From 0cec78a7580f59749ee82b1e9e85ac725059e5d1 Mon Sep 17 00:00:00 2001 From: Gold856 <117957790+Gold856@users.noreply.github.com> Date: Tue, 14 May 2024 23:47:12 -0400 Subject: [PATCH 1/4] Fix typos --- README-CMAKE.md | 2 +- .../edu/wpi/first/cscore/VideoListener.java | 2 +- cscore/src/main/native/include/cscore_cv.h | 2 +- cscore/src/main/native/include/cscore_oo.h | 4 +- .../edu/wpi/first/hal/AddressableLEDJNI.java | 2 +- .../java/edu/wpi/first/hal/AnalogGyroJNI.java | 2 +- .../java/edu/wpi/first/hal/AnalogJNI.java | 2 +- .../edu/wpi/first/hal/DriverStationJNI.java | 2 +- .../main/java/edu/wpi/first/hal/REVPHJNI.java | 2 +- .../hal/util/CheckedAllocationException.java | 2 +- hal/src/main/native/athena/DMA.cpp | 6 +-- hal/src/main/native/athena/HAL.cpp | 2 +- hal/src/main/native/include/hal/AnalogGyro.h | 2 +- .../main/native/include/hal/AnalogTrigger.h | 2 +- ntcore/doc/networktables4.adoc | 2 +- .../main/java/NetworkTablesJNI.java.jinja | 4 +- .../first/networktables/NetworkTablesJNI.java | 4 +- .../src/test/native/cpp/LocalStorageTest.cpp | 4 +- .../include/sysid/analysis/AnalysisManager.h | 4 +- .../main/native/include/sysid/analysis/OLS.h | 2 +- .../wpi/first/wpilibj2/command/Commands.java | 2 +- wpilibc/src/main/native/cpp/PneumaticHub.cpp | 4 +- .../native/include/frc/AnalogTriggerOutput.h | 2 +- wpilibc/src/main/native/include/frc/Counter.h | 6 +-- .../src/main/native/include/frc/SerialPort.h | 2 +- .../cpp/simulation/AccelerometerSimTest.cpp | 10 ++--- .../native/cpp/simulation/RelaySimTest.cpp | 2 +- .../FlywheelBangBangController/cpp/Robot.cpp | 8 ++-- wpilibj/CMakeLists.txt | 2 +- .../java/edu/wpi/first/wpilibj/Counter.java | 4 +- .../edu/wpi/first/wpilibj/SerialPort.java | 2 +- .../first/wpilibj/drive/RobotDriveBase.java | 2 +- .../simulation/DifferentialDrivetrainSim.java | 2 +- .../flywheelbangbangcontroller/Robot.java | 8 ++-- .../first/wpilibj/examples/gyro/Robot.java | 2 +- .../estimator/MerweScaledSigmaPoints.java | 2 +- .../java/edu/wpi/first/math/jni/DAREJNI.java | 2 +- .../first/math/kinematics/ChassisSpeeds.java | 2 +- .../DifferentialDriveWheelPositions.java | 4 +- .../math/system/NumericalIntegration.java | 2 +- .../math/trajectory/ExponentialProfile.java | 2 +- .../math/trajectory/TrapezoidProfile.java | 38 +++++++++---------- .../DifferentialDriveAccelerationLimiter.h | 2 +- .../KalmanFilterLatencyCompensator.h | 2 +- .../frc/estimator/MerweScaledSigmaPoints.h | 2 +- .../frc/estimator/SteadyStateKalmanFilter.h | 2 +- .../frc/estimator/UnscentedTransform.h | 2 +- .../include/frc/kinematics/ChassisSpeeds.h | 4 +- .../frc/trajectory/ExponentialProfile.h | 2 +- .../include/frc/trajectory/TrapezoidProfile.h | 4 +- .../frc/trajectory/TrapezoidProfile.inc | 36 +++++++++--------- .../math/controller/ArmFeedforwardTest.java | 4 +- ...ferentialDriveAccelerationLimiterTest.java | 2 +- .../controller/ElevatorFeedforwardTest.java | 4 +- .../DifferentialDrivePoseEstimatorTest.java | 2 +- .../MecanumDrivePoseEstimatorTest.java | 2 +- .../SwerveDrivePoseEstimatorTest.java | 2 +- .../wpi/first/math/geometry/Twist2dTest.java | 2 +- .../wpi/first/math/geometry/Twist3dTest.java | 2 +- ...fferentialDriveAccelerationLimiterTest.cpp | 2 +- .../DifferentialDrivePoseEstimatorTest.cpp | 2 +- .../MecanumDrivePoseEstimatorTest.cpp | 2 +- .../SwerveDrivePoseEstimatorTest.cpp | 2 +- .../native/cpp/filter/SlewRateLimiterTest.cpp | 2 +- .../cpp/trajectory/ExponentialProfileTest.cpp | 4 +- .../cpp/trajectory/TrapezoidProfileTest.cpp | 2 +- .../main/native/include/wpinet/UrlParser.h | 2 +- .../src/main/native/include/wpinet/uv/Async.h | 4 +- .../src/main/native/include/wpinet/uv/Loop.h | 2 +- .../java/edu/wpi/first/units/Current.java | 2 +- wpiutil/doc/struct.adoc | 2 +- .../java/edu/wpi/first/util/WPIUtilJNI.java | 2 +- .../edu/wpi/first/util/protobuf/Protobuf.java | 4 +- .../edu/wpi/first/util/struct/Struct.java | 4 +- .../main/native/include/wpi/Synchronization.h | 6 +-- wpiutil/src/main/native/include/wpi/string.h | 2 +- 76 files changed, 143 insertions(+), 143 deletions(-) diff --git a/README-CMAKE.md b/README-CMAKE.md index 33602cded93..b6204d3b9af 100644 --- a/README-CMAKE.md +++ b/README-CMAKE.md @@ -176,7 +176,7 @@ After that, run `cmake --build .` to create your JAR file. To execute the JAR fi ## Using vendordeps -Vendordeps are not included as part of the `wpilib` CMake package. However, if you want to use a vendordep, you need to use `find_package(VENDORDEP)`, where `VENDORDEP` is the name of the vendordep (case-sensitive), like `xrpVendordep` or `romiVenderdep`. Note that wpilibNewCommands, while a vendordep in normal robot projects, is not built as a vendordep in CMake, and is instead included as part of the `wpilib` CMake package. After you used `find_package`, you can reference the vendordep library like normal, either by using `target_link_libraries` for C++ or `add_jar` for Java. +Vendordeps are not included as part of the `wpilib` CMake package. However, if you want to use a vendordep, you need to use `find_package(VENDORDEP)`, where `VENDORDEP` is the name of the vendordep (case-sensitive), like `xrpVendordep` or `romiVendordep`. Note that wpilibNewCommands, while a vendordep in normal robot projects, is not built as a vendordep in CMake, and is instead included as part of the `wpilib` CMake package. After you used `find_package`, you can reference the vendordep library like normal, either by using `target_link_libraries` for C++ or `add_jar` for Java. ## Troubleshooting Below are some common issues that are run into when building. diff --git a/cscore/src/main/java/edu/wpi/first/cscore/VideoListener.java b/cscore/src/main/java/edu/wpi/first/cscore/VideoListener.java index e7697cdae27..752f2a69dd3 100644 --- a/cscore/src/main/java/edu/wpi/first/cscore/VideoListener.java +++ b/cscore/src/main/java/edu/wpi/first/cscore/VideoListener.java @@ -11,7 +11,7 @@ import java.util.function.Consumer; /** - * An event listener. This calls back to a desigated callback function when an event matching the + * An event listener. This calls back to a designated callback function when an event matching the * specified mask is generated by the library. */ public class VideoListener implements AutoCloseable { diff --git a/cscore/src/main/native/include/cscore_cv.h b/cscore/src/main/native/include/cscore_cv.h index aec10d4a55c..237c3946afa 100644 --- a/cscore/src/main/native/include/cscore_cv.h +++ b/cscore/src/main/native/include/cscore_cv.h @@ -230,7 +230,7 @@ inline void CvSource::PutFrame(cv::Mat& image) { int channels = finalImage.channels(); VideoMode::PixelFormat format; if (channels == 1) { - // 1 channel is assumed Graysacle + // 1 channel is assumed Grayscale format = VideoMode::PixelFormat::kGray; } else if (channels == 2) { // 2 channels is assumed YUYV diff --git a/cscore/src/main/native/include/cscore_oo.h b/cscore/src/main/native/include/cscore_oo.h index 950fa688eee..8fb8f4be32f 100644 --- a/cscore/src/main/native/include/cscore_oo.h +++ b/cscore/src/main/native/include/cscore_oo.h @@ -524,7 +524,7 @@ class VideoCamera : public VideoSource { void SetWhiteBalanceManual(int value); /** - * Set the exposure to auto aperature. + * Set the exposure to auto aperture. */ void SetExposureAuto(); @@ -1148,7 +1148,7 @@ class VideoEvent : public RawEvent { }; /** - * An event listener. This calls back to a desigated callback function when + * An event listener. This calls back to a designated callback function when * an event matching the specified mask is generated by the library. */ class VideoListener { diff --git a/hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java b/hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java index a7a355237b0..c9a2185bf03 100644 --- a/hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java +++ b/hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java @@ -7,7 +7,7 @@ /** * Addressable LED HAL JNI Methods. * - * @see "hal/AdressableLED.h" + * @see "hal/AddressableLED.h" */ public class AddressableLEDJNI extends JNIWrapper { /** diff --git a/hal/src/main/java/edu/wpi/first/hal/AnalogGyroJNI.java b/hal/src/main/java/edu/wpi/first/hal/AnalogGyroJNI.java index 5d483f9c8a9..f1a4c5ecf2c 100644 --- a/hal/src/main/java/edu/wpi/first/hal/AnalogGyroJNI.java +++ b/hal/src/main/java/edu/wpi/first/hal/AnalogGyroJNI.java @@ -111,7 +111,7 @@ public static native void setAnalogGyroVoltsPerDegreePerSecond( *

