From 7b4d4a9020cab2f6802b9e2d2cc83f4701baa333 Mon Sep 17 00:00:00 2001 From: Ayush Sagar Date: Mon, 29 May 2023 12:36:21 -0400 Subject: [PATCH 01/28] Added videos (#2264) --- .../hardware/hardware-basics/wiring-pneumatics-ph.rst | 8 ++++++++ .../zero-to-robot/step-1/intro-to-frc-robot-wiring.rst | 8 ++++++++ 2 files changed, 16 insertions(+) diff --git a/source/docs/hardware/hardware-basics/wiring-pneumatics-ph.rst b/source/docs/hardware/hardware-basics/wiring-pneumatics-ph.rst index 65d7c65500..05492d5baf 100644 --- a/source/docs/hardware/hardware-basics/wiring-pneumatics-ph.rst +++ b/source/docs/hardware/hardware-basics/wiring-pneumatics-ph.rst @@ -5,6 +5,14 @@ This page describes wiring pneumatics with the REV Pneumatic Hub (PH). For instr .. hint:: For pneumatics safety & mechanical requirements, consult this year's Robot Construction rules. For mechanical design guidelines, the FIRST Pneumatics Manual is located `here `__ +.. raw:: html + +
+ +
+ +---- + Wiring Overview --------------- diff --git a/source/docs/zero-to-robot/step-1/intro-to-frc-robot-wiring.rst b/source/docs/zero-to-robot/step-1/intro-to-frc-robot-wiring.rst index bbfdb62e6b..46d2e0178a 100644 --- a/source/docs/zero-to-robot/step-1/intro-to-frc-robot-wiring.rst +++ b/source/docs/zero-to-robot/step-1/intro-to-frc-robot-wiring.rst @@ -11,6 +11,14 @@ Introduction to FRC Robot Wiring Overview -------- +.. raw:: html + +
+ +
+ +---- + .. tabs:: .. group-tab:: REV From 368e32caff86cb1e95ba8915a3719b6763972ee8 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Wed, 7 Jun 2023 20:52:03 -0700 Subject: [PATCH 02/28] Document all of universal heartbeat CAN packet (#2269) --- .../software/can-devices/can-addressing.rst | 80 ++++++++++++++----- 1 file changed, 59 insertions(+), 21 deletions(-) diff --git a/source/docs/software/can-devices/can-addressing.rst b/source/docs/software/can-devices/can-addressing.rst index 182b272770..732ceac01f 100644 --- a/source/docs/software/can-devices/can-addressing.rst +++ b/source/docs/software/can-devices/can-addressing.rst @@ -191,24 +191,62 @@ For CAN Nodes to be accepted for use in the FRC System, they must: Universal Heartbeat ------------------- -The roboRIO provides a universal CAN heartbeat that any device on the bus can listen and react to. This heartbeat is sent every 20ms. The heartbeat has a full CAN ID of ``0x01011840`` (which is the NI Manufacturer ID, RobotController type, Device ID 0 and API ID ``0x062``). It is an 8 byte CAN packet. The important byte in here is byte 5 (index 4). The layout is the following bitfield. - -+-----------------+-------+ -| Description | Width | -+=================+=======+ -| RedAlliance | 1 | -+-----------------+-------+ -| Enabled | 1 | -+-----------------+-------+ -| Autonomous | 1 | -+-----------------+-------+ -| Test | 1 | -+-----------------+-------+ -| WatchdogEnabled | 1 | -+-----------------+-------+ -| Reserved | 3 | -+-----------------+-------+ - -The flag to watch for is ``WatchdogEnabled``. If that flag is set, that means motor controllers are enabled. - -If 100ms has passed since this packet was received, the robot program can be considered hung, and devices should act as if the robot has been disabled. +The roboRIO provides a universal CAN heartbeat that any device on the bus can listen and react to. This heartbeat is sent every 20 ms. The heartbeat has a full CAN ID of ``0x01011840`` (which is the NI Manufacturer ID, RobotController type, Device ID 0 and API ID ``0x062``). It is an 8 byte CAN packet with the following bitfield layout. + ++-----------------------+------+--------------+ +| Description | Byte | Width (bits) | ++=======================+======+==============+ +| Match time (seconds) | 8 | 8 | ++-----------------------+------+--------------+ +| Match number | 6-7 | 10 | ++-----------------------+------+--------------+ +| Replay number | 6 | 6 | ++-----------------------+------+--------------+ +| Red alliance | 5 | 1 | ++-----------------------+------+--------------+ +| Enabled | 5 | 1 | ++-----------------------+------+--------------+ +| Autonomous mode | 5 | 1 | ++-----------------------+------+--------------+ +| Test mode | 5 | 1 | ++-----------------------+------+--------------+ +| System watchdog | 5 | 1 | ++-----------------------+------+--------------+ +| Tournament type | 5 | 3 | ++-----------------------+------+--------------+ +| Time of day (year) | 4 | 6 | ++-----------------------+------+--------------+ +| Time of day (month) | 3-4 | 4 | ++-----------------------+------+--------------+ +| Time of day (day) | 3 | 5 | ++-----------------------+------+--------------+ +| Time of day (seconds) | 2-3 | 6 | ++-----------------------+------+--------------+ +| Time of day (minutes) | 1-2 | 6 | ++-----------------------+------+--------------+ +| Time of day (hours) | 1 | 5 | ++-----------------------+------+--------------+ + +.. code-block:: c++ + + struct [[gnu::packed]] RobotState { + uint64_t matchTimeSeconds : 8; + uint64_t matchNumber : 10; + uint64_t replayNumber : 6; + uint64_t redAlliance : 1; + uint64_t enabled : 1; + uint64_t autonomous : 1; + uint64_t testMode : 1; + uint64_t systemWatchdog : 1; + uint64_t tournamentType : 3; + uint64_t timeOfDay_yr : 6; + uint64_t timeOfDay_month : 4; + uint64_t timeOfDay_day : 5; + uint64_t timeOfDay_sec : 6; + uint64_t timeOfDay_min : 6; + uint64_t timeOfDay_hr : 5; + }; + +If the ``System watchdog`` flag is set, motor controllers are enabled. If 100 ms has passed since this packet was received, the robot program can be considered hung, and devices should act as if the robot has been disabled. + +Note that all fields except ``Enabled``, ``Autonomous mode``, ``Test mode``, and ``System watchdog`` will contain invalid values until an arbitrary time after the Driver Station connects. From ca9c07a940a85c3e0cee5bff533a30b6d7b71084 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Thu, 8 Jun 2023 18:25:39 -0700 Subject: [PATCH 03/28] Fix universal heartbeat API ID (#2270) Fixes #2241. --- source/docs/software/can-devices/can-addressing.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/docs/software/can-devices/can-addressing.rst b/source/docs/software/can-devices/can-addressing.rst index 732ceac01f..d76d9b5218 100644 --- a/source/docs/software/can-devices/can-addressing.rst +++ b/source/docs/software/can-devices/can-addressing.rst @@ -191,7 +191,7 @@ For CAN Nodes to be accepted for use in the FRC System, they must: Universal Heartbeat ------------------- -The roboRIO provides a universal CAN heartbeat that any device on the bus can listen and react to. This heartbeat is sent every 20 ms. The heartbeat has a full CAN ID of ``0x01011840`` (which is the NI Manufacturer ID, RobotController type, Device ID 0 and API ID ``0x062``). It is an 8 byte CAN packet with the following bitfield layout. +The roboRIO provides a universal CAN heartbeat that any device on the bus can listen and react to. This heartbeat is sent every 20 ms. The heartbeat has a full CAN ID of ``0x01011840`` (which is the NI Manufacturer ID, RobotController type, Device ID 0 and API ID ``0x061``). It is an 8 byte CAN packet with the following bitfield layout. +-----------------------+------+--------------+ | Description | Byte | Width (bits) | From beb42441c646886431e1d246498812eeb9e1dbdf Mon Sep 17 00:00:00 2001 From: sciencewhiz Date: Sun, 11 Jun 2023 19:05:22 -0700 Subject: [PATCH 04/28] Add CIMCoder to encoder examples. (#2271) https://www.chiefdelphi.com/t/i-need-cim-encoder-java-codes/438041 --- source/docs/hardware/sensors/encoders-hardware.rst | 2 ++ .../docs/software/hardware-apis/sensors/encoders-software.rst | 1 + 2 files changed, 3 insertions(+) diff --git a/source/docs/hardware/sensors/encoders-hardware.rst b/source/docs/hardware/sensors/encoders-hardware.rst index aee39cc550..28f21c24af 100644 --- a/source/docs/hardware/sensors/encoders-hardware.rst +++ b/source/docs/hardware/sensors/encoders-hardware.rst @@ -52,6 +52,7 @@ On-shaft encoders couple to a shaft by fitting *around* it, forming a friction c Examples of On-shaft encoders: - `AMT103-V `__ available through FIRST Choice +- `CIMcoder `__ - `REV Through Bore Encoder `__ - `US Digital E4T `__ @@ -86,6 +87,7 @@ As each square wave pulse is a digital signal, quadrature encoders connect to th Examples of quadrature encoders: - `AMT103-V `__ available through FIRST Choice +- `CIMcoder `__ - `CTRE Mag Encoder `_ - `Grayhill 63r `__ - `REV Through Bore Encoder `__ diff --git a/source/docs/software/hardware-apis/sensors/encoders-software.rst b/source/docs/software/hardware-apis/sensors/encoders-software.rst index fb1aec717d..5ff556d237 100644 --- a/source/docs/software/hardware-apis/sensors/encoders-software.rst +++ b/source/docs/software/hardware-apis/sensors/encoders-software.rst @@ -27,6 +27,7 @@ The FPGA handles quadrature encoders either through a counter module or an encod Examples of quadrature encoders: - `AMT103-V `__ available through FIRST Choice +- `CIMcoder `__ - `CTRE Mag Encoder `_ - `Grayhill 63r `__ - `REV Through Bore Encoder `__ From 0570730888db3901f80cdc35c69af66fe1732801 Mon Sep 17 00:00:00 2001 From: Ryan Blue Date: Sun, 11 Jun 2023 22:05:33 -0400 Subject: [PATCH 05/28] Update code formatting article after wpiformat update (#2268) * Update code formatting article after wpiformat update * update RLI --- .../docs/software/advanced-gradlerio/code-formatting.rst | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/source/docs/software/advanced-gradlerio/code-formatting.rst b/source/docs/software/advanced-gradlerio/code-formatting.rst index 1631b8df54..0e85315e54 100644 --- a/source/docs/software/advanced-gradlerio/code-formatting.rst +++ b/source/docs/software/advanced-gradlerio/code-formatting.rst @@ -176,9 +176,6 @@ Requirements ^^^^^^^^^^^^ - `Python 3.6 or higher `__ -- clang-format (included with `LLVM `__) - -.. important:: Windows is not currently supported at this time! Installing LLVM with Clang **will** break normal robot builds if installed on Windows. You can install `wpiformat `__ by typing ``pip3 install wpiformat`` into a terminal or command prompt. @@ -213,6 +210,6 @@ An example styleguide is shown below: You can turn this into a :doc:`CI check ` by running ``git --no-pager diff --exit-code HEAD``, as shown in the example GitHub Actions workflow below: -.. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/.github/workflows/lint-format.yml +.. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/5fac18ff4ad1db92ec6fcbd437043a38028e99c4/.github/workflows/lint-format.yml :language: yaml - :lines: 1-5, 12-40 + :lines: 1-5, 12-34 From 46d6e54424383436c58fbfcf6950c1bba696ae42 Mon Sep 17 00:00:00 2001 From: sciencewhiz Date: Sun, 2 Jul 2023 05:45:56 -0700 Subject: [PATCH 06/28] Fix RLIs pointing to main (#2276) Fixes build error do to line changes in main --- .../software/telemetry/writing-sendable-classes.rst | 12 ++++++------ .../using-the-cameraserver-on-the-roborio.rst | 4 ++-- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/source/docs/software/telemetry/writing-sendable-classes.rst b/source/docs/software/telemetry/writing-sendable-classes.rst index 60e239637c..5de2ac569d 100644 --- a/source/docs/software/telemetry/writing-sendable-classes.rst +++ b/source/docs/software/telemetry/writing-sendable-classes.rst @@ -9,7 +9,7 @@ For example, here is the implementation of ``initSendable`` from WPILib's ``Bang .. group-tab:: Java - .