Represents common wheel sizes of the kit drivetrain.
+ */
class KitbotWheelSize {
public:
+ /// Six inch diameter wheels.
static constexpr units::meter_t kSixInch = 6_in;
+ /// Eight inch diameter wheels.
static constexpr units::meter_t kEightInch = 8_in;
+ /// Ten inch diameter wheels.
static constexpr units::meter_t kTenInch = 10_in;
};
diff --git a/wpilibc/src/main/native/include/frc/simulation/GenericHIDSim.h b/wpilibc/src/main/native/include/frc/simulation/GenericHIDSim.h
index 399e0c1..ba56c4d 100644
--- a/wpilibc/src/main/native/include/frc/simulation/GenericHIDSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/GenericHIDSim.h
@@ -136,6 +136,7 @@
double GetRumble(GenericHID::RumbleType type);
protected:
+ /// GenericHID port.
int m_port;
};
diff --git a/wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h b/wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h
index cfc87b2..a4fec00 100644
--- a/wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h
@@ -23,9 +23,9 @@
* voltage). Call the Update() method to update the simulation. Set simulated
* sensor readings with the simulated positions in the GetOutput() method.
*
- * @tparam States The number of states of the system.
- * @tparam Inputs The number of inputs to the system.
- * @tparam Outputs The number of outputs of the system.
+ * @tparam States Number of states of the system.
+ * @tparam Inputs Number of inputs to the system.
+ * @tparam Outputs Number of outputs of the system.
*/
template <int States, int Inputs, int Outputs>
class LinearSystemSim {
@@ -140,11 +140,20 @@
u, frc::RobotController::GetInputVoltage());
}
+ /// The plant that represents the linear system.
LinearSystem<States, Inputs, Outputs> m_plant;
+ /// State vector.
Vectord<States> m_x;
- Vectord<Outputs> m_y;
+
+ /// Input vector.
Vectord<Inputs> m_u;
+
+ /// Output vector.
+ Vectord<Outputs> m_y;
+
+ /// The standard deviations of measurements, used for adding noise to the
+ /// measurements.
std::array<double, Outputs> m_measurementStdDevs;
};
} // namespace frc::sim
diff --git a/wpilibc/src/main/native/include/frc/simulation/PneumaticsBaseSim.h b/wpilibc/src/main/native/include/frc/simulation/PneumaticsBaseSim.h
index 510349f..f3000f4 100644
--- a/wpilibc/src/main/native/include/frc/simulation/PneumaticsBaseSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/PneumaticsBaseSim.h
@@ -177,9 +177,22 @@
virtual void ResetData() = 0;
protected:
+ /// PneumaticsBase index.
const int m_index;
- explicit PneumaticsBaseSim(const PneumaticsBase& module);
+
+ /**
+ * Constructs a PneumaticsBaseSim with the given index.
+ *
+ * @param index The index.
+ */
explicit PneumaticsBaseSim(const int index);
+
+ /**
+ * Constructs a PneumaticsBaseSim for the given module.
+ *
+ * @param module The module.
+ */
+ explicit PneumaticsBaseSim(const PneumaticsBase& module);
};
} // namespace frc::sim
diff --git a/wpilibc/src/main/native/include/frc/simulation/RoboRioSim.h b/wpilibc/src/main/native/include/frc/simulation/RoboRioSim.h
index 64e81e1..6471347 100644
--- a/wpilibc/src/main/native/include/frc/simulation/RoboRioSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/RoboRioSim.h
@@ -11,6 +11,7 @@
#include <units/temperature.h>
#include <units/voltage.h>
+#include "frc/RobotController.h"
#include "frc/simulation/CallbackStore.h"
namespace frc::sim {
@@ -515,6 +516,32 @@
static void SetComments(std::string_view comments);
/**
+ * Register a callback to be run whenever the Radio led state changes.
+ *
+ * @param callback the callback
+ * @param initialNotify whether the callback should be called with the
+ * initial value
+ * @return the CallbackStore object associated with this callback
+ */
+ [[nodiscard]]
+ static std::unique_ptr<CallbackStore> RegisterRadioLEDStateCallback(
+ NotifyCallback callback, bool initialNotify);
+
+ /**
+ * Get the state of the radio led.
