allwpilib
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Official Repository of WPILibJ and WPILibC
The current implementation of desaturateWheelSpeeds allows joystick inputs to saturate for swerve drive. For proper normalization, the following conditions must be met simultaneously with no discontinuous scaling applied: - The...
Part of #4355. Added conversions for Falcon Integrated Encoder position & velocity.
Many of the library commands and subsystems such as `PIDSubsystem` and `SequentialCommandGroup` use the interface methods to control their behavior. Everything about this is fine when using commands inline, but...
**Is your feature request related to a problem? Please describe.** Currently there is no convenient inline syntax for adding end behavior to an existing aggregation of commands. https://github.com/wpilibsuite/allwpilib/pull/4192 addresses the...
Partially resolves #3536: this handles the command part of the issue. The problem with subsystems will be handled, possibly in a different PR, somehow else.
We have a student with a Microsoft Surface Pro and discovered that the windows 64 bit installer of WPILib does not work on ARM based machines. We don't expect a...
I don't think this happens and it should if the current behavior is silent no-op.
**Describe the bug** https://github.com/wpilibsuite/allwpilib/blob/main/wpilibc/src/test/native/cpp/simulation/StateSpaceSimTest.cpp only has the one test of flywheelSim. Add the rest. **To Reproduce** Steps to reproduce the behavior: 1. Watch intently at your screen and observe the...
**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...
Allows (Java) users to use `SwerveDriveOdometry#updateWithTime()` and `SwerveDriveOdometry#update()` with a `ChassisSpeeds`, instead of just with `SwerveModuleState[]`.