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpimath/src/main/java/edu/wpi/first/math/controller/BangBangController.java + .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpimath/src/main/java/edu/wpi/first/math/controller/BangBangController.java :language: java :lines: 150-158 :linenos: @@ -17,7 +17,7 @@ For example, here is the implementation of ``initSendable`` from WPILib's ``Bang .. group-tab:: C++ - .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpimath/src/main/native/cpp/controller/BangBangController.cpp + .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpimath/src/main/native/cpp/controller/BangBangController.cpp :language: cpp :lines: 58-72 :linenos: @@ -54,7 +54,7 @@ To help users ensure safety when interfacing with dashboard values, ``SendableBu .. group-tab:: Java - .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java + .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java :language: java :lines: 118-124 :linenos: @@ -62,10 +62,10 @@ To help users ensure safety when interfacing with dashboard values, ``SendableBu .. group-tab:: C++ - .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp + .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp :language: cpp - :lines: 54-60 + :lines: 56-62 :linenos: - :lineno-start: 54 + :lineno-start: 56 Additionally, users may call ``builder.setActuator(true)`` to mark any mechanism that might move as a result of ``Sendable`` input as an actuator. Currently, this is used by :ref:`Shuffleboard ` to disable actuator widgets when not in :ref:`LiveWindow ` mode. diff --git a/source/docs/software/vision-processing/roborio/using-the-cameraserver-on-the-roborio.rst b/source/docs/software/vision-processing/roborio/using-the-cameraserver-on-the-roborio.rst index 5e37486196..60611cfc0f 100644 --- a/source/docs/software/vision-processing/roborio/using-the-cameraserver-on-the-roborio.rst +++ b/source/docs/software/vision-processing/roborio/using-the-cameraserver-on-the-roborio.rst @@ -21,7 +21,7 @@ The following program starts automatic capture of a USB camera like the Microsof .. group-tab:: C++ - .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp + .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp :language: cpp :lines: 7-8,16-18,20,25-31 @@ -43,7 +43,7 @@ In the following example a thread created in robotInit() gets the Camera Server .. group-tab:: C++ - .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp + .. rli:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp :language: cpp :lines: 5-20,23-56,58-61,63-64,69-76 From 5ca32ebacba79de065daeaa872efac54b6b6fe2d Mon Sep 17 00:00:00 2001 From: sciencewhiz Date: Sun, 2 Jul 2023 16:24:43 -0700 Subject: [PATCH 07/28] Update MiKTex packages and instructions to work with latest versions (#2275) --- miktex-packages.txt | 3 ++- source/docs/contributing/frc-docs/build-instructions.rst | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/miktex-packages.txt b/miktex-packages.txt index 1b412eaf40..ef1978b13d 100644 --- a/miktex-packages.txt +++ b/miktex-packages.txt @@ -166,7 +166,6 @@ miktex-metapost miktex-metapost-bin-x64-2.9 miktex-mfware-bin-x64-2.9 miktex-misc -miktex-mkfntmap-bin-x64-2.9 miktex-mktex-bin-x64-2.9 miktex-mo-bin-x64-2.9 miktex-mpfr-bin-x64-2.9 @@ -256,3 +255,5 @@ zapfchan zapfding zerohyph zhmetrics +colortbl +letltxmacro diff --git a/source/docs/contributing/frc-docs/build-instructions.rst b/source/docs/contributing/frc-docs/build-instructions.rst index 3f945fdca1..ada6645587 100644 --- a/source/docs/contributing/frc-docs/build-instructions.rst +++ b/source/docs/contributing/frc-docs/build-instructions.rst @@ -30,7 +30,7 @@ Ensure that Python is in your Path by selecting the **Add Python to PATH** toggl Once Python is installed, open up Powershell. Then navigate to the frc-docs directory. Run the following command: ``pip install -r source/requirements.txt`` -Install the missing MikTex packages by navigating to the frc-docs directory, then running the following command from Powershell: ``mpm --verbose --require=@miktex-packages.txt`` +Install the missing MikTex packages by navigating to the frc-docs directory, then running the following command from Powershell: ``miktex --verbose packages require --package-id-file miktex-packages.txt`` Linux (Ubuntu) ^^^^^^^^^^^^^^ From cc196ae8ca3f8fe58db0d824f7acf717f922c07d Mon Sep 17 00:00:00 2001 From: sciencewhiz Date: Sun, 9 Jul 2023 13:54:45 -0700 Subject: [PATCH 08/28] Add known issue for LabVIEW RabbitMQ installation (#2278) --- source/docs/yearly-overview/known-issues.rst | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/source/docs/yearly-overview/known-issues.rst b/source/docs/yearly-overview/known-issues.rst index a4a73c715f..ac9df5f3c4 100644 --- a/source/docs/yearly-overview/known-issues.rst +++ b/source/docs/yearly-overview/known-issues.rst @@ -8,6 +8,13 @@ This article details known issues (and workarounds) for FRC\ |reg| Control Syste Open Issues ----------- +LabVIEW installation of RabbitMQ Fails +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +**Issue:** Some users have reported the following error during LabVIEW installation: ``An error occurred while installing a package: ni-skyline-rabbitmq-support (20.5.0.49152-0+f0)``. + +**Workaround:** NI has a `support article `_ with several potential workarounds. Alternately, you can de-select :guilabel:`NI Web Server Development Support for LabVIEW 2020 32-bit` from the :guilabel:`Additional items you may wish to install` page to avoid installing the failing package. + roboRIO 2.0 Ethernet Settings ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ From ea7a594ff90e443c17a909d3b4a20556769edcdf Mon Sep 17 00:00:00 2001 From: sciencewhiz Date: Sun, 9 Jul 2023 13:55:04 -0700 Subject: [PATCH 09/28] Reorder build dependencies so required ones are first (#2280) Add same note for rsvg-convert as was there for MiKTeX --- source/docs/contributing/frc-docs/build-instructions.rst | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/source/docs/contributing/frc-docs/build-instructions.rst b/source/docs/contributing/frc-docs/build-instructions.rst index ada6645587..c33a05849f 100644 --- a/source/docs/contributing/frc-docs/build-instructions.rst +++ b/source/docs/contributing/frc-docs/build-instructions.rst @@ -19,9 +19,9 @@ Windows .. note:: MikTeX and ``rsvg-convert`` are not required for building HTML, they are only required for Windows PDF builds. - `Python 3.9 `__ -- `MiKTeX `__ (Only needed for PDF builds) - `Perl `__ -- `rsvg-convert `__ +- `MiKTeX `__ (Only needed for PDF builds) +- `rsvg-convert `__ (Only needed for PDF builds) Ensure that Python is in your Path by selecting the **Add Python to PATH** toggle when installing Python. From 0e8834d36c3edfe57400351a8bcb056cfedbefa1 Mon Sep 17 00:00:00 2001 From: sciencewhiz Date: Sun, 9 Jul 2023 13:55:27 -0700 Subject: [PATCH 10/28] Update PWM scaling for wpilibsuite/allwpilib#5283 (#2277) --- source/docs/software/hardware-apis/motors/pwm-controllers.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/docs/software/hardware-apis/motors/pwm-controllers.rst b/source/docs/software/hardware-apis/motors/pwm-controllers.rst index 154a0537fc..e156f23dba 100644 --- a/source/docs/software/hardware-apis/motors/pwm-controllers.rst +++ b/source/docs/software/hardware-apis/motors/pwm-controllers.rst @@ -15,7 +15,7 @@ The PWM signal the controllers use for an input is a little bit different. Even Raw vs Scaled output values --------------------------- -In general, all of the motor controller classes in WPILib take a scaled -1.0 to 1.0 value as the output to an actuator. The PWM module in the FPGA on the roboRIO is capable of generating PWM signals with periods of 5, 10, or 20ms and can vary the pulse width in 2000 steps of ~.001ms each around the midpoint (1000 steps in each direction around the midpoint). The raw values sent to this module are in this 0-2000 range with 0 being a special case which holds the signal low (disabled). The class for each motor controller contains information about what the typical bound values (min, max and each side of the deadband) are as well as the typical midpoint. WPILib can then use these values to map the scaled value into the proper range for the motor controller. This allows for the code to switch seamlessly between different types of controllers and abstracts out the details of the specific signaling. +In general, all of the motor controller classes in WPILib take a scaled -1.0 to 1.0 value as the output to an actuator. The PWM module in the FPGA on the roboRIO is capable of generating PWM signals with periods of 5, 10, or 20ms and can vary the pulse width in 4096 steps of 1us each . The raw values sent to this module are in this 0-4096 range with 0 being a special case which holds the signal low (disabled). The class for each motor controller contains information about what the typical bound values (min, max and each side of the deadband) are as well as the typical midpoint. WPILib can then use these values to map the scaled value into the proper range for the motor controller. This allows for the code to switch seamlessly between different types of controllers and abstracts out the details of the specific signaling. Calibrating Motor Controllers ----------------------------- From 22fae93e9cd66e1c580d8d909f9b2401377c5b3b Mon Sep 17 00:00:00 2001 From: sciencewhiz Date: Sun, 9 Jul 2023 18:15:55 -0700 Subject: [PATCH 11/28] Update requests to 2.31.0 to fix dependabot (#2285) --- poetry.lock | 15 +++++++++------ source/requirements.txt | 4 ++-- 2 files changed, 11 insertions(+), 8 deletions(-) diff --git a/poetry.lock b/poetry.lock index 9cfc0de0c6..953b6a1716 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry and should not be changed by hand. +# This file is automatically @generated by Poetry 1.4.2 and should not be changed by hand. [[package]] name = "alabaster" @@ -1492,21 +1492,21 @@ six = ">=1.5" [[package]] name = "requests" -version = "2.29.0" +version = "2.31.0" description = "Python HTTP for Humans." category = "main" optional = false python-versions = ">=3.7" files = [ - {file = "requests-2.29.0-py3-none-any.whl", hash = "sha256:e8f3c9be120d3333921d213eef078af392fba3933ab7ed2d1cba3b56f2568c3b"}, - {file = "requests-2.29.0.tar.gz", hash = "sha256:f2e34a75f4749019bb0e3effb66683630e4ffeaf75819fb51bebef1bf5aef059"}, + {file = "requests-2.31.0-py3-none-any.whl", hash = "sha256:58cd2187c01e70e6e26505bca751777aa9f2ee0b7f4300988b709f44e013003f"}, + {file = "requests-2.31.0.tar.gz", hash = "sha256:942c5a758f98d790eaed1a29cb6eefc7ffb0d1cf7af05c3d2791656dbd6ad1e1"}, ] [package.dependencies] certifi = ">=2017.4.17" charset-normalizer = ">=2,<4" idna = ">=2.5,<4" -urllib3 = ">=1.21.1,<1.27" +urllib3 = ">=1.21.1,<3" [package.extras] socks = ["PySocks (>=1.5.6,!