+ *
+ * @return The state of the radio led.
+ */
+ static RadioLEDState GetRadioLEDState();
+
+ /**
+ * Set the state of the radio led.
+ *
+ * @param state The state of the radio led.
+ */
+ static void SetRadioLEDState(RadioLEDState state);
+
+ /**
* Reset all simulation data.
*/
static void ResetData();
diff --git a/wpilibc/src/main/native/include/frc/simulation/UltrasonicSim.h b/wpilibc/src/main/native/include/frc/simulation/UltrasonicSim.h
index 5db41f7..0d22d87 100644
--- a/wpilibc/src/main/native/include/frc/simulation/UltrasonicSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/UltrasonicSim.h
@@ -36,14 +36,14 @@
/**
* Sets if the range measurement is valid.
*
- * @param isValid True if valid
+ * @param valid True if valid
*/
- void SetRangeValid(bool isValid);
+ void SetRangeValid(bool valid);
/**
- * Sets the range measurement
+ * Sets the range measurement.
*
- * @param range The range
+ * @param range The range.
*/
void SetRange(units::inch_t range);
diff --git a/wpilibc/src/main/native/include/frc/smartdashboard/SendableBuilderImpl.h b/wpilibc/src/main/native/include/frc/smartdashboard/SendableBuilderImpl.h
index baee6ff..2051d1b 100644
--- a/wpilibc/src/main/native/include/frc/smartdashboard/SendableBuilderImpl.h
+++ b/wpilibc/src/main/native/include/frc/smartdashboard/SendableBuilderImpl.h
@@ -21,6 +21,9 @@
namespace frc {
+/**
+ * Implementation detail for SendableBuilder.
+ */
class SendableBuilderImpl : public nt::NTSendableBuilder {
public:
SendableBuilderImpl() = default;
diff --git a/wpilibc/src/main/native/include/frc/sysid/SysIdRoutineLog.h b/wpilibc/src/main/native/include/frc/sysid/SysIdRoutineLog.h
new file mode 100644
index 0000000..7f106bd
--- /dev/null
+++ b/wpilibc/src/main/native/include/frc/sysid/SysIdRoutineLog.h
@@ -0,0 +1,194 @@
+// 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 <string_view>
+#include <unordered_map>
+
+#include <units/acceleration.h>
+#include <units/angle.h>
+#include <units/angular_acceleration.h>
+#include <units/angular_velocity.h>
+#include <units/current.h>
+#include <units/length.h>
+#include <units/velocity.h>
+#include <units/voltage.h>
+#include <wpi/DataLog.h>
+
+namespace frc::sysid {
+
+/**
+ * Possible state of a SysId routine.
+ */
+enum class State {
+ /// Quasistatic forward test.
+ kQuasistaticForward,
+ /// Quasistatic reverse test.
+ kQuasistaticReverse,
+ /// Dynamic forward test.
+ kDynamicForward,
+ /// Dynamic reverse test.
+ kDynamicReverse,
+ /// No test.
+ kNone
+};
+
+/**
+ * Utility for logging data from a SysId test routine. Each complete routine
+ * (quasistatic and dynamic, forward and reverse) should have its own
+ * SysIdRoutineLog instance, with a unique log name.
+ */
+class SysIdRoutineLog {
+ using MotorEntries = wpi::StringMap<wpi::log::DoubleLogEntry>;
+ using LogEntries = wpi::StringMap<MotorEntries>;
+
+ public:
+ /** Logs data from a single motor during a SysIdRoutine. */
+ class MotorLog {
+ public:
+ /**
+ * Log a generic data value from the motor.
+ *
+ * @param name The name of the data field being recorded.
+ * @param value The numeric value of the data field.
+ * @param unit The unit string of the data field.
+ * @return The motor log (for call chaining).
+ */
+ MotorLog& value(std::string_view name, double value, std::string_view unit);
+
+ /**
+ * Log the voltage applied to the motor.