Can be used to not repeat a calibration but reconstruct the gyro object. * * @param handle the gyro handle - * @return the gryo offset + * @return the gyro offset * @see "HAL_GetAnalogGyroOffset" */ public static native double getAnalogGyroOffset(int handle); diff --git a/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java b/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java index 2884b8c95f0..f2996f60c2f 100644 --- a/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java +++ b/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java @@ -514,7 +514,7 @@ public static native void setAnalogTriggerFiltered( public static native boolean getAnalogTriggerOutput(int analogTriggerHandle, int type); /** - * Get the FPGA index for the AnlogTrigger. + * Get the FPGA index for the AnalogTrigger. * * @param analogTriggerHandle the trigger handle * @return the FPGA index diff --git a/hal/src/main/java/edu/wpi/first/hal/DriverStationJNI.java b/hal/src/main/java/edu/wpi/first/hal/DriverStationJNI.java index 33cbac62fcb..580dcd1d328 100644 --- a/hal/src/main/java/edu/wpi/first/hal/DriverStationJNI.java +++ b/hal/src/main/java/edu/wpi/first/hal/DriverStationJNI.java @@ -243,7 +243,7 @@ public static AllianceStationID getAllianceStation() { * @param rawAxesArray all joystick axes as int * @param povsArray all povs * @param buttonsAndMetadata array of long joystick axes count, long joystick povs count, long - * jostick buttons count, long joystick buttons values + * joystick buttons count, long joystick buttons values * @see "HAL_GetAllJoystickData" */ public static native void getAllJoystickData( diff --git a/hal/src/main/java/edu/wpi/first/hal/REVPHJNI.java b/hal/src/main/java/edu/wpi/first/hal/REVPHJNI.java index e0ee27eb2e3..29d33664f89 100644 --- a/hal/src/main/java/edu/wpi/first/hal/REVPHJNI.java +++ b/hal/src/main/java/edu/wpi/first/hal/REVPHJNI.java @@ -27,7 +27,7 @@ public class REVPHJNI extends JNIWrapper { * * @param module the CAN ID to initialize * @return the created PH handle - * @see "HAL_InitializeREVP" + * @see "HAL_InitializeREVPH" */ public static native int initialize(int module); diff --git a/hal/src/main/java/edu/wpi/first/hal/util/CheckedAllocationException.java b/hal/src/main/java/edu/wpi/first/hal/util/CheckedAllocationException.java index 81de150a05a..e4301abe88c 100644 --- a/hal/src/main/java/edu/wpi/first/hal/util/CheckedAllocationException.java +++ b/hal/src/main/java/edu/wpi/first/hal/util/CheckedAllocationException.java @@ -5,7 +5,7 @@ package edu.wpi.first.hal.util; /** - * Exception indicating that the resource is already allocated This is meant to be thrown by the + * Exception indicating that the resource is already allocated. This is meant to be thrown by the * resource class. */ public class CheckedAllocationException extends Exception { diff --git a/hal/src/main/native/athena/DMA.cpp b/hal/src/main/native/athena/DMA.cpp index f46969d4fb5..259281fa8cc 100644 --- a/hal/src/main/native/athena/DMA.cpp +++ b/hal/src/main/native/athena/DMA.cpp @@ -159,8 +159,8 @@ void HAL_SetDMAPause(HAL_DMAHandle handle, HAL_Bool pause, int32_t* status) { void HAL_SetDMATimedTrigger(HAL_DMAHandle handle, double seconds, int32_t* status) { - constexpr double baseMultipler = kSystemClockTicksPerMicrosecond * 1000000; - uint32_t cycles = static_cast(baseMultipler * seconds); + constexpr double baseMultiplier = kSystemClockTicksPerMicrosecond * 1000000; + uint32_t cycles = static_cast(baseMultiplier * seconds); HAL_SetDMATimedTriggerCycles(handle, cycles, status); } @@ -564,7 +564,7 @@ int32_t HAL_SetDMAExternalTrigger(HAL_DMAHandle handle, if (!success) { *status = PARAMETER_OUT_OF_RANGE; hal::SetLastError(status, - "Digital Source unabled to be mapped properly. Likely " + "Digital Source unable to be mapped properly. Likely " "invalid handle passed."); return 0; } diff --git a/hal/src/main/native/athena/HAL.cpp b/hal/src/main/native/athena/HAL.cpp index 91bb93be1f9..7c5f1f64a97 100644 --- a/hal/src/main/native/athena/HAL.cpp +++ b/hal/src/main/native/athena/HAL.cpp @@ -479,7 +479,7 @@ HAL_Bool HAL_GetSystemTimeValid(int32_t* status) { static bool killExistingProgram(int timeout, int mode) { // Kill any previous robot programs std::fstream fs; - // By making this both in/out, it won't give us an error if it doesnt exist + // By making this both in/out, it won't give us an error if it doesn't exist fs.open("/var/lock/frc.pid", std::fstream::in | std::fstream::out); if (fs.bad()) { return false; diff --git a/hal/src/main/native/include/hal/AnalogGyro.h b/hal/src/main/native/include/hal/AnalogGyro.h index 6dd948a3268..4f5f73331c6 100644 --- a/hal/src/main/native/include/hal/AnalogGyro.h +++ b/hal/src/main/native/include/hal/AnalogGyro.h @@ -129,7 +129,7 @@ double HAL_GetAnalogGyroRate(HAL_GyroHandle handle, int32_t* status); * * @param[in] handle the gyro handle * @param[out] status Error status variable. 0 on success. - * @return the gryo offset + * @return the gyro offset */ double HAL_GetAnalogGyroOffset(HAL_GyroHandle handle, int32_t* status); diff --git a/hal/src/main/native/include/hal/AnalogTrigger.h b/hal/src/main/native/include/hal/AnalogTrigger.h index e678b6864ef..1a35eea4aa1 100644 --- a/hal/src/main/native/include/hal/AnalogTrigger.h +++ b/hal/src/main/native/include/hal/AnalogTrigger.h @@ -172,7 +172,7 @@ HAL_Bool HAL_GetAnalogTriggerOutput(HAL_AnalogTriggerHandle analogTriggerHandle, int32_t* status); /** - * Get the FPGA index for the AnlogTrigger. + * Get the FPGA index for the AnalogTrigger. * * @param[in] analogTriggerHandle the trigger handle * @param[out] status Error status variable. 0 on success. diff --git a/ntcore/doc/networktables4.adoc b/ntcore/doc/networktables4.adoc index 29e74a14e64..318afac7f85 100644 --- a/ntcore/doc/networktables4.adoc +++ b/ntcore/doc/networktables4.adoc @@ -12,7 +12,7 @@ A pub/sub WebSockets protocol based on NetworkTables concepts. While NetworkTables 4.0 made a large number of improvements to the 3.0 protocol, a few weaknesses have been discovered in "real world" use: -* Keep alives are not required. This can result in very long timeframes before a disconnect is detected. +* Keepalives are not required. This can result in very long timeframes before a disconnect is detected. * Periodic synchronization of timestamps is impacted by high variability of round trip time measurements on a stream connection shared with other data (due to network queueing in adverse network connections), resulting in values being "too old" even if actually more recent due to a change in base time * Disconnect loops can be caused by large amounts of data values being sent in response to a "subscribe all" type of message (e.g. subscribe with empty or `$` prefix), resulting in data transmission being blocked for an excessive amount of time * Publishing operations are not clearly subscriber-driven; the information is available via metatopics but not automatically sent to clients when clients publish diff --git a/ntcore/src/generate/main/java/NetworkTablesJNI.java.jinja b/ntcore/src/generate/main/java/NetworkTablesJNI.java.jinja index 17d15c17540..628006c264c 100644 --- a/ntcore/src/generate/main/java/NetworkTablesJNI.java.jinja +++ b/ntcore/src/generate/main/java/NetworkTablesJNI.java.jinja @@ -448,7 +448,7 @@ public final class NetworkTablesJNI { public static native void releaseEntry(int entry); /** - * Relesaes pubsub entry. + * Releases pubsub entry. * * @param pubsubentry Pubsub entry handle. */ @@ -1002,7 +1002,7 @@ public final class NetworkTablesJNI { /** * Returns the current timestamp in microseconds. * - * @return The current timestsamp in microseconds. + * @return The current timestamp in microseconds. */ public static native long now(); diff --git a/ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java b/ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java index 4741f7642a7..d47add60463 100644 --- a/ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java +++ b/ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java @@ -448,7 +448,7 @@ public static int publishEx( public static native void releaseEntry(int entry); /** - * Relesaes pubsub entry. + * Releases pubsub entry. * * @param pubsubentry Pubsub entry handle. */ @@ -1542,7 +1542,7 @@ public static native void startServer( /** * Returns the current timestamp in microseconds. * - * @return The current timestsamp in microseconds. + * @return The current timestamp in microseconds. */ public static native long now(); diff --git a/ntcore/src/test/native/cpp/LocalStorageTest.cpp b/ntcore/src/test/native/cpp/LocalStorageTest.cpp index cdb52727d8e..5ea4ec5c8ee 100644 --- a/ntcore/src/test/native/cpp/LocalStorageTest.cpp +++ b/ntcore/src/test/native/cpp/LocalStorageTest.cpp @@ -759,7 +759,7 @@ TEST_F(LocalStorageNumberVariantsTest, GetEntryPubAfter) { EXPECT_EQ(storage.GetEntryValue(sub2), Value::MakeInteger(1, 50)); EXPECT_EQ(storage.GetEntryValue(sub3), Value::MakeFloat(1.0, 50)); EXPECT_EQ(storage.GetEntryValue(sub4), Value{}); - // entrys just get whatever the value is + // entries just get whatever the value is EXPECT_EQ(storage.GetEntryValue(entry), Value::MakeDouble(1.0, 50)); } @@ -781,7 +781,7 @@ TEST_F(LocalStorageNumberVariantsTest, GetEntryPubBefore) { EXPECT_EQ(storage.GetEntryValue(sub2), Value::MakeInteger(1, 50)); EXPECT_EQ(storage.GetEntryValue(sub3), Value::MakeFloat(1.0, 50)); EXPECT_EQ(storage.GetEntryValue(sub4), Value{}); - // entrys just get whatever the value is + // entries just get whatever the value is EXPECT_EQ(storage.GetEntryValue(entry), Value::MakeDouble(1.0, 50)); } diff --git a/sysid/src/main/native/include/sysid/analysis/AnalysisManager.h b/sysid/src/main/native/include/sysid/analysis/AnalysisManager.h index 6dfe51cb358..766b8b78f63 100644 --- a/sysid/src/main/native/include/sysid/analysis/AnalysisManager.h +++ b/sysid/src/main/native/include/sysid/analysis/AnalysisManager.h @@ -254,7 +254,7 @@ class AnalysisManager { std::string_view GetUnit() const { return m_data.distanceUnit; } /** - * Returns a reference to the iterator of the currently selected raw datset. + * Returns a reference to the iterator of the currently selected raw dataset. * Unfortunately, due to ImPlot internals, the reference cannot be const so * the user should be careful not to change any data. * @@ -264,7 +264,7 @@ class AnalysisManager { /** * Returns a reference to the iterator of the currently selected filtered - * datset. Unfortunately, due to ImPlot internals, the reference cannot be + * dataset. Unfortunately, due to ImPlot internals, the reference cannot be * const so the user should be careful not to change any data. * * @return A reference to the filtered internal data. diff --git