=1.5.7)"] @@ -1560,8 +1560,11 @@ files = [ {file = "ruamel.yaml.clib-0.2.7-cp310-cp310-win32.whl", hash = "sha256:763d65baa3b952479c4e972669f679fe490eee058d5aa85da483ebae2009d231"}, {file = "ruamel.yaml.clib-0.2.7-cp310-cp310-win_amd64.whl", hash = "sha256:d000f258cf42fec2b1bbf2863c61d7b8918d31ffee905da62dede869254d3b8a"}, {file = "ruamel.yaml.clib-0.2.7-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:045e0626baf1c52e5527bd5db361bc83180faaba2ff586e763d3d5982a876a9e"}, - {file = "ruamel.yaml.clib-0.2.7-cp311-cp311-macosx_12_6_arm64.whl", hash = "sha256:721bc4ba4525f53f6a611ec0967bdcee61b31df5a56801281027a3a6d1c2daf5"}, + {file = "ruamel.yaml.clib-0.2.7-cp311-cp311-macosx_13_0_arm64.whl", hash = "sha256:1a6391a7cabb7641c32517539ca42cf84b87b667bad38b78d4d42dd23e957c81"}, + {file = "ruamel.yaml.clib-0.2.7-cp311-cp311-manylinux2014_aarch64.whl", hash = "sha256:9c7617df90c1365638916b98cdd9be833d31d337dbcd722485597b43c4a215bf"}, {file = "ruamel.yaml.clib-0.2.7-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:41d0f1fa4c6830176eef5b276af04c89320ea616655d01327d5ce65e50575c94"}, + {file = "ruamel.yaml.clib-0.2.7-cp311-cp311-win32.whl", hash = "sha256:f6d3d39611ac2e4f62c3128a9eed45f19a6608670c5a2f4f07f24e8de3441d38"}, + {file = "ruamel.yaml.clib-0.2.7-cp311-cp311-win_amd64.whl", hash = "sha256:da538167284de58a52109a9b89b8f6a53ff8437dd6dc26d33b57bf6699153122"}, {file = "ruamel.yaml.clib-0.2.7-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:4b3a93bb9bc662fc1f99c5c3ea8e623d8b23ad22f861eb6fce9377ac07ad6072"}, {file = "ruamel.yaml.clib-0.2.7-cp36-cp36m-macosx_12_0_arm64.whl", hash = "sha256:a234a20ae07e8469da311e182e70ef6b199d0fbeb6c6cc2901204dd87fb867e8"}, {file = "ruamel.yaml.clib-0.2.7-cp36-cp36m-manylinux2014_aarch64.whl", hash = "sha256:15910ef4f3e537eea7fe45f8a5d19997479940d9196f357152a09031c5be59f3"}, diff --git a/source/requirements.txt b/source/requirements.txt index 476ae94c62..d6134ace36 100644 --- a/source/requirements.txt +++ b/source/requirements.txt @@ -51,11 +51,11 @@ pathspec==0.11.1 ; python_version >= "3.9" and python_version < "3.12" pbr==5.11.1 ; python_version >= "3.9" and python_version < "3.12" pillow==9.5.0 ; python_version >= "3.9" and python_version < "3.12" platformdirs==3.5.0 ; python_version >= "3.9" and python_version < "3.12" -pycparser==2.21 ; platform_python_implementation != "CPython" and python_version >= "3.9" and python_version < "3.12" +pycparser==2.21 ; python_version >= "3.9" and platform_python_implementation != "CPython" and python_version < "3.12" pygments==2.15.1 ; python_version >= "3.9" and python_version < "3.12" pyparsing==3.0.9 ; python_version >= "3.9" and python_version < "3.12" python-dateutil==2.8.2 ; python_version >= "3.9" and python_version < "3.12" -requests==2.29.0 ; python_version >= "3.9" and python_version < "3.12" +requests==2.31.0 ; python_version >= "3.9" and python_version < "3.12" restructuredtext-lint==1.4.0 ; python_version >= "3.9" and python_version < "3.12" ruamel-yaml-clib==0.2.7 ; platform_python_implementation == "CPython" and python_version < "3.11" and python_version >= "3.9" ruamel-yaml==0.17.21 ; python_version >= "3.9" and python_version < "3.12" From 4d43861abcf59b704354d6babc0077e878bcf53b Mon Sep 17 00:00:00 2001 From: Ryan Blue Date: Thu, 13 Jul 2023 21:45:32 -0400 Subject: [PATCH 12/28] Add andymark RSL option (#2286) --- .../control-system-hardware.rst | 22 ++++++++++++++---- ...-signal-light.png => rsl-allenbradley.png} | Bin .../control-system-hardware/rsl-andymark.png | Bin 0 -> 97256 bytes 3 files changed, 18 insertions(+), 4 deletions(-) rename source/docs/controls-overviews/images/control-system-hardware/{robot-signal-light.png => rsl-allenbradley.png} (100%) create mode 100644 source/docs/controls-overviews/images/control-system-hardware/rsl-andymark.png diff --git a/source/docs/controls-overviews/control-system-hardware.rst b/source/docs/controls-overviews/control-system-hardware.rst index ee32c288b5..8a0aca8948 100644 --- a/source/docs/controls-overviews/control-system-hardware.rst +++ b/source/docs/controls-overviews/control-system-hardware.rst @@ -116,11 +116,25 @@ The power supply for an FRC robot is a single 12V 18Ah Sealed Lead Acid (SLA) ba Robot Signal Light ------------------ -.. image:: images/control-system-hardware/robot-signal-light.png - :alt: Orange Robot Signal Light - :width: 500 +.. tabs:: + + .. tab:: Allen-Bradley + + .. figure:: images/control-system-hardware/rsl-allenbradley.png + :alt: Orange Robot Signal Light (Allen-Bradley) + :width: 500 + + Allen-Bradley 855PB-B12ME522 + + .. tab:: AndyMark + + .. figure:: images/control-system-hardware/rsl-andymark.png + :alt: Orange Robot Signal Light (AndyMark) + :width: 500 + + AndyMark am-3583 -The Robot Signal Light (RSL) is required to be the Allen-Bradley 855PB-B12ME522. It is directly controlled by the roboRIO and will flash when enabled and stay solid while disabled. +The Robot Signal Light (RSL) is required to be either Allen-Bradley 855PB-B12ME522 or AndyMark am-3583. It is directly controlled by the roboRIO and will flash when enabled and stay solid while disabled. 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z|Hj{X1<;~JvfVNWAAAqwxGbh>wtO1BUEMg$N5Yc9@z&Ys!Z0oq<+Q0u(I9nZG5WM^ z&>|UNM;g!%!Qv`Iycn&txSG3k(L>+vr0gBBD4IX8Ql1eg^IceSe~Wl1)4+AP|Vn zRZh?Kt*NWIsF|}l@BuyNdCtehBgDnar^Ul3%EK%AT!e#%2Z#k~;dlY1rT!li>>S=& zy?g)vJ%P=z{VOm5{(rCFYGr5c;%aK=`2U{6$Mb(K!r@&Y49o#3$*I05MVbWtAJOrf AL;wH) literal 0 HcmV?d00001 From a175db495567449f7adbdb69cbc314fb54cf29e8 Mon Sep 17 00:00:00 2001 From: sciencewhiz Date: Thu, 13 Jul 2023 20:47:26 -0500 Subject: [PATCH 13/28] Add instructions for disablinb VS Code line length linting (#2279) --- source/docs/contributing/frc-docs/build-instructions.rst | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/source/docs/contributing/frc-docs/build-instructions.rst b/source/docs/contributing/frc-docs/build-instructions.rst index c33a05849f..910db8401f 100644 --- a/source/docs/contributing/frc-docs/build-instructions.rst +++ b/source/docs/contributing/frc-docs/build-instructions.rst @@ -13,6 +13,14 @@ Text Editors / IDE For development, we recommend that you use VS Code along with the `reStructuredText extension `_. However, any text editor will work. +By default, the reStructuredText extension enables linting with all doc8 features enabled. As frc-docs does not follow the line length lint, add the following to your VS Code ``settings.json`` to disable line length linting. + +.. code-block:: json + + "restructuredtext.linter.doc8.extraArgs": [ + "--ignore D001" + ] + Windows ^^^^^^^ From ded9bfcde31f69164e5f80d1a8343f081de8037e Mon Sep 17 00:00:00 2001 From: Gold856 <117957790+Gold856@users.noreply.github.com> Date: Fri, 14 Jul 2023 23:53:23 -0400 Subject: [PATCH 14/28] Document IZone (#2266) --- .../controllers/pidcontroller.rst | 28 +++++++++++++++++++ .../introduction/common-control-issues.rst | 2 +- 2 files changed, 29 insertions(+), 1 deletion(-) diff --git a/source/docs/software/advanced-controls/controllers/pidcontroller.rst b/source/docs/software/advanced-controls/controllers/pidcontroller.rst index 4a1dec43a7..e574ce6cd2 100644 --- a/source/docs/software/advanced-controls/controllers/pidcontroller.rst +++ b/source/docs/software/advanced-controls/controllers/pidcontroller.rst @@ -126,6 +126,34 @@ The range limits may be increased or decreased using the ``setIntegratorRange()` // the total loop output pid.SetIntegratorRange(-0.5, 0.5); +Disabling Integral Gain if the Error is Too High +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Another way integral "wind-up" can be alleviated is by limiting the error range where integral gain is active. This can be achieved by setting ``IZone``. If the error is more than ``IZone``, the total accumulated error is reset, disabling integral gain. When the error is equal to or less than IZone, integral gain is enabled. + +By default, ``IZone`` is disabled. + +``IZone`` may be set using the ``setIZone()`` method. To disable it, set it to infinity. + +.. tabs:: + + .. code-tab:: java + + // Disable IZone + pid.setIZone(Double.POSITIVE_INFINITY); + + // Integral gain will not be applied if the absolute value of the error is + // more than 2 + pid.setIZone(2); + + .. code-tab:: c++ + // Disable IZone + pid.SetIZone(std::numeric_limits::infinity()); + + // Integral gain will not be applied if the absolute value of the error is + // more than 2 + pid.SetIZone(2); + Setting Continuous Input ^^^^^^^^^^^^^^^^^^^^^^^^ diff --git a/source/docs/software/advanced-controls/introduction/common-control-issues.rst b/source/docs/software/advanced-controls/introduction/common-control-issues.rst index 19d210e128..19d9c9bab5 100644 --- a/source/docs/software/advanced-controls/introduction/common-control-issues.rst +++ b/source/docs/software/advanced-controls/introduction/common-control-issues.rst @@ -11,7 +11,7 @@ Beware that if :math:`K_i` is too large, integral windup can occur. Following a There are a few ways to mitigate this: 1. Decrease the value of :math:`K_i`, down to zero if possible. -2. Add logic to reset the integrator term to zero if the :term:`output` is too far from the :term:`setpoint`. Some smart motor controllers implement this with a ``setIZone()`` method. +2. Add logic to reset the integrator term to zero if the :term:`output` is too far from the :term:`setpoint`. Some smart motor controllers and WPILib's ``PIDController`` implement this with a ``setIZone()`` method. 