+ *
+ * @param voltage The voltage to record.
+ * @return The motor log (for call chaining).
+ */
+ MotorLog& voltage(units::volt_t voltage) {
+ return value("voltage", voltage.value(), voltage.name());
+ }
+
+ /**
+ * Log the linear position of the motor.
+ *
+ * @param position The linear position to record.
+ * @return The motor log (for call chaining).
+ */
+ MotorLog& position(units::meter_t position) {
+ return value("position", position.value(), position.name());
+ }
+
+ /**
+ * Log the angular position of the motor.
+ *
+ * @param position The angular position to record.
+ * @return The motor log (for call chaining).
+ */
+ MotorLog& position(units::turn_t position) {
+ return value("position", position.value(), position.name());
+ }
+
+ /**
+ * Log the linear velocity of the motor.
+ *
+ * @param velocity The linear velocity to record.
+ * @return The motor log (for call chaining).
+ */
+ MotorLog& velocity(units::meters_per_second_t velocity) {
+ return value("velocity", velocity.value(), velocity.name());
+ }
+
+ /**
+ * Log the angular velocity of the motor.
+ *
+ * @param velocity The angular velocity to record.
+ * @return The motor log (for call chaining).
+ */
+ MotorLog& velocity(units::turns_per_second_t velocity) {
+ return value("velocity", velocity.value(), velocity.name());
+ }
+
+ /**
+ * Log the linear acceleration of the motor.
+ *
+ * @param acceleration The linear acceleration to record.
+ * @return The motor log (for call chaining).
+ */
+ MotorLog& acceleration(units::meters_per_second_squared_t acceleration) {
+ return value("acceleration", acceleration.value(), acceleration.name());
+ }
+
+ /**
+ * Log the angular acceleration of the motor.
+ *
+ * @param acceleration The angular acceleration to record.
+ * @return The motor log (for call chaining).
+ */
+ MotorLog& acceleration(units::turns_per_second_squared_t acceleration) {
+ return value("acceleration", acceleration.value(), acceleration.name());
+ }
+
+ /**
+ * Log the current applied to the motor.
+ *
+ * @param current The current to record.
+ * @return The motor log (for call chaining).
+ */
+ MotorLog& current(units::ampere_t current) {
+ return value("current", current.value(), current.name());
+ }
+
+ private:
+ friend class SysIdRoutineLog;
+ /**
+ * Create a new SysId motor log handle.
+ *
+ * @param motorName The name of the motor whose data is being logged.
+ * @param logName The name of the SysIdRoutineLog that this motor belongs
+ * to.
+ * @param logEntries The DataLog entries of the SysIdRoutineLog that this
+ * motor belongs to.
+ */
+ MotorLog(std::string_view motorName, std::string_view logName,
+ LogEntries* logEntries);
+ std::string m_motorName;
+ std::string m_logName;
+ LogEntries* m_logEntries;
+ };
+
+ /**
+ * Create a new logging utility for a SysId test routine.
+ *
+ * @param logName The name for the test routine in the log. Should be unique
+ * between complete test routines (quasistatic and dynamic, forward and
+ * reverse). The current state of this test (e.g. "quasistatic-forward")
+ * will appear in WPILog under the "sysid-test-state-logName" entry.
+ */
+ explicit SysIdRoutineLog(std::string_view logName);
+
+ /**
+ * Records the current state of the SysId test routine. Should be called once
+ * per iteration during tests with the type of the current test, and once upon
+ * test end with state `none`.
+ *
+ * @param state The current state of the SysId test routine.
+ */
+ void RecordState(State state);
+
+ /**
+ * Log data from a motor during a SysId routine.
+ *
+ * @param motorName The name of the motor.
+ * @return Handle with chainable callbacks to log individual data fields.