a/sysid/src/main/native/include/sysid/analysis/OLS.h b/sysid/src/main/native/include/sysid/analysis/OLS.h index 43f447a8033..28b6d5704ae 100644 --- a/sysid/src/main/native/include/sysid/analysis/OLS.h +++ b/sysid/src/main/native/include/sysid/analysis/OLS.h @@ -12,7 +12,7 @@ namespace sysid { struct OLSResult { - /// Regression coeficients. + /// Regression coefficients. std::vector coeffs; /// R² (coefficient of determination) diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java index 0d2178f6b57..3632c1100ad 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java @@ -200,7 +200,7 @@ public static Command defer(Supplier supplier, Set requireme * @param supplier the command supplier * @return the command * @deprecated The ProxyCommand supplier constructor has been deprecated in favor of directly - * proxying a {@link DeferredCommand}, see ProxyCommand documentaion for more details. As a + * proxying a {@link DeferredCommand}, see ProxyCommand documentation for more details. As a * replacement, consider using `defer(supplier).asProxy()`. * @see ProxyCommand */ diff --git a/wpilibc/src/main/native/cpp/PneumaticHub.cpp b/wpilibc/src/main/native/cpp/PneumaticHub.cpp index ab402ed37ab..06e37a4a3aa 100644 --- a/wpilibc/src/main/native/cpp/PneumaticHub.cpp +++ b/wpilibc/src/main/native/cpp/PneumaticHub.cpp @@ -148,7 +148,7 @@ void PneumaticHub::EnableCompressorAnalog( units::pounds_per_square_inch_t maxPressure) { if (minPressure >= maxPressure) { throw FRC_MakeError(err::InvalidParameter, - "maxPressure must be greater than minPresure"); + "maxPressure must be greater than minPressure"); } if (minPressure < 0_psi || minPressure > 120_psi) { throw FRC_MakeError(err::ParameterOutOfRange, @@ -178,7 +178,7 @@ void PneumaticHub::EnableCompressorHybrid( units::pounds_per_square_inch_t maxPressure) { if (minPressure >= maxPressure) { throw FRC_MakeError(err::InvalidParameter, - "maxPressure must be greater than minPresure"); + "maxPressure must be greater than minPressure"); } if (minPressure < 0_psi || minPressure > 120_psi) { throw FRC_MakeError(err::ParameterOutOfRange, diff --git a/wpilibc/src/main/native/include/frc/AnalogTriggerOutput.h b/wpilibc/src/main/native/include/frc/AnalogTriggerOutput.h index 88bd6c3cab8..fe22403efb1 100644 --- a/wpilibc/src/main/native/include/frc/AnalogTriggerOutput.h +++ b/wpilibc/src/main/native/include/frc/AnalogTriggerOutput.h @@ -35,7 +35,7 @@ class AnalogTrigger; * / down counter or to interrupts. Because the outputs generate a pulse, they * cannot be read directly. To help ensure that a rollover condition is not * missed, there is an average rejection filter available that operates on the - * upper 8 bits of a 12 bit number and selects the nearest outlyer of 3 samples. + * upper 8 bits of a 12 bit number and selects the nearest outlier of 3 samples. * This will reject a sample that is (due to averaging or sampling) errantly * between the two limits. This filter will fail if more than one sample in a * row is errantly in between the two limits. You may see this problem if diff --git a/wpilibc/src/main/native/include/frc/Counter.h b/wpilibc/src/main/native/include/frc/Counter.h index 3720dde31b3..3f79a707f45 100644 --- a/wpilibc/src/main/native/include/frc/Counter.h +++ b/wpilibc/src/main/native/include/frc/Counter.h @@ -47,8 +47,8 @@ class Counter : public CounterBase, /** * Create an instance of a counter where no sources are selected. * - * They all must be selected by calling functions to specify the upsource and - * the downsource independently. + * They all must be selected by calling functions to specify the up source and + * the down source independently. * * This creates a ChipObject counter and initializes status variables * appropriately. @@ -148,7 +148,7 @@ class Counter : public CounterBase, Counter& operator=(Counter&&) = default; /** - * Set the upsource for the counter as a digital input channel. + * Set the up source for the counter as a digital input channel. * * @param channel The DIO channel to use as the up source. 0-9 are on-board, * 10-25 are on the MXP diff --git a/wpilibc/src/main/native/include/frc/SerialPort.h b/wpilibc/src/main/native/include/frc/SerialPort.h index b7784da794b..a504a1e5103 100644 --- a/wpilibc/src/main/native/include/frc/SerialPort.h +++ b/wpilibc/src/main/native/include/frc/SerialPort.h @@ -34,7 +34,7 @@ class SerialPort { kOnboard = 0, /// MXP (roboRIO MXP) serial port. kMXP = 1, - /// USB serial port (same as KUSB1). + /// USB serial port (same as kUSB1). kUSB = 2, /// USB serial port 1. kUSB1 = 2, diff --git a/wpilibc/src/test/native/cpp/simulation/AccelerometerSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/AccelerometerSimTest.cpp index 328645d25de..6a29b800dfb 100644 --- a/wpilibc/src/test/native/cpp/simulation/AccelerometerSimTest.cpp +++ b/wpilibc/src/test/native/cpp/simulation/AccelerometerSimTest.cpp @@ -13,7 +13,7 @@ namespace frc::sim { -TEST(AcclerometerSimTest, ActiveCallback) { +TEST(AccelerometerSimTest, ActiveCallback) { HAL_Initialize(500, 0); BuiltInAccelerometerSim sim; @@ -39,7 +39,7 @@ TEST(AcclerometerSimTest, ActiveCallback) { EXPECT_TRUE(sim.GetActive()); } -TEST(AcclerometerSimTest, SetX) { +TEST(AccelerometerSimTest, SetX) { HAL_Initialize(500, 0); BuiltInAccelerometerSim sim; sim.ResetData(); @@ -56,7 +56,7 @@ TEST(AcclerometerSimTest, SetX) { EXPECT_EQ(kTestValue, callback.GetLastValue()); } -TEST(AcclerometerSimTest, SetY) { +TEST(AccelerometerSimTest, SetY) { HAL_Initialize(500, 0); BuiltInAccelerometerSim sim; sim.ResetData(); @@ -73,7 +73,7 @@ TEST(AcclerometerSimTest, SetY) { EXPECT_EQ(kTestValue, callback.GetLastValue()); } -TEST(AcclerometerSimTest, SetZ) { +TEST(AccelerometerSimTest, SetZ) { HAL_Initialize(500, 0); BuiltInAccelerometer accel; @@ -91,7 +91,7 @@ TEST(AcclerometerSimTest, SetZ) { EXPECT_EQ(kTestValue, callback.GetLastValue()); } -TEST(AcclerometerSimTest, SetRange) { +TEST(AccelerometerSimTest, SetRange) { HAL_Initialize(500, 0); BuiltInAccelerometerSim sim; diff --git a/wpilibc/src/test/native/cpp/simulation/RelaySimTest.cpp b/wpilibc/src/test/native/cpp/simulation/RelaySimTest.cpp index 200ce111e39..c48515bc2bf 100644 --- a/wpilibc/src/test/native/cpp/simulation/RelaySimTest.cpp +++ b/wpilibc/src/test/native/cpp/simulation/RelaySimTest.cpp @@ -12,7 +12,7 @@ namespace frc::sim { -TEST(RelaySimTest, InitializationBidrectional) { +TEST(RelaySimTest, InitializationBidirectional) { HAL_Initialize(500, 0); RelaySim sim(0); diff --git a/wpilibcExamples/src/main/cpp/examples/FlywheelBangBangController/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/FlywheelBangBangController/cpp/Robot.cpp index fd5b2a2e37f..5a4e18d6285 100644 --- a/wpilibcExamples/src/main/cpp/examples/FlywheelBangBangController/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/FlywheelBangBangController/cpp/Robot.cpp @@ -30,7 +30,7 @@ class Robot : public frc::TimedRobot { // Set setpoint and measurement of the bang-bang controller units::volt_t bangOutput = - m_bangBangControler.Calculate(m_encoder.GetRate(), setpoint.value()) * + m_bangBangController.Calculate(m_encoder.GetRate(), setpoint.value()) * 12_V; // Controls a motor with the output of the BangBang controller and a @@ -41,8 +41,8 @@ class Robot : public frc::TimedRobot { } Robot() { - // Add bang-bang controler to SmartDashboard and networktables. - frc::SmartDashboard::PutData("BangBangControler", &m_bangBangControler); + // Add bang-bang controller to SmartDashboard and networktables. + frc::SmartDashboard::PutData("BangBangController", &m_bangBangController); } /** @@ -72,7 +72,7 @@ class Robot : public frc::TimedRobot { frc::PWMSparkMax m_flywheelMotor{kMotorPort}; frc::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel}; - frc::BangBangController m_bangBangControler; + frc::BangBangController m_bangBangController; // Gains are for example purposes only - must be determined for your own // robot! diff --git a/wpilibj/CMakeLists.txt b/wpilibj/CMakeLists.txt index 440f7585592..5ea91bdee0f 100644 --- a/wpilibj/CMakeLists.txt +++ b/wpilibj/CMakeLists.txt @@ -58,7 +58,7 @@ if(WITH_JAVA_SOURCE) # Generate version file if it wasn't generated already if(NOT WITH_JAVA) configure_file( - src/generate/WPILi1bVersion.java.in + src/generate/WPILibVersion.java.in generated/main/java/edu/wpi/first/wpilibj/WPILibVersion.java ) endif() diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java index eca3dd5a8ff..c4bc1738777 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java @@ -90,7 +90,7 @@ public Counter(final Mode mode) { /** * Create an instance of a counter where no sources are selected. Then they all must be selected - * by calling functions to specify the upsource and the downsource independently. + * by calling functions to specify the up source and the down source independently. * *