3. Cap the integrator at some maximum value. WPILib's ``PIDController`` implements this with the ``setIntegratorRange()`` method. .. important:: Most mechanisms in FRC do not require any integral control, and systems that seem to require integral control to respond well probably have an inaccurate feedforward model. From a8359b2d778857c5e9f8eec266b67dce0e76b66f Mon Sep 17 00:00:00 2001 From: Gold856 <117957790+Gold856@users.noreply.github.com> Date: Sat, 15 Jul 2023 11:51:57 -0400 Subject: [PATCH 15/28] Fix code tab (#2290) --- .../software/advanced-controls/controllers/pidcontroller.rst | 1 + 1 file changed, 1 insertion(+) diff --git a/source/docs/software/advanced-controls/controllers/pidcontroller.rst b/source/docs/software/advanced-controls/controllers/pidcontroller.rst index e574ce6cd2..ef258309bd 100644 --- a/source/docs/software/advanced-controls/controllers/pidcontroller.rst +++ b/source/docs/software/advanced-controls/controllers/pidcontroller.rst @@ -147,6 +147,7 @@ By default, ``IZone`` is disabled. pid.setIZone(2); .. code-tab:: c++ + // Disable IZone pid.SetIZone(std::numeric_limits::infinity()); From 71a5f21395366b3602225b2818c8a0f93ae0f9de Mon Sep 17 00:00:00 2001 From: Asa Paparo Date: Sun, 16 Jul 2023 17:10:28 -0400 Subject: [PATCH 16/28] fixed link in tutorial-intro.rst (#2292) * fixed link in tutorial-intro.rst * Fix :ref: in tutorial-intro.rst --- .../advanced-controls/introduction/tutorial-intro.rst | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/source/docs/software/advanced-controls/introduction/tutorial-intro.rst b/source/docs/software/advanced-controls/introduction/tutorial-intro.rst index c7d3cd3ca3..1712cc5889 100644 --- a/source/docs/software/advanced-controls/introduction/tutorial-intro.rst +++ b/source/docs/software/advanced-controls/introduction/tutorial-intro.rst @@ -14,7 +14,7 @@ Parameter Exponential Search While interacting with the simulations, you will get instructions to "increase" or "decrease" different parameters. -When "increasing" a value, multiply it by two until the expected effect is observed. After the first time the value becomes too large (i.e. the behavior is unstable or the mechanism overshoots), reduce the value to halfway between the first too-large value encountered and the previous value tested before that. Continue iterating this "split-half" procedure to zero in on the optimal value (if the response undershoots, pick the halfway point between the new value and the last value immediately above it - if it overshoots, pick the halfway point between the new value and the last value immediately below it). This is called an term:`exponential search`, and is a very efficient way to find positive values of unknown scale. +When "increasing" a value, multiply it by two until the expected effect is observed. After the first time the value becomes too large (i.e. the behavior is unstable or the mechanism overshoots), reduce the value to halfway between the first too-large value encountered and the previous value tested before that. Continue iterating this "split-half" procedure to zero in on the optimal value (if the response undershoots, pick the halfway point between the new value and the last value immediately above it - if it overshoots, pick the halfway point between the new value and the last value immediately below it). This is called an :term:`exponential search`, and is a very efficient way to find positive values of unknown scale. System Noise ------------ @@ -32,4 +32,4 @@ Follow the order of tuning presented in the tutorials - it will maximize your ch Resist checking the tuning solutions until you believe your solution is close to correct. Then check your answer, and try the provided one to compare against your own results. -Furthermore, work from easy to difficult.:ref:`Flywheel mechanisms ` are the easiest to tune. After that, look into the :ref:`turret tuning `. Then, finish off with the :ref:`vertical arm example`. +Furthermore, work from easy to difficult. :ref:`Flywheel mechanisms ` are the easiest to tune. After that, look into the :ref:`turret tuning `. Then, finish off with the :ref:`vertical arm example`. From 2c3ded1aa889d9378a481811f04d1e7662fee1b4 Mon Sep 17 00:00:00 2001 From: Ayush Sagar Date: Thu, 20 Jul 2023 20:38:01 -0400 Subject: [PATCH 17/28] Fixed warning tag (#2298) --- source/docs/hardware/hardware-basics/wiring-pneumatics-ph.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/docs/hardware/hardware-basics/wiring-pneumatics-ph.rst b/source/docs/hardware/hardware-basics/wiring-pneumatics-ph.rst index 05492d5baf..f6c5bc19c9 100644 --- a/source/docs/hardware/hardware-basics/wiring-pneumatics-ph.rst +++ b/source/docs/hardware/hardware-basics/wiring-pneumatics-ph.rst @@ -50,7 +50,7 @@ Analog An analog pressure switch (`REV-11-1107 `__ can be connected directly to the analog pressure sensor port 0 input terminals. Using an analog pressure sensor allows reading the pressure in the pneumatic system through code and setting custom trigger thresholds for turning on and off the compressor. -..warning:: The Analog Pressure Sensor port is a very tight fit and requires special attention. See `REV Wiring an Analog Pressure Sensor `__ for more tips +.. warning:: The Analog Pressure Sensor port is a very tight fit and requires special attention. See `REV Wiring an Analog Pressure Sensor `__ for more tips Solenoids --------- From b7e5b8b8d0b297028d44677651a9a7e4a9720025 Mon Sep 17 00:00:00 2001 From: sciencewhiz Date: Thu, 20 Jul 2023 19:27:04 -0700 Subject: [PATCH 18/28] Update macOS and Xcode version (#2295) Needed for wpilibsuite/allwpilib#5379 --- .../software/wpilib-tools/robot-simulation/introduction.rst | 2 +- source/docs/zero-to-robot/step-2/wpilib-setup.rst | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/source/docs/software/wpilib-tools/robot-simulation/introduction.rst b/source/docs/software/wpilib-tools/robot-simulation/introduction.rst index 9b2c794431..cbc0282a58 100644 --- a/source/docs/software/wpilib-tools/robot-simulation/introduction.rst +++ b/source/docs/software/wpilib-tools/robot-simulation/introduction.rst @@ -28,7 +28,7 @@ If at any point in time you want to disable Desktop Support, simply re-run the " Additional C++ Dependency ^^^^^^^^^^^^^^^^^^^^^^^^^ -C++ robot simulation requires that a native compiler to be installed. For Windows, this would be `Visual Studio 2022 `__ (**not** VS Code), macOS requires `Xcode 13 or later `__, and Linux (Ubuntu) requires the ``build-essential`` package. +C++ robot simulation requires that a native compiler to be installed. For Windows, this would be `Visual Studio 2022 `__ (**not** VS Code), macOS requires `Xcode 14 or later `__, and Linux (Ubuntu) requires the ``build-essential`` package. Ensure the :guilabel:`Desktop Development with C++` option is checked in the Visual Studio installer for simulation support. diff --git a/source/docs/zero-to-robot/step-2/wpilib-setup.rst b/source/docs/zero-to-robot/step-2/wpilib-setup.rst index cdc2c68d2b..cbb68c00bc 100644 --- a/source/docs/zero-to-robot/step-2/wpilib-setup.rst +++ b/source/docs/zero-to-robot/step-2/wpilib-setup.rst @@ -9,7 +9,7 @@ Prerequisites Supported Operating Systems and Architectures: * Windows 10 & 11, 64 bit only. 32 bit and Arm are not supported * Ubuntu 22.04, 64 bit. Other Linux distributions with glibc >= 2.34 may work, but are unsupported - * macOS 11 or higher, both Intel and Arm. + * macOS 11 or higher, both Intel and Arm for Java. C++ requires macOS 12 or higher with Xcode 14. .. warning:: The following OSes are no longer supported: macOS 10.15, Ubuntu 18.04 & 20.04, Windows 7, Windows 8.1, and any 32-bit Windows. @@ -157,7 +157,7 @@ Some operating systems require some final action to complete installation. Additional C++ Installation for Simulation ------------------------------------------ -C++ robot simulation requires that a native compiler to be installed. For Windows, this would be `Visual Studio 2022 `__ (**not** VS Code), macOS requires `Xcode 13 or later `__, and Linux (Ubuntu) requires the ``build-essential`` package. +C++ robot simulation requires that a native compiler to be installed. For Windows, this would be `Visual Studio 2022 `__ (**not** VS Code), macOS requires `Xcode 14 or later `__, and Linux (Ubuntu) requires the ``build-essential`` package. Ensure the :guilabel:`Desktop Development with C++` option is checked in the Visual Studio installer for simulation support. From 8f8376748c2377596fa6f6c99807d309553e2bd4 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Thu, 20 Jul 2023 19:27:47 -0700 Subject: [PATCH 19/28] Update accelerometer docs (#2291) The Accelerometer interface was deprecated in wpilibsuite/allwpilib#5445. --- .../sensors/accelerometers-software.rst | 52 ++++++++----------- 1 file changed, 22 insertions(+), 30 deletions(-) diff --git a/source/docs/software/hardware-apis/sensors/accelerometers-software.rst b/source/docs/software/hardware-apis/sensors/accelerometers-software.rst index 6a1857ca7e..c6ab76a6d6 100644 --- a/source/docs/software/hardware-apis/sensors/accelerometers-software.rst +++ b/source/docs/software/hardware-apis/sensors/accelerometers-software.rst @@ -55,27 +55,19 @@ The :code:`AnalogAccelerometer` class (`Java `__, `C++ `__). This interface defines functionality and settings common to all supported 3-axis accelerometers. - -The :code:`Accelerometer` interface contains getters for the acceleration along each cardinal direction (x, y, and z), as well as a setter for the range of accelerations the accelerometer will measure. - -.. warning:: Not all accelerometers are capable of measuring all ranges. +There are getters for the acceleration along each cardinal direction (x, y, and z), as well as a setter for the range of accelerations the accelerometer will measure. .. tabs:: .. code-tab:: java // Sets the accelerometer to measure between -8 and 8 G's - accelerometer.setRange(Accelerometer.Range.k8G); + accelerometer.setRange(BuiltInAccelerometer.Range.k8G); .. code-tab:: c++ // Sets the accelerometer to measure between -8 and 8 G's - accelerometer.SetRange(Accelerometer::Range::kRange_8G); + accelerometer.SetRange(BuiltInAccelerometer::Range::kRange_8G); ADXL345_I2C ^^^^^^^^^^^ @@ -88,13 +80,13 @@ The :code:`ADXL345_I2C` class (`Java Date: Thu, 20 Jul 2023 19:28:13 -0700 Subject: [PATCH 20/28] Update gyro docs (#2294) * Update gyro docs The Gyro interface was deprecated in wpilibsuite/allwpilib#5445. * Fix title levels --- .../hardware-apis/sensors/gyros-software.rst | 25 ++++++++----------- 1 file changed, 11 insertions(+), 14 deletions(-) diff --git a/source/docs/software/hardware-apis/sensors/gyros-software.rst b/source/docs/software/hardware-apis/sensors/gyros-software.rst index 7a81bff479..8d1ddaa99b 100644 --- a/source/docs/software/hardware-apis/sensors/gyros-software.rst +++ b/source/docs/software/hardware-apis/sensors/gyros-software.rst @@ -5,17 +5,14 @@ Gyroscopes - Software .. note:: This section covers gyros in software. For a hardware guide to gyros, see :ref:`docs/hardware/sensors/gyros-hardware:Gyroscopes - Hardware`. -A gyroscope, or "gyro," is an angular rate sensor typically used in robotics to measure and/or stabilize robot headings. WPILib natively provides specific support for the ADXRS450 gyro available in the kit of parts, as well as more general support for a wider variety of analog gyros through the `AnalogGyro`_ class. Most common 3rd party gyros inherit from the :code:`Gyro` interface making them easily usable too! +A gyroscope, or "gyro," is an angular rate sensor typically used in robotics to measure and/or stabilize robot headings. WPILib natively provides specific support for the ADXRS450 gyro available in the kit of parts, as well as more general support for a wider variety of analog gyros through the `AnalogGyro`_ class. -The Gyro interface ------------------- - -All natively-supported gyro objects in WPILib implement the :code:`Gyro` interface (`Java `__, `C++ `__). This interface provides methods for getting the current angular rate and heading, zeroing the current heading, and calibrating the gyro. +There are getters the current angular rate and heading and functions for zeroing the current heading and calibrating the gyro. .. note:: It is crucial that the robot remain stationary while calibrating a gyro. ADIS16448 -^^^^^^^^^ +--------- The ADIS16448 uses the :code:`ADIS16448_IMU` class (`Java `__, `C++ `__). See the `Analog Devices ADIS16448 documentation `__ for additional information and examples. @@ -34,7 +31,7 @@ The