+ */
+ MotorLog Motor(std::string_view motorName);
+
+ static std::string StateEnumToString(State state);
+
+ private:
+ LogEntries m_logEntries;
+ std::string m_logName;
+ wpi::log::StringLogEntry m_state;
+};
+} // namespace frc::sysid
diff --git a/wpilibc/src/main/native/include/frc/util/Color.h b/wpilibc/src/main/native/include/frc/util/Color.h
index 87d8c12..f51d3b1 100644
--- a/wpilibc/src/main/native/include/frc/util/Color.h
+++ b/wpilibc/src/main/native/include/frc/util/Color.h
@@ -5,7 +5,14 @@
#pragma once
#include <algorithm>
+#include <stdexcept>
#include <string>
+#include <string_view>
+
+#include <fmt/core.h>
+#include <gcem.hpp>
+#include <wpi/StringExtras.h>
+#include <wpi/ct_string.h>
namespace frc {
@@ -739,6 +746,9 @@
*/
static const Color kYellowGreen;
+ /**
+ * Constructs a default color (black).
+ */
constexpr Color() = default;
/**
@@ -763,6 +773,33 @@
constexpr Color(int r, int g, int b)
: Color(r / 255.0, g / 255.0, b / 255.0) {}
+ /**
+ * Constructs a Color from a hex string.
+ *
+ * @param hexString a string of the format <tt>\#RRGGBB</tt>
+ * @throws std::invalid_argument if the hex string is invalid.
+ */
+ explicit constexpr Color(std::string_view hexString) {
+ if (hexString.length() != 7 || !hexString.starts_with("#") ||
+ !wpi::isHexDigit(hexString[1]) || !wpi::isHexDigit(hexString[2]) ||
+ !wpi::isHexDigit(hexString[3]) || !wpi::isHexDigit(hexString[4]) ||
+ !wpi::isHexDigit(hexString[5]) || !wpi::isHexDigit(hexString[6])) {
+ throw std::invalid_argument(
+ fmt::format("Invalid hex string for Color \"{}\"", hexString));
+ }
+
+ int r = wpi::hexDigitValue(hexString[1]) * 16 +
+ wpi::hexDigitValue(hexString[2]);
+ int g = wpi::hexDigitValue(hexString[3]) * 16 +
+ wpi::hexDigitValue(hexString[4]);
+ int b = wpi::hexDigitValue(hexString[5]) * 16 +
+ wpi::hexDigitValue(hexString[6]);
+
+ red = r / 255.0;
+ green = g / 255.0;
+ blue = b / 255.0;
+ }
+
constexpr bool operator==(const Color&) const = default;
/**
@@ -816,19 +853,29 @@
*
* @return a string of the format <tt>\#RRGGBB</tt>
*/
- std::string HexString() const;
+ constexpr auto HexString() const {
+ const int r = 255.0 * red;
+ const int g = 255.0 * green;
+ const int b = 255.0 * blue;
+ return wpi::ct_string<char, std::char_traits<char>, 7>{
+ {'#', wpi::hexdigit(r / 16), wpi::hexdigit(r % 16),
+ wpi::hexdigit(g / 16), wpi::hexdigit(g % 16), wpi::hexdigit(b / 16),
+ wpi::hexdigit(b % 16)}};
+ }
+
+ /// Red component (0-1).
double red = 0.0;
+
+ /// Green component (0-1).
double green = 0.0;
+
+ /// Blue component (0-1).
double blue = 0.0;
private:
- static constexpr double kPrecision = 1.0 / (1 << 12);
-
static constexpr double roundAndClamp(double value) {
- const auto rounded =
- (static_cast<int>(value / kPrecision) + 0.5) * kPrecision;
- return std::clamp(rounded, 0.0, 1.0);
+ return std::clamp(gcem::ceil(value * (1 << 12)) / (1 << 12), 0.0, 1.0);
}
};
diff --git a/wpilibc/src/main/native/include/frc/util/Color8Bit.h b/wpilibc/src/main/native/include/frc/util/Color8Bit.h
index 10afead..f4bc104 100644
--- a/wpilibc/src/main/native/include/frc/util/Color8Bit.h
+++ b/wpilibc/src/main/native/include/frc/util/Color8Bit.h
@@ -5,7 +5,13 @@
#pragma once
#include <algorithm>
+#include <stdexcept>
#include <string>
+#include <string_view>
+
+#include <fmt/core.h>
+#include <wpi/StringExtras.h>
+#include <wpi/ct_string.h>
#include "Color.h"
@@ -16,6 +22,9 @@
*/
class Color8Bit {
public:
+ /**
+ * Constructs a default color (black).