The counter will start counting immediately. */ @@ -212,7 +212,7 @@ public int getFPGAIndex() { } /** - * Set the upsource for the counter as a digital input channel. + * Set the up source for the counter as a digital input channel. * * @param channel the DIO channel to count 0-9 are on-board, 10-25 are on the MXP */ diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java index d978d783daf..92f835d3da8 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java @@ -19,7 +19,7 @@ public enum Port { kOnboard(0), /** MXP (roboRIO MXP) serial port. */ kMXP(1), - /** USB serial port (same as KUSB1). */ + /** USB serial port (same as kUSB1). */ kUSB(2), /** USB serial port 1. */ kUSB1(2), diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java index a952b2ecaa6..5250d321e6a 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java @@ -32,7 +32,7 @@ public enum MotorType { kFrontRight(1), /** Rear left motor. */ kRearLeft(2), - /** Reat right motor. */ + /** Rear right motor. */ kRearRight(3), /** Left motor. */ kLeft(0), diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java index a1216598f25..6e25b344393 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java @@ -102,7 +102,7 @@ public DifferentialDrivetrainSim( * @param driveMotor A {@link DCMotor} representing the drivetrain. * @param gearing The gearingRatio ratio of the robot, as output over input. This must be the same * ratio as the ratio used to identify or create the drivetrainPlant. - * @param trackWidthMeters The distance between the two sides of the drivetrian. Can be found with + * @param trackWidthMeters The distance between the two sides of the drivetrain. Can be found with * SysId. * @param wheelRadiusMeters The radius of the wheels on the drivetrain, in meters. * @param measurementStdDevs Standard deviations for measurements, in the form [x, y, heading, diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/flywheelbangbangcontroller/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/flywheelbangbangcontroller/Robot.java index b62c90077af..abba8a7365c 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/flywheelbangbangcontroller/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/flywheelbangbangcontroller/Robot.java @@ -41,7 +41,7 @@ public class Robot extends TimedRobot { private final PWMSparkMax m_flywheelMotor = new PWMSparkMax(kMotorPort); private final Encoder m_encoder = new Encoder(kEncoderAChannel, kEncoderBChannel); - private final BangBangController m_bangBangControler = new BangBangController(); + private final BangBangController m_bangBangController = new BangBangController(); // Gains are for example purposes only - must be determined for your own robot! public static final double kFlywheelKs = 0.0001; // V @@ -69,8 +69,8 @@ public class Robot extends TimedRobot { private final EncoderSim m_encoderSim = new EncoderSim(m_encoder); public Robot() { - // Add bang-bang controler to SmartDashboard and networktables. - SmartDashboard.putData(m_bangBangControler); + // Add bang-bang controller to SmartDashboard and networktables. + SmartDashboard.putData(m_bangBangController); } /** Controls flywheel to a set speed (RPM) controlled by a joystick. */ @@ -84,7 +84,7 @@ public void teleopPeriodic() { * Units.rotationsPerMinuteToRadiansPerSecond(kMaxSetpointValue)); // Set setpoint and measurement of the bang-bang controller - double bangOutput = m_bangBangControler.calculate(m_encoder.getRate(), setpoint) * 12.0; + double bangOutput = m_bangBangController.calculate(m_encoder.getRate(), setpoint) * 12.0; // Controls a motor with the output of the BangBang controller and a // feedforward. The feedforward is reduced slightly to avoid overspeeding diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java index 66a0e6c487c..bb7b913b650 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java @@ -18,7 +18,7 @@ */ public class Robot extends TimedRobot { private static final double kAngleSetpoint = 0.0; - private static final double kP = 0.005; // propotional turning constant + private static final double kP = 0.005; // proportional turning constant // gyro calibration constant, may need to be adjusted; // gyro value of 360 is set to correspond to one full revolution diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/MerweScaledSigmaPoints.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/MerweScaledSigmaPoints.java index 24fa771f339..7c378dff47f 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/estimator/MerweScaledSigmaPoints.java +++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/MerweScaledSigmaPoints.java @@ -19,7 +19,7 @@ * *

States is the dimensionality of the state. 2*States+1 weights will be generated. * - *

[1] R. Van der Merwe "Sigma-Point Kalman Filters for Probabilitic Inference in Dynamic + *

[1] R. Van der Merwe "Sigma-Point Kalman Filters for Probabilistic Inference in Dynamic * State-Space Models" (Doctoral dissertation) * * @param The dimensionality of the state. 2 * States + 1 weights will be generated. diff --git a/wpimath/src/main/java/edu/wpi/first/math/jni/DAREJNI.java b/wpimath/src/main/java/edu/wpi/first/math/jni/DAREJNI.java index 644250f6118..72f3db7171e 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/jni/DAREJNI.java +++ b/wpimath/src/main/java/edu/wpi/first/math/jni/DAREJNI.java @@ -22,7 +22,7 @@ public final class DAREJNI extends WPIMathJNI { * * *

Only use this function if you're sure the preconditions are met. Solves the discrete - * alegebraic Riccati equation. + * algebraic Riccati equation. * * @param A Array containing elements of A in row-major order. * @param B Array containing elements of B in row-major order. diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java index 5ad8f36c5bb..44628733e32 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java +++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java @@ -159,7 +159,7 @@ public static ChassisSpeeds discretize( /** * Discretizes a continuous-time chassis speed. * - *

This function converts a continous-time chassis speed into a discrete-time one such that + *

This function converts a continuous-time chassis speed into a discrete-time one such that * when the discrete-time chassis speed is applied for one timestep, the robot moves as if the * velocity components are independent (i.e., the robot moves v_x * dt along the x-axis, v_y * dt * along the y-axis, and omega * dt around the z-axis). diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java index d97285f646b..24f3070847d 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java +++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java @@ -23,11 +23,11 @@ public class DifferentialDriveWheelPositions /** Distance measured by the right side. */ public double rightMeters; - /** DifferentialDriveWheelPostions struct for serialization. */ + /** DifferentialDriveWheelPositions struct for serialization. */ public static final DifferentialDriveWheelPositionsStruct struct = new DifferentialDriveWheelPositionsStruct(); - /** DifferentialDriveWheelPostions struct for serialization. */ + /** DifferentialDriveWheelPositions struct for serialization. */ public static final DifferentialDriveWheelPositionsProto proto = new DifferentialDriveWheelPositionsProto(); diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java b/wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java index 36d7bcb7a74..feddf66e0a5 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java +++ b/wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java @@ -88,7 +88,7 @@ public static Matrix rk4( /** * Performs 4th order Runge-Kutta integration of dx/dt = f(x) for dt. * - * @param A Num prepresenting the states of the system. + * @param A Num representing the states of the system. * @param f The function to integrate. It must take one argument x. * @param x The initial value of x. * @param dtSeconds The time over which to integrate. diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/ExponentialProfile.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/ExponentialProfile.java index 896ba6bdc51..db6f8f7a1cb 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/ExponentialProfile.java +++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/ExponentialProfile.java @@ -96,7 +96,7 @@ private Constraints(double maxInput, double A, double B) { /** * Computes the max achievable velocity for an Exponential Profile. * - * @return The seady-state velocity achieved by this profile. + * @return The steady-state velocity achieved by this profile. */ public double maxVelocity() { return -maxInput * B / A; diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java index 355981ed2be..c18f1e19d3b 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java +++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java @@ -50,7 +50,7 @@ public class TrapezoidProfile { private double m_endAccel; private double m_endFullSpeed; - private double m_endDeccel; + private double m_endDecel; /** Profile constraints. */ public static class Constraints { @@ -185,7 +185,7 @@ public State calculate(double t, State current, State goal) { m_endAccel = accelerationTime - cutoffBegin; m_endFullSpeed = m_endAccel + fullSpeedDist / m_constraints.maxVelocity; - m_endDeccel = m_endFullSpeed + accelerationTime - cutoffEnd; + m_endDecel = m_endFullSpeed + accelerationTime - cutoffEnd; State result = new State(m_current.position, m_current.velocity); if (t < m_endAccel) { @@ -196,9 +196,9 @@ public State calculate(double t, State current, State goal) { result.position += (m_current.velocity + m_endAccel * m_constraints.maxAcceleration / 2.0) * m_endAccel + m_constraints.maxVelocity * (t - m_endAccel); - } else if (t <= m_endDeccel) { - result.velocity = goal.velocity + (m_endDeccel - t) * m_constraints.maxAcceleration; - double timeLeft = m_endDeccel - t; + } else if (t <= m_endDecel) { + result.velocity = goal.velocity + (m_endDecel - t) * m_constraints.maxAcceleration; + double timeLeft = m_endDecel - t; result.position = goal.position - (goal.velocity + timeLeft * m_constraints.maxAcceleration / 2.0) * timeLeft; @@ -232,7 +232,7 @@ public double timeLeftUntil(double target) { endFullSpeed = Math.max(endFullSpeed, 0); final double acceleration = m_constraints.maxAcceleration; - final double decceleration = -m_constraints.maxAcceleration; + final double deceleration = -m_constraints.maxAcceleration; double distToTarget = Math.abs(target - position); if (distToTarget < 1e-6) { @@ -241,40 +241,40 @@ public double timeLeftUntil(double target) { double accelDist = velocity * endAccel + 0.5 * acceleration * endAccel * endAccel; - double deccelVelocity; + double decelVelocity; if (endAccel > 0) { - deccelVelocity = Math.sqrt(Math.abs(velocity * velocity + 2 * acceleration * accelDist)); + decelVelocity = Math.sqrt(Math.abs(velocity * velocity + 2 * acceleration * accelDist)); } else { - deccelVelocity = velocity; + decelVelocity = velocity; } double fullSpeedDist = m_constraints.maxVelocity * endFullSpeed; - double deccelDist; + double decelDist; if (accelDist > distToTarget) { accelDist = distToTarget; fullSpeedDist = 0; - deccelDist = 0; + decelDist = 0; } else if (accelDist + fullSpeedDist > distToTarget) { fullSpeedDist = distToTarget - accelDist; - deccelDist = 0; + decelDist = 0; } else { - deccelDist = distToTarget - fullSpeedDist - accelDist; + decelDist = distToTarget - fullSpeedDist - accelDist; } double accelTime = (-velocity + Math.sqrt(Math.abs(velocity * velocity + 2 * acceleration * accelDist))) / acceleration; - double deccelTime = - (-deccelVelocity + double decelTime = + (-decelVelocity + Math.sqrt( - Math.abs(deccelVelocity * deccelVelocity + 2 * decceleration * deccelDist))) - / decceleration; + Math.abs(decelVelocity * decelVelocity + 2 * deceleration * decelDist))) + / deceleration; double fullSpeedTime = fullSpeedDist / m_constraints.maxVelocity; - return accelTime + fullSpeedTime + deccelTime; + return accelTime + fullSpeedTime + decelTime; } /** @@ -283,7 +283,7 @@ public double timeLeftUntil(double target) { * @return The total time the profile takes to reach the goal. */ public double totalTime() { - return m_endDeccel; + return m_endDecel; } /** diff --git a/wpimath/src/main/native/include/frc/controller/DifferentialDriveAccelerationLimiter.h b/wpimath/src/main/native/include/frc/controller/DifferentialDriveAccelerationLimiter.h index d84e3cee8d6..108d590b9bc 100644 --- a/wpimath/src/main/native/include/frc/controller/DifferentialDriveAccelerationLimiter.h +++ b/wpimath/src/main/native/include/frc/controller/DifferentialDriveAccelerationLimiter.h @@ -59,7 +59,7 @@ class WPILIB_DLLEXPORT DifferentialDriveAccelerationLimiter { units::radians_per_second_squared_t maxAngularAccel); /** - * Returns the next voltage pair subject to acceleraiton constraints. + * Returns the next voltage pair subject to acceleration constraints. * * @param leftVelocity The left wheel velocity. * @param rightVelocity The right wheel velocity. diff --git a/wpimath/src/main/native/include/frc/estimator/KalmanFilterLatencyCompensator.h b/wpimath/src/main/native/include/frc/estimator/KalmanFilterLatencyCompensator.h index b93d614f016..faa67f6274b 100644 --- a/wpimath/src/main/native/include/frc/estimator/KalmanFilterLatencyCompensator.h +++ b/wpimath/src/main/native/include/frc/estimator/KalmanFilterLatencyCompensator.h @@ -59,7 +59,7 @@ class KalmanFilterLatencyCompensator { * @param observer The observer. * @param u The input at the timestamp. * @param localY The local output at the timestamp - * @param timestamp The timesnap of the state. + * @param timestamp The timestamp of the state. */ void AddObserverState(const KalmanFilterType& observer, Vectord u, Vectord localY, units::second_t timestamp) { diff --git a/wpimath/src/main/native/include/frc/estimator/MerweScaledSigmaPoints.h b/wpimath/src/main/native/include/frc/estimator/MerweScaledSigmaPoints.h index 6395d8d3f1e..ffc65eee854 100644 --- a/wpimath/src/main/native/include/frc/estimator/MerweScaledSigmaPoints.h +++ b/wpimath/src/main/native/include/frc/estimator/MerweScaledSigmaPoints.h @@ -18,7 +18,7 @@ namespace frc { * version seen in most publications. Unless you know better, this should be * your default choice. * - * [1] R. Van der Merwe "Sigma-Point Kalman Filters for Probabilitic + * [1] R. Van der Merwe "Sigma-Point Kalman Filters for Probabilistic * Inference in Dynamic State-Space Models" (Doctoral dissertation) * * @tparam States The dimensionality of the state. 2 * States + 1 weights will diff --git a/wpimath/src/main/native/include/frc/estimator/SteadyStateKalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/SteadyStateKalmanFilter.h index 0604541561b..c63e5802c60 100644 --- a/wpimath/src/main/native/include/frc/estimator/SteadyStateKalmanFilter.h +++ b/wpimath/src/main/native/include/frc/estimator/SteadyStateKalmanFilter.h @@ -48,7 +48,7 @@ class SteadyStateKalmanFilter { using OutputArray = wpi::array; /** - * Constructs a staeady-state Kalman filter with the given plant. + * Constructs a steady-state Kalman filter with the given plant. * * See * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices diff --git a/wpimath/src/main/native/include/frc/estimator/UnscentedTransform.h b/wpimath/src/main/native/include/frc/estimator/UnscentedTransform.h index bec3bc841da..4a99e90157d 100644 --- a/wpimath/src/main/native/include/frc/estimator/UnscentedTransform.h +++ b/wpimath/src/main/native/include/frc/estimator/UnscentedTransform.h @@ -30,7 +30,7 @@ namespace frc { * vectors using a given set of weights. * @param residualFunc A function that computes the residual of two state * vectors (i.e. it subtracts them.) - * @param squareRootR Square-root of the noise covaraince of the sigma points. + * @param squareRootR Square-root of the noise covariance of the sigma points. * * @return Tuple of x, mean of sigma points; S, square-root covariance of * sigmas. diff --git a/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h b/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h index dc490e9b414..299e18a28b2 100644 --- a/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h +++ b/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h @@ -50,7 +50,7 @@ struct WPILIB_DLLEXPORT ChassisSpeeds { } /** - * Disretizes a continuous-time chassis speed. + * Discretizes a continuous-time chassis speed. * * This function converts a continuous-time chassis speed into a discrete-time * one such that when the discrete-time chassis speed is applied for one @@ -85,7 +85,7 @@ struct WPILIB_DLLEXPORT ChassisSpeeds { } /** - * Disretizes a continuous-time chassis speed. + * Discretizes a continuous-time chassis speed. * * This function converts a continuous-time chassis speed into a discrete-time * one such that when the discrete-time chassis speed is applied for one diff --git a/wpimath/src/main/native/include/frc/trajectory/ExponentialProfile.h b/wpimath/src/main/native/include/frc/trajectory/ExponentialProfile.h index 9f836c10363..b5e8952b689 100644 --- a/wpimath/src/main/native/include/frc/trajectory/ExponentialProfile.h +++ b/wpimath/src/main/native/include/frc/trajectory/ExponentialProfile.h @@ -103,7 +103,7 @@ class ExponentialProfile { /** * Computes the max achievable velocity for an Exponential Profile. * - * @return The seady-state velocity achieved by this profile. + * @return The steady-state velocity achieved by this profile. */ Velocity_t MaxVelocity() const { return -maxInput * B / A; } diff --git a/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.h b/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.h index 0f4c65ec884..08df10c8d94 100644 --- a/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.h +++ b/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.h @@ -132,7 +132,7 @@ class TrapezoidProfile { * * @return The total time the profile takes to reach the goal. */ - units::second_t TotalTime() const { return m_endDeccel; } + units::second_t TotalTime() const { return m_endDecel; } /** * Returns true if the profile has reached the goal. @@ -174,7 +174,7 @@ class TrapezoidProfile { units::second_t m_endAccel; units::second_t m_endFullSpeed; - units::second_t m_endDeccel; + units::second_t m_endDecel; }; } // namespace frc diff --git a/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.inc b/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.inc index 75e76d9eeed..4b1eff72b69 100644 --- a/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.inc +++ b/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.inc @@ -58,7 +58,7 @@ TrapezoidProfile::Calculate(units::second_t t, State current, m_endAccel = accelerationTime - cutoffBegin; m_endFullSpeed = m_endAccel + fullSpeedDist / m_constraints.maxVelocity; - m_endDeccel = m_endFullSpeed + accelerationTime - cutoffEnd; + m_endDecel = m_endFullSpeed + accelerationTime - cutoffEnd; State result = m_current; if (t < m_endAccel) { @@ -71,10 +71,10 @@ TrapezoidProfile::Calculate(units::second_t t, State current, m_endAccel * m_constraints.maxAcceleration / 2.0) * m_endAccel + m_constraints.maxVelocity * (t - m_endAccel); - } else if (t <= m_endDeccel) { + } else if (t <= m_endDecel) { result.velocity = - goal.velocity + (m_endDeccel - t) * m_constraints.maxAcceleration; - units::second_t timeLeft = m_endDeccel - t; + goal.velocity + (m_endDecel - t) * m_constraints.maxAcceleration; + units::second_t timeLeft = m_endDecel - t; result.position = goal.position - (goal.velocity + timeLeft * m_constraints.maxAcceleration / 2.0) * @@ -105,7 +105,7 @@ units::second_t TrapezoidProfile::TimeLeftUntil( endFullSpeed = units::math::max(endFullSpeed, 0_s); const Acceleration_t acceleration = m_constraints.maxAcceleration; - const Acceleration_t decceleration = -m_constraints.maxAcceleration; + const Acceleration_t deceleration = -m_constraints.maxAcceleration; Distance_t distToTarget = units::math::abs(target - position); @@ -116,26 +116,26 @@ units::second_t TrapezoidProfile::TimeLeftUntil( Distance_t accelDist = velocity * endAccel + 0.5 * acceleration * endAccel * endAccel; - Velocity_t deccelVelocity; + Velocity_t decelVelocity; if (endAccel > 0_s) { - deccelVelocity = units::math::sqrt( + decelVelocity = units::math::sqrt( units::math::abs(velocity * velocity + 2 * acceleration * accelDist)); } else { - deccelVelocity = velocity; + decelVelocity = velocity; } Distance_t fullSpeedDist = m_constraints.maxVelocity * endFullSpeed; - Distance_t deccelDist; + Distance_t decelDist; if (accelDist > distToTarget) { accelDist = distToTarget; fullSpeedDist = Distance_t{0}; - deccelDist = Distance_t{0}; + decelDist = Distance_t{0}; } else if (accelDist + fullSpeedDist > distToTarget) { fullSpeedDist = distToTarget - accelDist; - deccelDist = Distance_t{0}; + decelDist = Distance_t{0}; } else { - deccelDist = distToTarget - fullSpeedDist - accelDist; + decelDist = distToTarget - fullSpeedDist - accelDist; } units::second_t accelTime = @@ -143,14 +143,14 @@ units::second_t TrapezoidProfile::TimeLeftUntil( velocity * velocity + 2 * acceleration * accelDist))) / acceleration; - units::second_t deccelTime = - (-deccelVelocity + - units::math::sqrt(units::math::abs(deccelVelocity * deccelVelocity + - 2 * decceleration * deccelDist))) / - decceleration; + units::second_t decelTime = + (-decelVelocity + + units::math::sqrt(units::math::abs(decelVelocity * decelVelocity + + 2 * deceleration * decelDist))) / + deceleration; units::second_t fullSpeedTime = fullSpeedDist / m_constraints.maxVelocity; - return accelTime + fullSpeedTime + deccelTime; + return accelTime + fullSpeedTime + decelTime; } } // namespace frc diff --git a/wpimath/src/test/java/edu/wpi/first/math/controller/ArmFeedforwardTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/ArmFeedforwardTest.java index b553fb0da37..d33af05d33f 100644 --- a/wpimath/src/test/java/edu/wpi/first/math/controller/ArmFeedforwardTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/controller/ArmFeedforwardTest.java @@ -90,13 +90,13 @@ void testCalculate() { } @Test - void testAcheviableVelocity() { + void testAchievableVelocity() { assertEquals(6, m_armFF.maxAchievableVelocity(12, Math.PI / 3, 1), 0.002); assertEquals(-9, m_armFF.minAchievableVelocity(11.5, Math.PI / 3, 1), 0.002); } @Test - void testAcheviableAcceleration() { + void testAchievableAcceleration() { assertEquals(4.75, m_armFF.maxAchievableAcceleration(12, Math.PI / 3, 1), 0.002); assertEquals(6.75, m_armFF.maxAchievableAcceleration(12, Math.PI / 3, -1), 0.002); assertEquals(-7.25, m_armFF.minAchievableAcceleration(12, Math.PI / 3, 1), 0.002); diff --git a/wpimath/src/test/java/edu/wpi/first/math/controller/DifferentialDriveAccelerationLimiterTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/DifferentialDriveAccelerationLimiterTest.java index 4ec558d4e77..f67136faed9 100644 --- a/wpimath/src/test/java/edu/wpi/first/math/controller/DifferentialDriveAccelerationLimiterTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/controller/DifferentialDriveAccelerationLimiterTest.java @@ -171,7 +171,7 @@ void testHighLimits() { } @Test - void testSeperateMinMaxLowLimits() { + void testSeparateMinMaxLowLimits() { final double trackwidth = 0.9; final double dt = 0.005; final double minA = -1.0; diff --git a/wpimath/src/test/java/edu/wpi/first/math/controller/ElevatorFeedforwardTest.java b/wpimath/src/test/java/edu/wpi/first/math/controller/ElevatorFeedforwardTest.java index 90344937b3e..a963d507bde 100644 --- a/wpimath/src/test/java/edu/wpi/first/math/controller/ElevatorFeedforwardTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/controller/ElevatorFeedforwardTest.java @@ -43,13 +43,13 @@ void testCalculate() { } @Test - void testAcheviableVelocity() { + void testAchievableVelocity() { assertEquals(5, m_elevatorFF.maxAchievableVelocity(11, 1), 0.002); assertEquals(-9, m_elevatorFF.minAchievableVelocity(11, 1), 0.002); } @Test - void testAcheviableAcceleration() { + void testAchievableAcceleration() { assertEquals(3.75, m_elevatorFF.maxAchievableAcceleration(12, 2), 0.002); assertEquals(7.25, m_elevatorFF.maxAchievableAcceleration(12, -2), 0.002); assertEquals(-8.25, m_elevatorFF.minAchievableAcceleration(12, 2), 0.002); diff --git a/wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java index 0fdcfc3114f..221c98be03d 100644 --- a/wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java @@ -220,7 +220,7 @@ void testFollowTrajectory( @Test void testSimultaneousVisionMeasurements() { - // This tests for multiple vision measurements appled at the same time. The expected behavior + // This tests for multiple vision measurements applied at the same time. The expected behavior // is that all measurements affect the estimated pose. The alternative result is that only one // vision measurement affects the outcome. If that were the case, after 1000 measurements, the // estimated pose would converge to that measurement. diff --git a/wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java index d65cf25675e..0dba2bbe679 100644 --- a/wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java @@ -229,7 +229,7 @@ void testFollowTrajectory( @Test void testSimultaneousVisionMeasurements() { - // This tests for multiple vision measurements appled at the same time. The expected behavior + // This tests for multiple vision measurements applied at the same time. The expected behavior // is that all measurements affect the estimated pose. The alternative result is that only one // vision measurement affects the outcome. If that were the case, after 1000 measurements, the // estimated pose would converge to that measurement. diff --git a/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java index 0abdd5de6a8..54398902f7b 100644 --- a/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java @@ -245,7 +245,7 @@ void testFollowTrajectory( @Test void testSimultaneousVisionMeasurements() { - // This tests for multiple vision measurements appled at the same time. The expected behavior + // This tests for multiple vision measurements applied at the same time. The expected behavior // is that all measurements affect the estimated pose. The alternative result is that only one // vision measurement affects the outcome. If that were the case, after 1000 measurements, the // estimated pose would converge to that measurement. diff --git a/wpimath/src/test/java/edu/wpi/first/math/geometry/Twist2dTest.java b/wpimath/src/test/java/edu/wpi/first/math/geometry/Twist2dTest.java index c055f9bd311..22d8f33e8f2 100644 --- a/wpimath/src/test/java/edu/wpi/first/math/geometry/Twist2dTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/geometry/Twist2dTest.java @@ -20,7 +20,7 @@ void testStraight() { } @Test - void testQuarterCirle() { + void testQuarterCircle() { var quarterCircle = new Twist2d(5.0 / 2.0 * Math.PI, 0, Math.PI / 2.0); var quarterCirclePose = Pose2d.kZero.exp(quarterCircle); diff --git a/wpimath/src/test/java/edu/wpi/first/math/geometry/Twist3dTest.java b/wpimath/src/test/java/edu/wpi/first/math/geometry/Twist3dTest.java index c7ef7877243..03ac6100dc4 100644 --- a/wpimath/src/test/java/edu/wpi/first/math/geometry/Twist3dTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/geometry/Twist3dTest.java @@ -40,7 +40,7 @@ void testStraightZ() { } @Test - void testQuarterCirle() { + void testQuarterCircle() { var zAxis = VecBuilder.fill(0.0, 0.0, 1.0); var quarterCircle = new Twist3d(5.0 / 2.0 * Math.PI, 0.0, 0.0, 0.0, 0.0, Math.PI / 2.0); diff --git a/wpimath/src/test/native/cpp/controller/DifferentialDriveAccelerationLimiterTest.cpp b/wpimath/src/test/native/cpp/controller/DifferentialDriveAccelerationLimiterTest.cpp index ab8359c6ed9..452e017eccb 100644 --- a/wpimath/src/test/native/cpp/controller/DifferentialDriveAccelerationLimiterTest.cpp +++ b/wpimath/src/test/native/cpp/controller/DifferentialDriveAccelerationLimiterTest.cpp @@ -171,7 +171,7 @@ TEST(DifferentialDriveAccelerationLimiterTest, HighLimits) { } } -TEST(DifferentialDriveAccelerationLimiterTest, SeperateMinMaxLowLimits) { +TEST(DifferentialDriveAccelerationLimiterTest, SeparateMinMaxLowLimits) { constexpr auto trackwidth = 0.9_m; constexpr auto dt = 5_ms; constexpr auto minA = -1_mps_sq; diff --git a/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp b/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp index 3fb42f9c9c2..fbc2d212331 100644 --- a/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp +++ b/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp @@ -212,7 +212,7 @@ TEST(DifferentialDrivePoseEstimatorTest, BadInitialPose) { } TEST(DifferentialDrivePoseEstimatorTest, SimultaneousVisionMeasurements) { - // This tests for multiple vision measurements appled at the same time. + // This tests for multiple vision measurements applied at the same time. // The expected behavior is that all measurements affect the estimated pose. // The alternative result is that only one vision measurement affects the // outcome. If that were the case, after 1000 measurements, the estimated diff --git a/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimatorTest.cpp b/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimatorTest.cpp index 1132866b778..8ba38c23256 100644 --- a/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimatorTest.cpp +++ b/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimatorTest.cpp @@ -211,7 +211,7 @@ TEST(MecanumDrivePoseEstimatorTest, BadInitialPose) { } TEST(MecanumDrivePoseEstimatorTest, SimultaneousVisionMeasurements) { - // This