ADIS16448 uses the :code:`ADIS16448_IMU` class (`Java `__, `C++ `__). See the `Analog Devices ADIS16470 documentation `__ for additional information and examples. @@ -53,7 +50,7 @@ The ADIS16470 uses the :code:`ADIS16470_IMU` class (`Java `__, `C++ `__) provides support for the Analog Devices ADXRS450 gyro available in the kit of parts, which connects over the SPI bus. @@ -72,7 +69,7 @@ The :code:`ADXRS450_Gyro` class (`Java `__, `C++ `__) provides support for any single-axis gyro with an analog output. @@ -91,9 +88,9 @@ The :code:`AnalogGyro` class (`Java `__ for additional connection types. +The navX uses the :code:`AHRS` class. See the `navX documentation `__ for additional connection types. .. tabs:: @@ -108,9 +105,9 @@ The navX uses the :code:`AHRS` class and implements the :code:`Gyro` interface. AHRS gyro{SPI::Port::kMXP}; Pigeon -^^^^^^ +------ -The Pigeon should use the :code:`WPI_PigeonIMU` class that implements :code:`Gyro`. The Pigeon can either be connected with CAN or by data cable to a TalonSRX. The `Pigeon IMU User's Guide `__ contains full details on using the Pigeon. +The Pigeon should use the :code:`WPI_PigeonIMU` class. The Pigeon can either be connected with CAN or by data cable to a TalonSRX. The `Pigeon IMU User's Guide `__ contains full details on using the Pigeon. .. tabs:: @@ -138,7 +135,7 @@ Gyros are extremely useful in FRC for both measuring and controlling robot headi Displaying the robot heading on the dashboard ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -:ref:`Shuffleboard ` includes a widget for displaying heading data from a :code:`Gyro` in the form of a compass. This can be helpful for viewing the robot heading when sight lines to the robot are obscured: +:ref:`Shuffleboard ` includes a widget for displaying heading data from a gyro in the form of a compass. This can be helpful for viewing the robot heading when sight lines to the robot are obscured: .. tabs:: From 01d51eca92042bd4d9e2e2bea41b4c5588281cf8 Mon Sep 17 00:00:00 2001 From: Ryan Blue Date: Thu, 20 Jul 2023 22:28:23 -0400 Subject: [PATCH 21/28] Remove references to the "old" PIDController (#2288) --- .../controllers/combining-feedforward-feedback.rst | 2 +- .../advanced-controls/controllers/pidcontroller.rst | 6 ------ 2 files changed, 1 insertion(+), 7 deletions(-) diff --git a/source/docs/software/advanced-controls/controllers/combining-feedforward-feedback.rst b/source/docs/software/advanced-controls/controllers/combining-feedforward-feedback.rst index 224c8ddece..6daf869aca 100644 --- a/source/docs/software/advanced-controls/controllers/combining-feedforward-feedback.rst +++ b/source/docs/software/advanced-controls/controllers/combining-feedforward-feedback.rst @@ -12,7 +12,7 @@ Feedforward and feedback controllers can each be used in isolation, but are most Using Feedforward with a PIDController -------------------------------------- -Users familiar with the old ``PIDController`` class may notice the lack of any feedforward gain in the new controller. As users are expected to use the controller output themselves, there is no longer any need for the ``PIDController`` to implement feedforward - users may simply add any feedforward they like to the output of the controller before sending it to their motors: +Users may add any feedforward they like to the output of the controller before sending it to their motors: .. tabs:: diff --git a/source/docs/software/advanced-controls/controllers/pidcontroller.rst b/source/docs/software/advanced-controls/controllers/pidcontroller.rst index ef258309bd..bb49f3c617 100644 --- a/source/docs/software/advanced-controls/controllers/pidcontroller.rst +++ b/source/docs/software/advanced-controls/controllers/pidcontroller.rst @@ -10,8 +10,6 @@ WPILib supports PID control of mechanisms through the ``PIDController`` class (` Using the PIDController Class ----------------------------- -.. note:: The ``PIDController`` class in the ``frc`` namespace is deprecated - C++ teams should use the one in the ``frc2`` namespace, instead. Likewise, Java teams should use the class in the ``edu.wpi.first.math.controller`` package. - Constructing a PIDController ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -38,8 +36,6 @@ Using the Feedback Loop Output .. note:: The ``PIDController`` assumes that the ``calculate()`` method is being called regularly at an interval consistent with the configured period. Failure to do this will result in unintended loop behavior. -.. warning:: Unlike the old ``PIDController``, the new PIDController does not automatically control an output from its own thread - users are required to call ``calculate()`` and use the resulting output in their own code. - Using the constructed ``PIDController`` is simple: simply call the ``calculate()`` method from the robot's main loop (e.g. the robot's ``autonomousPeriodic()`` method): .. tabs:: @@ -181,8 +177,6 @@ To configure a ``PIDController`` to automatically do this, use the ``enableConti Clamping Controller Output -------------------------- -Unlike the old ``PIDController``, the new controller does not offer any output clamping features, as the user is expected to use the loop output themselves. Output clamping can be easily achieved by composing the controller with WPI's ``clamp()`` function (or ``std::clamp`` in c++): - .. tabs:: .. code-tab:: java From 26271404936d4ea61ee548bb18e84f8795a0c085 Mon Sep 17 00:00:00 2001 From: Ryan Blue Date: Thu, 20 Jul 2023 22:29:33 -0400 Subject: [PATCH 22/28] Remove new command based "What's changed" (#2287) * Remove old command based stuff also fix some broken links I found * add redirect --- .../commandbased/command-based-changes.rst | 83 ------------------- .../commandbased/cpp-command-discussion.rst | 4 +- source/docs/software/commandbased/index.rst | 3 - source/redirects.txt | 2 +- 4 files changed, 3 insertions(+), 89 deletions(-) delete mode 100644 source/docs/software/commandbased/command-based-changes.rst diff --git a/source/docs/software/commandbased/command-based-changes.rst b/source/docs/software/commandbased/command-based-changes.rst deleted file mode 100644 index 297d6a4d77..0000000000 --- a/source/docs/software/commandbased/command-based-changes.rst +++ /dev/null @@ -1,83 +0,0 @@ -2020 Command-Based Rewrite: What Changed? -========================================= - -This article provides a summary of changes from the original command-based framework to the 2020 rewrite. This summary is not necessarily comprehensive - for rigorous documentation, as always, refer to the API docs (`Java `__, `C++ `__). - -Package Location ----------------- - -The new command-based framework is located in the ``wpilibj2`` package for Java, and in the ``frc2`` namespace for C++. The new framework must be installed using the instructions: :ref:`docs/software/vscode-overview/3rd-party-libraries:WPILib Command Libraries`. - -Major Architectural Changes ---------------------------- - -The overall structure of the command-based framework has remained largely the same. However, there are some still a few major architectural changes that users should be aware of: - -Commands and Subsystems as Interfaces -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -``Command`` (`Java `__, `C++ `__) and ``Subsystem`` (`Java `__, `C++ `__) are both now interfaces as opposed to abstract classes, allowing advanced users more potential flexibility. ``CommandBase`` and ``SubsystemBase`` abstract base classes are still provided for convenience, but are not required. For more information, see :doc:`commands` and :doc:`subsystems`. - -Multiple Command Group Classes -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -The ``CommandGroup`` class no longer exists, and has been replaced by a number of narrower classes that can be recursively composed to create more-complicated group structures. For more information see :doc:`command-compositions`. - -Inline Command Definitions -^^^^^^^^^^^^^^^^^^^^^^^^^^ - -Previously, users were required to write a subclass of ``Command`` in almost all cases where a command was needed. Many of the new commands are designed to allow inline definition of command functionality, and so can be used without the need for an explicit subclass. For more information, see :ref:`docs/software/commandbased/commands:Included Command Types`. - -Injection of Command Dependencies -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -While not an actual change to the coding of the library, the recommended use pattern for the new command-based framework utilizes injection of subsystem dependencies into commands, so that subsystems are not declared as globals. This is a cleaner, more maintainable, and more reusable pattern than the global subsystem pattern promoted previously. For more information, see :doc:`structuring-command-based-project`. - -Command Ownership (C++ Only) -^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -The previous command framework required users to use raw pointers for all commands, resulting in nearly-unavoidable memory leaks in all C++ command-based projects, as well as leaving room for common errors such as double-allocating commands within command-groups. - -The new command framework offers ownership management for all commands. Default commands and commands bound to buttons are typically owned by the scheduler, and component commands are owned by their encapsulating command groups. As a result, users should generally never heap-allocate a command with ``new`` unless there is a very good reason to do so. - -Transfer of ownership is done using `perfect forwarding `__, meaning rvalues will be *moved* and lvalues will be *copied* (`rvalue/lvalue explanation `__). - -Changes to the Scheduler ------------------------- - -* ``Scheduler`` has been renamed to ``CommandScheduler`` (`Java `__, `C++ `__). -* Interruptibility of commands is now the responsibility of the scheduler, not the commands, and can be specified during the call to ``schedule``. -* Users can now pass actions to the scheduler which are taken whenever a command is scheduled, interrupted, or ends normally. This is highly useful for cases such as event logging. - -Changes to Subsystem --------------------- - -.. note:: For more information on subsystems, see :doc:`subsystems`. - -* As noted earlier, ``Subsystem`` is now an interface (`Java `__, `C++ `__); the closest equivalent of the old ``Subsystem`` is the new ``SubsystemBase`` class. Many of the Sendable-related constructor overloads have been removed to reduce clutter; users can call the setters directly from their own constructor, if needed. -* ``initDefaultCommand`` has been removed; subsystems no longer need to "know about" their default commands, which are instead registered directly with the ``CommandScheduler``. The new ``setDefaultCommand`` method simply wraps the ``CommandScheduler`` call. -* Subsystems no longer "know about" the commands currently requiring them; this is handled exclusively by the ``CommandScheduler``. A convenience wrapper on the ``CommandScheduler`` method is