allwpilib

allwpilib copied to clipboard

Add joystick normalization for swerve

2

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...

JoshuaAN

Add Falcon Conversions

3

Part of #4355. Added conversions for Falcon Integrated Encoder position & velocity.

siddhxrth

Make vital functions in compound Subsystem and Command classes non-overridable

7

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...

Starlight220

Command-based `finally` (or `onEnd`) decorator

5

**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...

Oblarg

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.

Starlight220

Support for Windows ARM such as Microsoft Surface Pro

9

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...

philltran

Document that SimValues are writeable from anywhere in code

6

I don't think this happens and it should if the current behavior is silent no-op.

Starlight220

StateSpaceSimTest is Missing State Space Sim Tests

2

**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...

modelmat

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...

virtuald

Allows (Java) users to use `SwerveDriveOdometry#updateWithTime()` and `SwerveDriveOdometry#update()` with a `ChassisSpeeds`, instead of just with `SwerveModuleState[]`.

jonahsnider