+ */
constexpr Color8Bit() = default;
/**
@@ -40,21 +49,79 @@
green(color.green * 255),
blue(color.blue * 255) {}
+ /**
+ * Constructs a Color8Bit from a hex string.
+ *
+ * @param hexString a string of the format <tt>\#RRGGBB</tt>
+ * @throws std::invalid_argument if the hex string is invalid.
+ */
+ explicit constexpr Color8Bit(std::string_view hexString) {
+ if (hexString.length() != 7 || !hexString.starts_with("#") ||
+ !wpi::isHexDigit(hexString[1]) || !wpi::isHexDigit(hexString[2]) ||
+ !wpi::isHexDigit(hexString[3]) || !wpi::isHexDigit(hexString[4]) ||
+ !wpi::isHexDigit(hexString[5]) || !wpi::isHexDigit(hexString[6])) {
+ throw std::invalid_argument(
+ fmt::format("Invalid hex string for Color \"{}\"", hexString));
+ }
+
+ red = wpi::hexDigitValue(hexString[1]) * 16 +
+ wpi::hexDigitValue(hexString[2]);
+ green = wpi::hexDigitValue(hexString[3]) * 16 +
+ wpi::hexDigitValue(hexString[4]);
+ blue = wpi::hexDigitValue(hexString[5]) * 16 +
+ wpi::hexDigitValue(hexString[6]);
+ }
+
+ constexpr bool operator==(const Color8Bit&) const = default;
+
constexpr operator Color() const { // NOLINT
return Color(red / 255.0, green / 255.0, blue / 255.0);
}
- constexpr bool operator==(const Color8Bit&) const = default;
+ /**
+ * Create a Color8Bit from a hex string.
+ *
+ * @param hexString a string of the format <tt>\#RRGGBB</tt>
+ * @return Color8Bit object from hex string.
+ * @throws std::invalid_argument if the hex string is invalid.
+ */
+ static constexpr Color8Bit FromHexString(std::string_view hexString) {
+ if (hexString.length() != 7 || !hexString.starts_with("#") ||
+ !wpi::isHexDigit(hexString[1]) || !wpi::isHexDigit(hexString[2]) ||
+ !wpi::isHexDigit(hexString[3]) || !wpi::isHexDigit(hexString[4]) ||
+ !wpi::isHexDigit(hexString[5]) || !wpi::isHexDigit(hexString[6])) {
+ throw std::invalid_argument(
+ fmt::format("Invalid hex string for Color \"{}\"", hexString));
+ }
+
+ int r = wpi::hexDigitValue(hexString[0]) * 16 +
+ wpi::hexDigitValue(hexString[1]);
+ int g = wpi::hexDigitValue(hexString[2]) * 16 +
+ wpi::hexDigitValue(hexString[3]);
+ int b = wpi::hexDigitValue(hexString[4]) * 16 +
+ wpi::hexDigitValue(hexString[5]);
+ return Color8Bit{r, g, b};
+ }
/**
* Return this color represented as a hex string.
*
* @return a string of the format <tt>\#RRGGBB</tt>
*/
- std::string HexString() const;
+ constexpr auto HexString() const {
+ return wpi::ct_string<char, std::char_traits<char>, 7>{
+ {'#', wpi::hexdigit(red / 16), wpi::hexdigit(red % 16),
+ wpi::hexdigit(green / 16), wpi::hexdigit(green % 16),
+ wpi::hexdigit(blue / 16), wpi::hexdigit(blue % 16)}};
+ }
+ /// Red component (0-255).
int red = 0;
+
+ /// Green component (0-255).
int green = 0;
+
+ /// Blue component (0-255).
int blue = 0;
};