provided, however. - -Changes to Command ------------------- - -.. note:: For more information on commands, see :doc:`commands`. - -* As noted earlier, ``Command`` is now an interface (`Java `__, `C++ `__); the closest equivalent of the old ``Command`` is the new ``CommandBase`` class. Many of the Sendable-related constructor overloads have been removed to reduce clutter; users can call the setters directly from their own constructor, if needed. -* Commands no longer handle their own scheduling state; this is now the responsibility of the scheduler. -* The ``interrupted()`` method has been rolled into the ``end()`` method, which now takes a parameter specifying whether the command was interrupted (``false`` if it ended normally). -* The ``requires()`` method has been renamed to ``addRequirement()``. -* ``void setRunsWhenDisabled(boolean disabled)`` has been replaced by an overridable :ref:`docs/software/commandbased/commands:runsWhenDisabled` method. -* ``void setInterruptible(boolean interruptible)`` has been replaced by an overridable :ref:`docs/software/commandbased/commands:getInterruptionBehavior` method. -* Several :ref:`"decorator" methods ` have been added to allow easy inline modification of commands (e.g. adding a timeout). -* (C++ only) In order to allow the decorators to work with the command ownership model, a :term:`CRTP` is used via the ``CommandHelper`` `class `__. Any user-defined Command subclass ``Foo`` *must* extend ``CommandHelper`` where ``Base`` is the desired base class. - -Changes to PIDSubsystem/PIDCommand ----------------------------------- - -.. note:: For more information, see :doc:`pid-subsystems-commands`, and :ref:`docs/software/advanced-controls/controllers/pidcontroller:PID Control in WPILib` - -* Following the changes to PIDController, these classes now run synchronously from the main robot loop. -* The ``PIDController`` is now injected through the constructor, removing many of the forwarding methods. It can be modified after construction with ``getController()``. -* ``PIDCommand`` is intended largely for inline use, as shown in the GyroDriveCommands example (`Java `__, `C++ `__). -* If users wish to use PIDCommand more "traditionally," overriding the protected ``returnPIDInput()`` and ``usePIDOutput(double output)`` methods has been replaced by modifying the protected ``m_measurement`` and ``m_useOutput`` fields. Similarly, rather than calling ``setSetpoint``, users can modify the protected ``m_setpoint`` field. diff --git a/source/docs/software/commandbased/cpp-command-discussion.rst b/source/docs/software/commandbased/cpp-command-discussion.rst index 0cc5e88798..79a0162dcc 100644 --- a/source/docs/software/commandbased/cpp-command-discussion.rst +++ b/source/docs/software/commandbased/cpp-command-discussion.rst @@ -4,7 +4,7 @@ A Technical Discussion on C++ Commands This article will help you understand the reasoning behind some of the decisions made in the 2020 command-based framework (such as the use of ``std::unique_ptr``, CRTP in the form of ``CommandHelper``, etc.). You do not need to understand the information within this article to use the command-based framework in your robot code. -.. note:: The model was further changed in 2023, as described `below <#2023 Updates>`_. +.. note:: The model was further changed in 2023, as described :ref:`below `. Ownership Model --------------- @@ -187,7 +187,7 @@ After a few years in the new command-based framework, the recommended way to cre A significant root cause of most pain points was commands being passed by value in a non-polymorphic way. This made object slicing mistakes rather easy, and changes in composition structure could propagate type changes throughout the codebase: for example, if a ``ParallelRaceGroup`` were changed to a ``ParallelDeadlineGroup``, those type changes would propagate through the codebase. Passing around the object as a ``Command`` (as done in Java) would result in object slicing. -Additionally, various decorators weren't supported in C++ due to reasons described `above <#Templating Decorators>`_. As long as decorators were rarely used and were mainly to reduce verbosity (where Java was more verbose than C++), this was less of a problem. Once heavy usage of decorators was recommended, this became more of an issue. +Additionally, various decorators weren't supported in C++ due to reasons described :ref:`above `. As long as decorators were rarely used and were mainly to reduce verbosity (where Java was more verbose than C++), this was less of a problem. Once heavy usage of decorators was recommended, this became more of an issue. ``CommandPtr`` ^^^^^^^^^^^^^^ diff --git a/source/docs/software/commandbased/index.rst b/source/docs/software/commandbased/index.rst index 8ae0c93c62..acf476bdbe 100644 --- a/source/docs/software/commandbased/index.rst +++ b/source/docs/software/commandbased/index.rst @@ -1,8 +1,6 @@ Command-Based Programming ========================= -.. note:: Old (pre-2020) command-based is no longer available in 2023. Users should migrate to the new command-based framework below. Documentation for old command-based is available `here `_. - This sequence of articles serves as an introduction to and reference for the WPILib command-based framework. For a collection of example projects using the command-based framework, see :ref:`docs/software/examples-tutorials/wpilib-examples:Command-Based Examples`. @@ -22,7 +20,6 @@ For a collection of example projects using the command-based framework, see :ref pid-subsystems-commands profile-subsystems-commands profilepid-subsystems-commands - command-based-changes Passing Functions As Parameters ------------------------------- diff --git a/source/redirects.txt b/source/redirects.txt index 22e710c31a..cbe9c04629 100644 --- a/source/redirects.txt +++ b/source/redirects.txt @@ -279,4 +279,4 @@ "docs/zero-to-robot/step-4/running-benchtop-test.rst" "docs/zero-to-robot/step-4/running-test-program.rst" "docs/zero-to-robot/step-1/how-to-wire-a-robot.rst" "docs/zero-to-robot/step-1/intro-to-frc-robot-wiring.rst" "docs/hardware/hardware-basics/wiring-pneumatics.rst" "docs/hardware/hardware-basics/wiring-pneumatics-pcm.rst" - +"docs/software/commandbased/command-based-changes.rst" "docs/software/commandbased/index.rst" From e93d9c598ce251a0fc60d2d4186742bac42fc1f7 Mon Sep 17 00:00:00 2001 From: Colin Finn <56322557+cfinn68916@users.noreply.github.com> Date: Mon, 31 Jul 2023 23:16:14 -0500 Subject: [PATCH 23/28] Add c++ counterparts for java shuffleboard snippets (#2299) * Add c++ counterparts for java shuffleboard snippets * Add frc:: to c++ examples --- .../shuffleboard/layouts-with-code/sending-data.rst | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/source/docs/software/dashboards/shuffleboard/layouts-with-code/sending-data.rst b/source/docs/software/dashboards/shuffleboard/layouts-with-code/sending-data.rst index 9596bd3298..08eae7cf5d 100644 --- a/source/docs/software/dashboards/shuffleboard/layouts-with-code/sending-data.rst +++ b/source/docs/software/dashboards/shuffleboard/layouts-with-code/sending-data.rst @@ -15,7 +15,7 @@ Sending simple data (numbers, strings, booleans, and arrays of these) is done by .. code-tab:: c++ - Shuffleboard::GetTab("Numbers") + frc::Shuffleboard::GetTab("Numbers") .Add("Pi", 3.14); If data needs to be updated (for example, the output of some calculation done on the robot), call ``getEntry()`` after defining the value, then update it when needed or in a ``periodic`` function @@ -52,6 +52,11 @@ Simply using `addPersistent` instead of `add` will make the value saved on the r Shuffleboard.getTab("Drive") .addPersistent("Max Speed", 1.0); + .. code-tab:: c++ + + frc::Shuffleboard::GetTab("Drive") + .AddPersistent("Max Speed", 1.0); + Sending sensors, motors, etc ---------------------------- @@ -63,3 +68,8 @@ Analogous to ``SmartDashboard.putData``, any ``Sendable`` object (most sensors, Shuffleboard.getTab("Tab Title") .add("Sendable Title", mySendable); + + .. code-tab:: c++ + + frc::Shuffleboard::GetTab("Tab Title") + .Add("Sendable Title", mySendable); From 2e089d696b6f9ae28050053b15c8b9014de3e422 Mon Sep 17 00:00:00 2001 From: sciencewhiz Date: Mon, 31 Jul 2023 21:16:30 -0700 Subject: [PATCH 24/28] Update certify to fix dependabot (#2307) --- poetry.lock | 6 +++--- source/requirements.txt | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/poetry.lock b/poetry.lock index 953b6a1716..bd243c65ad 100644 --- a/poetry.lock +++ b/poetry.lock @@ -304,14 +304,14 @@ redis = ["redis (>=2.10.5)"] [[package]] name = "certifi" -version = "2022.12.7" +version = "2023.7.22" description = "Python package for providing Mozilla's CA Bundle." category = "main" optional = false python-versions = ">=3.6" files = [ - {file = "certifi-2022.12.7-py3-none-any.whl", hash = "sha256:4ad3232f5e926d6718ec31cfc1fcadfde020920e278684144551c91769c7bc18"}, - {file = "certifi-2022.12.7.tar.gz", hash = "sha256:35824b4c3a97115964b408844d64aa14db1cc518f6562e8d7261699d1350a9e3"}, + {file = "certifi-2023.7.22-py3-none-any.whl", hash = "sha256:92d6037539857d8206b8f6ae472e8b77db8058fec5937a1ef3f54304089edbb9"}, + {file = "certifi-2023.7.22.tar.gz", hash = "sha256:539cc1d13202e33ca466e88b2807e29f4c13049d6d87031a3c110744495cb082"}, ] [[package]] diff --git a/source/requirements.txt b/source/requirements.txt index d6134ace36..03585a04c9 100644 --- a/source/requirements.txt +++ b/source/requirements.txt @@ -8,7 +8,7 @@ black==23.1.0 ; python_version >= "3.9" and python_version < "3.12" brotli==1.0.9 ; platform_python_implementation == "CPython" and python_version >= "3.9" and python_version < "3.12" brotlicffi==1.0.9.2 ; platform_python_implementation != "CPython" and python_version >= "3.9" and python_version < "3.12" cachecontrol[filecache]==0.12.11 ; python_version >= "3.9" and python_version < "3.12" -certifi==2022.12.7 ; python_version >= "3.9" and python_version < "3.12" +certifi==2023.7.22 ; python_version >= "3.9" and python_version < "3.12" cffi==1.15.1 ; platform_python_implementation != "CPython" and python_version >= "3.9" and python_version < "3.12" charset-normalizer==3.1.0 ; python_version >= "3.9" and python_version < "3.12" click==8.1.3 ; python_version >= "3.9" and python_version < "3.12" From 7ac0fede19537c694c70dc7c22ee9bf75c594c03 Mon Sep 17 00:00:00 2001 From: Guinea Wheek Date: Wed, 2 Aug 2023 15:17:43 -0700 Subject: [PATCH 25/28] add the redux vendordep (wpilibsuite#2256) (#2256) --- .../software/can-devices/third-party-devices.rst | 13 +++++++++++++ .../vscode-overview/3rd-party-libraries.rst | 3 +++ 2 files changed, 16 insertions(+) diff --git a/source/docs/software/can-devices/third-party-devices.rst b/source/docs/software/can-devices/third-party-devices.rst index d7f932225a..6d3543c73a 100644 --- a/source/docs/software/can-devices/third-party-devices.rst +++ b/source/docs/software/can-devices/third-party-devices.rst @@ -109,3 +109,16 @@ PWF Sensors - API Documentation (`Java `__, `C++ `__) - `Technical Manual `__ + +Redux Robotics +-------------- + +Redux Robotics currently offers the