Dustin Spicuzza

Creating 2 ADXRS450_Gyro devices in simulation hangs the robot

2

**Describe the bug** Creating 2 ADXRS450_Gyro devices in simulation hangs the robot program. **To Reproduce** ``` $ python Python 3.10.1 (main, Dec 7 2021, 00:00:00) [GCC 11.2.1 20210728 (Red Hat...

[C++] AHRS object doesn't have a destructor and isn't suitable for unit testing

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When I destroy a AHRS object in RobotPy's unit testing framework (when restarting robot code between tests), the navx task appears to still be running and crashes. It appears that...

Sample output reported by a user when NavX and REV were running in simulation together: > I just found an issue with the print statements before the simulator runs. A...

Link to python packages for NavX

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NavX support is now included in RobotPy as of 2016.1.1, in the robotpy-wpilib-utilities package. Documentation can be found on our [readthedocs website](http://robotpy-wpilib-utilities.readthedocs.org/en/latest/robotpy_ext.common_drivers.navx.html). I haven't ported all of the samples over...

Calls to setUpdateRateHz, zeroyaw, zeroDisplacement freeze robot code for at least 1ms, but up to 16ms

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This is a similar issue to one that affected NetworkTables in prior years. When calling any of those APIs, they eventually call into the RegisterIO_* functions... which try to obtain...

getLastSensorTimestamp doesn't document the units that the timestamp is measured in

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Seconds? ms? ns? years?

Forgot to add `- first_address` to it? https://github.com/kauailabs/navxmxp/blob/master/roborio/java/navx_frc/src/com/kauailabs/navx/frc/RegisterIO.java#L120

Java AHRS: getDisplacement functions return wrong value

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They return `integrator.getVelocity*()` instead of `integrator.getDisplacementX()`.

Java AHRS: synchronized blocks used unnecessarily?

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I note that the C++ AHRS implementation doesn't use any kind of synchronization in `SetYawPitchRoll`, `SetAHRSPosData`, et al. In the java implementation, each one of the set\* functions have a...

It would be great if you uploaded this project to pypi so one could just do 'pip install pygephi'. Here's a setup.py for that, all you need to do is...