tests for multiple vision measurements appled at the same time. + // This tests for multiple vision measurements applied at the same time. // The expected behavior is that all measurements affect the estimated pose. // The alternative result is that only one vision measurement affects the // outcome. If that were the case, after 1000 measurements, the estimated diff --git a/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp b/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp index 6296ee36d10..9619e6a30f3 100644 --- a/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp +++ b/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp @@ -220,7 +220,7 @@ TEST(SwerveDrivePoseEstimatorTest, BadInitialPose) { } TEST(SwerveDrivePoseEstimatorTest, SimultaneousVisionMeasurements) { - // This tests for multiple vision measurements appled at the same time. + // This tests for multiple vision measurements applied at the same time. // The expected behavior is that all measurements affect the estimated pose. // The alternative result is that only one vision measurement affects the // outcome. If that were the case, after 1000 measurements, the estimated diff --git a/wpimath/src/test/native/cpp/filter/SlewRateLimiterTest.cpp b/wpimath/src/test/native/cpp/filter/SlewRateLimiterTest.cpp index 9657543de45..aabd6ad0c34 100644 --- a/wpimath/src/test/native/cpp/filter/SlewRateLimiterTest.cpp +++ b/wpimath/src/test/native/cpp/filter/SlewRateLimiterTest.cpp @@ -39,7 +39,7 @@ TEST_F(SlewRateLimiterTest, SlewRateNoLimit) { EXPECT_EQ(limiter.Calculate(0.5_m), 0.5_m); } -TEST_F(SlewRateLimiterTest, SlewRatePositveNegativeLimit) { +TEST_F(SlewRateLimiterTest, SlewRatePositiveNegativeLimit) { frc::SlewRateLimiter limiter(1_mps, -0.5_mps); now += 1_s; diff --git a/wpimath/src/test/native/cpp/trajectory/ExponentialProfileTest.cpp b/wpimath/src/test/native/cpp/trajectory/ExponentialProfileTest.cpp index e4ecb518730..8bb39cecdb8 100644 --- a/wpimath/src/test/native/cpp/trajectory/ExponentialProfileTest.cpp +++ b/wpimath/src/test/native/cpp/trajectory/ExponentialProfileTest.cpp @@ -65,7 +65,7 @@ TEST(ExponentialProfileTest, ReachesGoal) { // Tests that decreasing the maximum velocity in the middle when it is already // moving faster than the new max is handled correctly -TEST(ExponentialProfileTest, PosContinousUnderVelChange) { +TEST(ExponentialProfileTest, PosContinuousUnderVelChange) { frc::ExponentialProfile::Constraints constraints{ 12_V, -kV / kA, 1 / kA}; frc::ExponentialProfile profile{constraints}; @@ -88,7 +88,7 @@ TEST(ExponentialProfileTest, PosContinousUnderVelChange) { // Tests that decreasing the maximum velocity in the middle when it is already // moving faster than the new max is handled correctly -TEST(ExponentialProfileTest, PosContinousUnderVelChangeBackward) { +TEST(ExponentialProfileTest, PosContinuousUnderVelChangeBackward) { frc::ExponentialProfile::Constraints constraints{ 12_V, -kV / kA, 1 / kA}; frc::ExponentialProfile profile{constraints}; diff --git a/wpimath/src/test/native/cpp/trajectory/TrapezoidProfileTest.cpp b/wpimath/src/test/native/cpp/trajectory/TrapezoidProfileTest.cpp index 09c1ed54bd6..39cbc3b0ea9 100644 --- a/wpimath/src/test/native/cpp/trajectory/TrapezoidProfileTest.cpp +++ b/wpimath/src/test/native/cpp/trajectory/TrapezoidProfileTest.cpp @@ -41,7 +41,7 @@ TEST(TrapezoidProfileTest, ReachesGoal) { // Tests that decreasing the maximum velocity in the middle when it is already // moving faster than the new max is handled correctly -TEST(TrapezoidProfileTest, PosContinousUnderVelChange) { +TEST(TrapezoidProfileTest, PosContinuousUnderVelChange) { frc::TrapezoidProfile::Constraints constraints{1.75_mps, 0.75_mps_sq}; frc::TrapezoidProfile::State goal{12_m, 0_mps}; diff --git a/wpinet/src/main/native/include/wpinet/UrlParser.h b/wpinet/src/main/native/include/wpinet/UrlParser.h index 92fd330ce70..1a962e2cffd 100644 --- a/wpinet/src/main/native/include/wpinet/UrlParser.h +++ b/wpinet/src/main/native/include/wpinet/UrlParser.h @@ -14,7 +14,7 @@ namespace wpi { /** - * Parses a URL into its constiuent components. + * Parses a URL into its constituent components. * `schema://userinfo@host:port/the/path?query#fragment` */ class UrlParser { diff --git a/wpinet/src/main/native/include/wpinet/uv/Async.h b/wpinet/src/main/native/include/wpinet/uv/Async.h index 2eb13d73085..56a735dfb63 100644 --- a/wpinet/src/main/native/include/wpinet/uv/Async.h +++ b/wpinet/src/main/native/include/wpinet/uv/Async.h @@ -30,7 +30,7 @@ namespace wpi::uv { * template parameters. If data parameters are used, the async callback will * be called once for every call to Send(). If no data parameters are used, * the async callback may or may not be called for every call to Send() (e.g. - * the calls may be coaleasced). + * the calls may be coalesced). */ template class Async final : public HandleImpl, uv_async_t> { @@ -132,7 +132,7 @@ class Async final : public HandleImpl, uv_async_t> { /** * Async specialization for no data parameters. The async callback may or may - * not be called for every call to Send() (e.g. the calls may be coaleasced). + * not be called for every call to Send() (e.g. the calls may be coalesced). */ template <> class Async<> final : public HandleImpl, uv_async_t> { diff --git a/wpinet/src/main/native/include/wpinet/uv/Loop.h b/wpinet/src/main/native/include/wpinet/uv/Loop.h index 0897c87f2be..2c885d3c241 100644 --- a/wpinet/src/main/native/include/wpinet/uv/Loop.h +++ b/wpinet/src/main/native/include/wpinet/uv/Loop.h @@ -102,7 +102,7 @@ class Loop final : public std::enable_shared_from_this { * * `Loop::kDefault`: Run the event loop until there are no * active and referenced handles or requests. * * `Loop::kOnce`: Run a single event loop iteration. Note that this - * function blocksif there are no pending callbacks. + * function blocks if there are no pending callbacks. * * `Loop::kNoWait`: Run a single event loop iteration, but don't block * if there are no pending callbacks. * diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Current.java b/wpiunits/src/main/java/edu/wpi/first/units/Current.java index b5d25ac0709..244144fb47e 100644 --- a/wpiunits/src/main/java/edu/wpi/first/units/Current.java +++ b/wpiunits/src/main/java/edu/wpi/first/units/Current.java @@ -7,7 +7,7 @@ import static edu.wpi.first.units.Units.Watts; /** - * Unit of electic current dimension. + * Unit of electric current dimension. * *

This is the base type for units of current dimension. It is also used to specify the dimension * for {@link Measure}: Measure<Current>. diff --git a/wpiutil/doc/struct.adoc b/wpiutil/doc/struct.adoc index cac4d4a9674..8a55e9bfac9 100644 --- a/wpiutil/doc/struct.adoc +++ b/wpiutil/doc/struct.adoc @@ -202,7 +202,7 @@ results in a 5-byte encoding: [[layout-bit-field]] === Bit-Field Data Layout -Multiple adjacant bit-fields of the same integer type width are packed together to fit in the minimum number of multiples of that type. The bit-fields are packed, starting from the least significant bit, in the order they appear in the schema. Individual bit-fields must not span across multiple underlying types; if a bit-field is larger than the remaining space in the data type, a new element of that type is started and the bit-field starts from the least significant bit of the new element. Unused bits should be set to 0 during serialization and must be ignored during deserialization. +Multiple adjacent bit-fields of the same integer type width are packed together to fit in the minimum number of multiples of that type. The bit-fields are packed, starting from the least significant bit, in the order they appear in the schema. Individual bit-fields must not span across multiple underlying types; if a bit-field is larger than the remaining space in the data type, a new element of that type is started and the bit-field starts from the least significant bit of the new element. Unused bits should be set to 0 during serialization and must be ignored during deserialization. Boolean bit-fields are always a single bit wide. The underlying data type is by default uint8, but if a boolean bit-field immediately follows a bit-field of another integer type (and fits), it is packed into that type. diff --git a/wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java b/wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java index 58e69c34bc2..bc04257091a 100644 --- a/wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java +++ b/wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java @@ -138,7 +138,7 @@ public static synchronized void forceLoad() throws IOException { * multiple-consumer scenario. * * @param initialCount initial value for the semaphore's internal counter - * @param maximumCount maximum value for the samephore's internal counter + * @param maximumCount maximum value for the semaphore's internal counter * @return Semaphore handle */ public static native int createSemaphore(int initialCount, int maximumCount); diff --git a/wpiutil/src/main/java/edu/wpi/first/util/protobuf/Protobuf.java b/wpiutil/src/main/java/edu/wpi/first/util/protobuf/Protobuf.java index e834d8e3241..e6fda0bee0f 100644 --- a/wpiutil/src/main/java/edu/wpi/first/util/protobuf/Protobuf.java +++ b/wpiutil/src/main/java/edu/wpi/first/util/protobuf/Protobuf.java @@ -103,10 +103,10 @@ default boolean isImmutable() { } /** - * Returns whether or not objects are cloneable using the clone() method. Clonable objects must + * Returns whether or not objects are cloneable