Canandcoder CAN + PWM magnetic encoder. + +Redux Sensors +^^^^^^^^^^^^^ + +- **Canandcoder** + + - API Documentation (`Java `__, `C++ `__) + - `Technical Manual `__ diff --git a/source/docs/software/vscode-overview/3rd-party-libraries.rst b/source/docs/software/vscode-overview/3rd-party-libraries.rst index 8fa1c2ddb4..7cb1f567d8 100644 --- a/source/docs/software/vscode-overview/3rd-party-libraries.rst +++ b/source/docs/software/vscode-overview/3rd-party-libraries.rst @@ -91,6 +91,9 @@ Click these links to visit the vendor site to see whether they offer online inst .. warning:: Only use **ONE** of the above Phoenix vendordep links within a project. If you need both Phoenix v5 and Phoenix Pro in the same project, use the third option. +`Redux Robotics ReduxLib `__ - Library for all Redux devices including the Canandcoder + ``https://frcsdk.reduxrobotics.com/ReduxLib_2023.json`` + `Playing With Fusion Driver `__ - Library for all PWF devices including the Venom motor/controller ``https://www.playingwithfusion.com/frc/playingwithfusion2023.json`` From 4072bf33cd2e9611bf527b99b7b987bc6bad0661 Mon Sep 17 00:00:00 2001 From: Gold856 <117957790+Gold856@users.noreply.github.com> Date: Wed, 2 Aug 2023 23:04:28 -0400 Subject: [PATCH 26/28] Update TrapezoidProfile docs (#2301) * Update TrapezoidProfile docs * Update source/docs/software/advanced-controls/controllers/trapezoidal-profiles.rst Co-authored-by: Tyler Veness --------- Co-authored-by: Tyler Veness --- .../controllers/trapezoidal-profiles.rst | 34 ++++++++--------- .../profile-subsystems-commands.rst | 38 ++++++++++++------- 2 files changed, 40 insertions(+), 32 deletions(-) diff --git a/source/docs/software/advanced-controls/controllers/trapezoidal-profiles.rst b/source/docs/software/advanced-controls/controllers/trapezoidal-profiles.rst index b77057b419..14e9e2af59 100644 --- a/source/docs/software/advanced-controls/controllers/trapezoidal-profiles.rst +++ b/source/docs/software/advanced-controls/controllers/trapezoidal-profiles.rst @@ -65,7 +65,7 @@ Putting It All Together .. note:: C++ is often able to infer the type of the inner classes, and thus a simple initializer list (without the class name) can be sent as a parameter. The full class names are included in the example below for clarity. -Now that we know how to create a set of constraints and the desired start/end states, we are ready to create our motion profile. The ``TrapezoidProfile`` constructor takes 3 parameters, in order: the constraints, the goal state, and the initial state. +Now that we know how to create a set of constraints and the desired start/end states, we are ready to create our motion profile. The ``TrapezoidProfile`` constructor takes 1 parameter: the constraints. .. tabs:: @@ -74,23 +74,15 @@ Now that we know how to create a set of constraints and the desired start/end st // Creates a new TrapezoidProfile // Profile will have a max vel of 5 meters per second // Profile will have a max acceleration of 10 meters per second squared - // Profile will end stationary at 5 meters - // Profile will start stationary at zero position - TrapezoidProfile profile = new TrapezoidProfile(new TrapezoidProfile.Constraints(5, 10), - new TrapezoidProfile.State(5, 0), - new TrapezoidProfile.State(0, 0)); + TrapezoidProfile profile = new TrapezoidProfile(new TrapezoidProfile.Constraints(5, 10)); .. code-tab:: c++ // Creates a new TrapezoidProfile // Profile will have a max vel of 5 meters per second // Profile will have a max acceleration of 10 meters per second squared - // Profile will end stationary at 5 meters - // Profile will start stationary at zero position frc::TrapezoidProfile profile{ - frc::TrapezoidProfile::Constraints{5_mps, 10_mps_sq}, - frc::TrapezoidProfile::State{5_m, 0_mps}, - frc::TrapezoidProfile::State{0_m, 0_mps}}; + frc::TrapezoidProfile::Constraints{5_mps, 10_mps_sq}}; Using a ``TrapezoidProfile`` ---------------------------- @@ -98,41 +90,47 @@ Using a ``TrapezoidProfile`` Sampling the Profile ^^^^^^^^^^^^^^^^^^^^ -Once we've created a ``TrapezoidProfile``, using it is very simple: to get the profile state at the given time after the profile has started, call the ``calculate()`` method: +Once we've created a ``TrapezoidProfile``, using it is very simple: to get the profile state at the given time after the profile has started, call the ``calculate()`` method with the goal state and initial state: .. tabs:: .. code-tab:: java + // Profile will end stationary at 5 meters + // Profile will start stationary at zero position // Returns the motion profile state after 5 seconds of motion - profile.calculate(5); + profile.calculate(5, new TrapezoidProfile.State(5, 0), new TrapezoidProfile.State(0, 0)); .. code-tab:: c++ + // Profile will end stationary at 5 meters + // Profile will start stationary at zero position // Returns the motion profile state after 5 seconds of motion - profile.Calculate(5_s); + profile.Calculate(5_s, + frc::TrapezoidProfile::State{5_m, 0_mps}, + frc::TrapezoidProfile::State{0_m, 0_mps}); Using the State ^^^^^^^^^^^^^^^ -The ``calculate`` method returns a ``TrapezoidProfile.State`` class (the same one that was used to specify the initial/end states when constructing the profile). To use this for actual control, simply pass the contained position and velocity values to whatever controller you wish (for example, a PIDController): +The ``calculate`` method returns a ``TrapezoidProfile.State`` class (the same one that was used to specify the initial/end states when calculating the profile state). To use this for actual control, simply pass the contained position and velocity values to whatever controller you wish (for example, a PIDController): .. tabs:: .. code-tab:: java - var setpoint = profile.calculate(elapsedTime); + var setpoint = profile.calculate(elapsedTime, goalState, initialState); controller.calculate(encoder.getDistance(), setpoint.position); .. code-tab:: c++ - auto setpoint = profile.Calculate(elapsedTime); + auto setpoint = profile.Calculate(elapsedTime, goalState, initialState); controller.Calculate(encoder.GetDistance(), setpoint.position.value()); Complete Usage Example ---------------------- -.. note:: In this example, the profile is re-computed every timestep. This is a somewhat different usage technique than is detailed above, but works according to the same principles - the profile is sampled at a time corresponding to the loop period to get the setpoint for the next loop iteration. +.. note:: In this example, the initial state is re-computed every timestep. This is a somewhat different usage technique than is detailed above, but works according to the same principles - the profile is sampled at a time corresponding to the loop period to get the setpoint for the next loop iteration. A more complete example of ``TrapezoidProfile`` usage is provided in the ElevatorTrapezoidProfile example project (`Java `__, `C++ `__): diff --git a/source/docs/software/commandbased/profile-subsystems-commands.rst b/source/docs/software/commandbased/profile-subsystems-commands.rst index 890b91b34a..c13add5cf5 100644 --- a/source/docs/software/commandbased/profile-subsystems-commands.rst +++ b/source/docs/software/commandbased/profile-subsystems-commands.rst @@ -144,7 +144,7 @@ The ``TrapezoidProfileCommand`` class (`Java `. Both methods ultimately extremely similar, and ultimately the choice of which to use comes down to where the user desires that the relevant code be located. +A ``TrapezoidProfileCommand`` can be created two ways - by subclassing the ``TrapezoidProfileCommand`` class, or by defining the command :ref:`inline `. Both methods are ultimately extremely similar, and ultimately the choice of which to use comes down to where the user desires that the relevant code be located. .. note:: If subclassing ``TrapezoidProfileCommand`` and overriding any methods, make sure to call the ``super`` version of those methods! Otherwise, motion profiling functionality will not work properly. @@ -154,30 +154,40 @@ In either case, a ``TrapezoidProfileCommand`` is created by passing the necessar .. group-tab:: Java - .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java + .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java :language: java - :lines: 25-34 + :lines: 28-43 :linenos: - :lineno-start: 25 + :lineno-start: 28 .. group-tab:: C++ - .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h + .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h :language: c++ - :lines: 35-45 + :lines: 35-49 :linenos: :lineno-start: 35 profile ~~~~~~~ -The ``profile`` parameter is the ``TrapezoidProfile`` object that will be executed by the command. By passing this in, users specify the start state, end state, and motion constraints of the profile that the command will use. +The ``profile`` parameter is the ``TrapezoidProfile`` object that will be executed by the command. By passing this in, users specify the motion constraints of the profile that the command will use. output ~~~~~~ The ``output`` parameter is a function (usually passed as a :ref:`lambda `) that consumes the output and setpoint of the control loop. Passing in the ``useOutput`` function in ``PIDCommand`` is functionally analogous to overriding the `useState()`_ function in ``PIDSubsystem``. +goal +~~~~ + +The ``goal`` parameter is a function that supplies the desired state of the motion profile. This can be used to change the goal at runtime if desired. + +currentState +~~~~~~~~~~~~ + +The ``currentState`` parameter is a function that supplies the starting state of the motion profile. Combined with ``goal``, this can be used to dynamically generate and follow any motion profile at runtime. + requirements ~~~~~~~~~~~~ @@ -192,7 +202,7 @@ What does a ``TrapezoidProfileSubsystem`` look like when used in practice? The .. group-tab:: Java - .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/commands/DriveDistanceProfiled.java + .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/commands/DriveDistanceProfiled.java :language: java :lines: 5- :linenos: @@ -200,7 +210,7 @@ What does a ``TrapezoidProfileSubsystem`` look like when used in practice? The .. group-tab:: C++ (Header) - .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/commands/DriveDistanceProfiled.h + .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/commands/DriveDistanceProfiled.h :language: c++ :lines: 5- :linenos: @@ -208,7 +218,7 @@ What does a ``TrapezoidProfileSubsystem`` look like when used in practice? The .. group-tab:: C++ (Source) - .