using the clone() method. Cloneable objects must * also be comparable using the equals() method. Default implementation returns false. * - * @return True if object is clonable + * @return True if object is cloneable */ default boolean isCloneable() { return false; diff --git a/wpiutil/src/main/java/edu/wpi/first/util/struct/Struct.java b/wpiutil/src/main/java/edu/wpi/first/util/struct/Struct.java index 763d61e829e..8e408ceb31a 100644 --- a/wpiutil/src/main/java/edu/wpi/first/util/struct/Struct.java +++ b/wpiutil/src/main/java/edu/wpi/first/util/struct/Struct.java @@ -203,10 +203,10 @@ default boolean isImmutable() { } /** - * Returns whether or not objects are cloneable using the clone() method. Clonable objects must + * Returns whether or not objects are cloneable using the clone() method. Cloneable objects must * also be comparable using the equals() method. Default implementation returns false. * - * @return True if object is clonable + * @return True if object is cloneable */ default boolean isCloneable() { return false; diff --git a/wpiutil/src/main/native/include/wpi/Synchronization.h b/wpiutil/src/main/native/include/wpi/Synchronization.h index 62a79efd989..7b983221398 100644 --- a/wpiutil/src/main/native/include/wpi/Synchronization.h +++ b/wpiutil/src/main/native/include/wpi/Synchronization.h @@ -90,7 +90,7 @@ void ResetEvent(WPI_EventHandle handle); * multiple-consumer scenario. * * @param initialCount initial value for the semaphore's internal counter - * @param maximumCount maximum value for the samephore's internal counter + * @param maximumCount maximum value for the semaphore's internal counter * @return Semaphore handle */ WPI_SemaphoreHandle CreateSemaphore(int initialCount = 0, @@ -318,7 +318,7 @@ class Semaphore final { * Constructor. * * @param initialCount initial value for the semaphore's internal counter - * @param maximumCount maximum value for the samephore's internal counter + * @param maximumCount maximum value for the semaphore's internal counter */ explicit Semaphore(int initialCount = 0, int maximumCount = INT_MAX) : m_handle{CreateSemaphore(initialCount, maximumCount)} {} @@ -491,7 +491,7 @@ void WPI_ResetEvent(WPI_EventHandle handle); * multiple-consumer scenario. * * @param initial_count initial value for the semaphore's internal counter - * @param maximum_count maximum value for the samephore's internal counter + * @param maximum_count maximum value for the semaphore's internal counter * @return Semaphore handle */ WPI_SemaphoreHandle WPI_CreateSemaphore(int initial_count, int maximum_count); diff --git a/wpiutil/src/main/native/include/wpi/string.h b/wpiutil/src/main/native/include/wpi/string.h index a001b7be179..b84fdd439cc 100644 --- a/wpiutil/src/main/native/include/wpi/string.h +++ b/wpiutil/src/main/native/include/wpi/string.h @@ -55,7 +55,7 @@ void WPI_InitString(struct WPI_String* wpiString, const char* utf8String); /** * Initializes a WPI_String from a UTF-8 string and length. - * If input string is null or 0 length, initilizes output to 0 length. + * If input string is null or 0 length, initializes output to 0 length. * The input string does not need to be null terminated. * * The lifetime of the output string is the lifetime of the input string. From f45df8cf71a0b5e87210d470bc5a24c48afcc896 Mon Sep 17 00:00:00 2001 From: Gold856 <117957790+Gold856@users.noreply.github.com> Date: Sat, 1 Jun 2024 23:20:01 -0400 Subject: [PATCH 2/4] Fix HAL function names --- hal/src/main/native/athena/DigitalInternal.cpp | 2 +- hal/src/main/native/athena/mockdata/SPIAccelerometerData.cpp | 2 +- hal/src/main/native/include/hal/cpp/UnsafeDIO.h | 4 ++-- .../main/native/include/hal/simulation/SPIAccelerometerData.h | 2 +- hal/src/main/native/sim/mockdata/SPIAccelerometerData.cpp | 2 +- 5 files changed, 6 insertions(+), 6 deletions(-) diff --git a/hal/src/main/native/athena/DigitalInternal.cpp b/hal/src/main/native/athena/DigitalInternal.cpp index fb0cf980835..13fa560d197 100644 --- a/hal/src/main/native/athena/DigitalInternal.cpp +++ b/hal/src/main/native/athena/DigitalInternal.cpp @@ -47,7 +47,7 @@ namespace detail { wpi::mutex& UnsafeGetDIOMutex() { return digitalDIOMutex; } -tDIO* UnsafeGetDigialSystem() { +tDIO* UnsafeGetDigitalSystem() { return digitalSystem.get(); } int32_t ComputeDigitalMask(HAL_DigitalHandle handle, int32_t* status) { diff --git a/hal/src/main/native/athena/mockdata/SPIAccelerometerData.cpp b/hal/src/main/native/athena/mockdata/SPIAccelerometerData.cpp index c938abf55f6..d0aa97f1de3 100644 --- a/hal/src/main/native/athena/mockdata/SPIAccelerometerData.cpp +++ b/hal/src/main/native/athena/mockdata/SPIAccelerometerData.cpp @@ -18,7 +18,7 @@ DEFINE_CAPI(double, X, 0) DEFINE_CAPI(double, Y, 0) DEFINE_CAPI(double, Z, 0) -void HALSIM_RegisterSPIAccelerometerAllCallbcaks(int32_t index, +void HALSIM_RegisterSPIAccelerometerAllCallbacks(int32_t index, HAL_NotifyCallback callback, void* param, HAL_Bool initialNotify) {} diff --git a/hal/src/main/native/include/hal/cpp/UnsafeDIO.h b/hal/src/main/native/include/hal/cpp/UnsafeDIO.h index e7f286bb54f..d79265ec92f 100644 --- a/hal/src/main/native/include/hal/cpp/UnsafeDIO.h +++ b/hal/src/main/native/include/hal/cpp/UnsafeDIO.h @@ -57,7 +57,7 @@ struct DIOSetProxy { }; namespace detail { wpi::mutex& UnsafeGetDIOMutex(); -tDIO* UnsafeGetDigialSystem(); +tDIO* UnsafeGetDigitalSystem(); int32_t ComputeDigitalMask(HAL_DigitalHandle handle, int32_t* status); } // namespace detail @@ -81,7 +81,7 @@ void UnsafeManipulateDIO(HAL_DigitalHandle handle, int32_t* status, return; } wpi::mutex& dioMutex = detail::UnsafeGetDIOMutex(); - tDIO* dSys = detail::UnsafeGetDigialSystem(); + tDIO* dSys = detail::UnsafeGetDigitalSystem(); auto mask = detail::ComputeDigitalMask(handle, status); if (*status != 0) { return; diff --git a/hal/src/main/native/include/hal/simulation/SPIAccelerometerData.h b/hal/src/main/native/include/hal/simulation/SPIAccelerometerData.h index 406798f1255..2018a40023b 100644 --- a/hal/src/main/native/include/hal/simulation/SPIAccelerometerData.h +++ b/hal/src/main/native/include/hal/simulation/SPIAccelerometerData.h @@ -50,7 +50,7 @@ void HALSIM_CancelSPIAccelerometerZCallback(int32_t index, int32_t uid); double HALSIM_GetSPIAccelerometerZ(int32_t index); void HALSIM_SetSPIAccelerometerZ(int32_t index, double z); -void HALSIM_RegisterSPIAccelerometerAllCallbcaks(int32_t index, +void HALSIM_RegisterSPIAccelerometerAllCallbacks(int32_t index, HAL_NotifyCallback callback, void* param, HAL_Bool initialNotify); diff --git a/hal/src/main/native/sim/mockdata/SPIAccelerometerData.cpp b/hal/src/main/native/sim/mockdata/SPIAccelerometerData.cpp index 0ec10cf8a28..fa445006518 100644 --- a/hal/src/main/native/sim/mockdata/SPIAccelerometerData.cpp +++ b/hal/src/main/native/sim/mockdata/SPIAccelerometerData.cpp @@ -42,7 +42,7 @@ DEFINE_CAPI(double, Z, z) SimSPIAccelerometerData[index].NAME.RegisterCallback(callback, param, \ initialNotify) -void HALSIM_RegisterSPIAccelerometerAllCallbcaks(int32_t index, +void HALSIM_RegisterSPIAccelerometerAllCallbacks(int32_t index, HAL_NotifyCallback callback, void* param, HAL_Bool initialNotify) { From 0005c383ff2e0aefdb221d2bb48dcd8cc348e93c Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" <41898282+github-actions[bot]@users.noreply.github.com> Date: Fri, 16 Aug 2024 02:54:41 +0000 Subject: [PATCH 3/4] Formatting fixes --- .../java/edu/wpi/first/math/trajectory/TrapezoidProfile.java | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java index c18f1e19d3b..234d725f003 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java +++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java @@ -268,8 +268,7 @@ public double timeLeftUntil(double target) { double decelTime = (-decelVelocity - + Math.sqrt( - Math.abs(decelVelocity * decelVelocity + 2 * deceleration * decelDist))) + + Math.sqrt(Math.abs(decelVelocity * decelVelocity + 2 * deceleration * decelDist))) / deceleration; double fullSpeedTime = fullSpeedDist / m_constraints.maxVelocity; From fa37880eacfc6bff923a5b6c045d887f041bbd1c Mon Sep 17 00:00:00 2001 From: Gold856 <117957790+Gold856@users.noreply.github.com> Date: Fri, 16 Aug 2024 00:15:23 -0400 Subject: [PATCH 4/4] Few more --- .../src/main/java/edu/wpi/first/wpilibj2/command/Command.java | 2 +- wpiutil/src/main/native/include/wpi/struct/Struct.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java index e64044cab35..7d71676ce41 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java @@ -319,7 +319,7 @@ public ParallelDeadlineGroup deadlineWith(Command... parallel) { * commands with {@link CommandScheduler#removeComposedCommand(Command)}. The command composition * returned from this method can be further decorated without issue. * - * @param parallel the commands to run in parallel. Note the parallel commands will be interupted + * @param parallel the commands to run in parallel. Note the parallel commands will be interrupted * when the deadline command ends * @return the decorated command */ diff --git a/wpiutil/src/main/native/include/wpi/struct/Struct.h b/wpiutil/src/main/native/include/wpi/struct/Struct.h index 0de507e7433..3070ac5746c 100644 --- a/wpiutil/src/main/native/include/wpi/struct/Struct.h +++ b/wpiutil/src/main/native/include/wpi/struct/Struct.h @@ -166,7 +166,7 @@ inline T UnpackStruct(std::span data, const I&... info) { * @tparam Offset starting offset * @tparam N number of objects * @param data raw struct data - * @return Desrialized array + * @return Deserialized array */ template inline wpi::array UnpackStructArray(std::span data) {