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/v2023.4.3/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/commands/DriveDistanceProfiled.cpp + .. remoteliteralinclude:: https://raw.githubusercontent.com/wpilibsuite/allwpilib/main/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/commands/DriveDistanceProfiled.cpp :language: c++ :lines: 5- :linenos: @@ -220,16 +230,16 @@ And, for an :ref:`inlined Date: Tue, 8 Aug 2023 14:09:14 -0400 Subject: [PATCH 27/28] Correcting branch to contain correct changes. --- .gitignore | 3 ++ .../software/driverstation/driver-station.rst | 32 ++++++++---------- .../images/driver-station/DS_Select.png | Bin 0 -> 322677 bytes .../DriverStation_CANPowerTab.png | Bin 0 -> 50522 bytes .../DriverStation_ChartsTab.png | Bin 0 -> 50986 bytes .../DriverStation_Diagnostics.png | Bin 0 -> 105221 bytes .../DriverStation_JoystickLock.png | Bin 0 -> 26950 bytes .../driver-station/DriverStation_Messages.png | Bin 0 -> 58274 bytes .../DriverStation_Operations.png | Bin 0 -> 135933 bytes .../DriverStation_SettingUp.png | Bin 0 -> 95521 bytes .../driver-station/DriverStation_Setup.png | Bin 0 -> 66422 bytes .../driver-station/DriverStation_Status.png | Bin 0 -> 34767 bytes .../DriverStation_USBJoysticks.png | Bin 0 -> 50589 bytes .../driver-station/ds-can-power-tab.png | Bin 55321 -> 0 bytes .../images/driver-station/ds-charts-tab.png | Bin 25527 -> 0 bytes .../driver-station/ds-diagnostics-tab.png | Bin 44487 -> 0 bytes .../images/driver-station/ds-icon.png | Bin 15295 -> 0 bytes .../images/driver-station/ds-messages-tab.png | Bin 18661 -> 0 bytes .../driver-station/ds-operation-tab.png | Bin 52827 -> 0 bytes .../images/driver-station/ds-setup-tab.png | Bin 31722 -> 0 bytes .../images/driver-station/ds-setup.png | Bin 52777 -> 0 bytes .../images/driver-station/ds-status-pane.png | Bin 10393 -> 0 bytes .../driver-station/ds-usb-rearrange.png | Bin 19283 -> 0 bytes .../images/driver-station/ds-usb-tab.png | Bin 39115 -> 0 bytes 24 files changed, 18 insertions(+), 17 deletions(-) create mode 100644 source/docs/software/driverstation/images/driver-station/DS_Select.png create mode 100644 source/docs/software/driverstation/images/driver-station/DriverStation_CANPowerTab.png create mode 100644 source/docs/software/driverstation/images/driver-station/DriverStation_ChartsTab.png create mode 100644 source/docs/software/driverstation/images/driver-station/DriverStation_Diagnostics.png create mode 100644 source/docs/software/driverstation/images/driver-station/DriverStation_JoystickLock.png create mode 100644 source/docs/software/driverstation/images/driver-station/DriverStation_Messages.png create mode 100644 source/docs/software/driverstation/images/driver-station/DriverStation_Operations.png create mode 100644 source/docs/software/driverstation/images/driver-station/DriverStation_SettingUp.png create mode 100644 source/docs/software/driverstation/images/driver-station/DriverStation_Setup.png create mode 100644 source/docs/software/driverstation/images/driver-station/DriverStation_Status.png create mode 100644 source/docs/software/driverstation/images/driver-station/DriverStation_USBJoysticks.png delete mode 100644 source/docs/software/driverstation/images/driver-station/ds-can-power-tab.png delete mode 100644 source/docs/software/driverstation/images/driver-station/ds-charts-tab.png delete mode 100644 source/docs/software/driverstation/images/driver-station/ds-diagnostics-tab.png delete mode 100644 source/docs/software/driverstation/images/driver-station/ds-icon.png delete mode 100644 source/docs/software/driverstation/images/driver-station/ds-messages-tab.png delete mode 100644 source/docs/software/driverstation/images/driver-station/ds-operation-tab.png delete mode 100644 source/docs/software/driverstation/images/driver-station/ds-setup-tab.png delete mode 100644 source/docs/software/driverstation/images/driver-station/ds-setup.png delete mode 100644 source/docs/software/driverstation/images/driver-station/ds-status-pane.png delete mode 100644 source/docs/software/driverstation/images/driver-station/ds-usb-rearrange.png delete mode 100644 source/docs/software/driverstation/images/driver-station/ds-usb-tab.png diff --git a/.gitignore b/.gitignore index 6a2b230273..7992ec4f8c 100644 --- a/.gitignore +++ b/.gitignore @@ -1,6 +1,9 @@ # Created by https://www.gitignore.io/api/linux,macos,windows,visualstudiocode # Edit at https://www.gitignore.io/?templates=linux,macos,windows,visualstudiocode +### Miscellaneous ### +.wpilib/ + ### Sphinx ### # Build directories build/ diff --git a/source/docs/software/driverstation/driver-station.rst b/source/docs/software/driverstation/driver-station.rst index 8d9d179589..4b91ff3c86 100644 --- a/source/docs/software/driverstation/driver-station.rst +++ b/source/docs/software/driverstation/driver-station.rst @@ -10,7 +10,7 @@ For information on installing the Driver Station software see :ref:`this documen Starting the FRC Driver Station ------------------------------- -.. image:: images/driver-station/ds-icon.png +.. image:: images/driver-station/DS_Select.png :alt: This is the FRC Driver Station icon. The FRC Driver Station can be launched by double-clicking the icon on the Desktop or by selecting Start->All Programs->FRC Driver Station. @@ -32,7 +32,7 @@ Driver Station Key Shortcuts Setting Up the Driver Station ----------------------------- -.. image:: images/driver-station/ds-setup.png +.. image:: images/driver-station/DriverStation_SettingUp.png :alt: The team number box on the setup (gear) tab. The DS should be set to your team number in order to connect to your robot. In order to do this click the Setup tab then enter your team number in the team number box. Press return or click outside the box for the setting to take effect. @@ -42,7 +42,7 @@ PCs will typically have the correct network settings for the DS to connect to th Status Pane ----------- -.. image:: images/driver-station/ds-status-pane.png +.. image:: images/driver-station/DriverStation_Status.png :alt: This is the pane in the center of the Driver station that is always visible. The Status Pane of the Driver Station is located in the center of the display and is always visible regardless of the tab selected. It displays a selection of critical information about the state of the DS and robot: @@ -55,7 +55,7 @@ The Status Pane of the Driver Station is located in the center of the display an Operation Tab ------------- -.. image:: images/driver-station/ds-operation-tab.png +.. image:: images/driver-station/DriverStation_Operations.png :alt: This is the first tab from the top on the left hand side. The Operations Tab is used to control the mode of the robot and provide additional key status indicators while the robot is running. @@ -79,7 +79,7 @@ The Operations Tab is used to control the mode of the robot and provide addition Diagnostics Tab --------------- -.. image:: images/driver-station/ds-diagnostics-tab.png +.. image:: images/driver-station/DriverStation_Diagnostics.png :alt: This is the second tab from the top on the left hand side. The Diagnostics Tab contains additional status indicators that teams can use to diagnose issues with their robot: @@ -109,7 +109,7 @@ The Diagnostics Tab contains additional status indicators that teams can use to Setup Tab --------- -.. image:: images/driver-station/ds-setup-tab.png +.. image:: images/driver-station/DriverStation_Setup.png :alt: This is the third tab from the top on the left hand side. The Setup Tab contains a number of buttons teams can use to control the operation of the Driver Station: @@ -123,7 +123,7 @@ The Setup Tab contains a number of buttons teams can use to control the operatio USB Devices Tab --------------- -.. image:: images/driver-station/ds-usb-tab.png +.. image:: images/driver-station/DriverStation_USBJoysticks.png :alt: This is the fourth tab from the top on the left hand side. The USB Devices tab includes the information about the USB Devices connected to the DS @@ -136,26 +136,24 @@ The USB Devices tab includes the information about the USB Devices connected to Re-Arranging and Locking Devices ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -.. image:: images/driver-station/ds-usb-rearrange.png +.. image:: images/driver-station/DriverStation_JoystickLock.png :alt: USB Order box where you can click and drag to rearrange the joysticks. The Driver Station has the capability of "locking" a USB device into a specific slot. This is done automatically if the device is dragged to a new position and can also be triggered by double clicking on the device. "Locked" devices will show up with an underline under the device. A locked device will reserve its slot even when the device is not connected to the computer (shown as grayed out and underlined). Devices can be unlocked (and unconnected devices removed) by double clicking on the entry. .. note:: If you have two or more of the same device, they should maintain their position as long as all devices remain plugged into the computer in the same ports they were locked in. If you switch the ports of two identical devices the lock should follow the port, not the device. If you re-arrange the ports (take one device and plug it into a new port instead of swapping) the behavior is not determinate (the devices may swap slots). If you unplug one or more of the set of devices, the positions of the others may move; they should return to the proper locked slots when all devices are reconnected. -Example: The image above shows 4 devices: +Example: The image above shows 2 devices: -- A Locked "Logitech Attack 3" joystick. This device will stay in this position unless dragged somewhere else or unlocked -- An unlocked "Logitech Extreme 3D" joystick -- An unlocked "Gamepad F310 (Controller)" which is a Logitech F310 gamepad -- A Locked, but disconnected "MadCatz GamePad (Controller)" which is a MadCatz Xbox 360 Controller +- A locked, but disconnected "Xbox One for Windows" joystick. This device will stay in this position unless dragged somewhere else or unlocked +- An unlocked "Bluetooth LE XINPUT" joystick (Xbox One controller, Bluetooth) -In this example, unplugging the Logitech Extreme 3D joystick will result in the F310 Gamepad moving up to slot 1. Plugging in the MadCatz Gamepad (even if the devices in Slots 1 and 2 are removed and those slots are empty) will result in it occupying Slot 3. +In this example, the Xbox One controller connected over USB (wired) will remain in Slot 0 regardless of it is currently attached to the computer. Plugging in the Xbox One controller connected over Bluetooth (Slot 1) will result in the following image. If it is unplugged and another device is plugged in, that device will occupy Slot 1. CAN/Power Tab -------------- -.. image:: images/driver-station/ds-can-power-tab.png +.. image:: images/driver-station/DriverStation_CANPowerTab.png :alt: This is the fifth tab from the top on the left hand side. The last tab on the left side of the DS is the CAN/Robot Power Tab. This tab contains information about the power status of the roboRIO and the status of the CAN bus: @@ -171,7 +169,7 @@ If a fault is detected, the indicator for this tab (shown in blue in the image a Messages Tab ------------ -.. image:: images/driver-station/ds-messages-tab.png +.. image:: images/driver-station/DriverStation_Messages.png :alt: This is the first tab from the top on the right hand side. The Messages tab displays diagnostic messages from the DS, WPILib, User Code, and/or the roboRIO. The messages are filtered by severity. By default, only Errors are displayed. @@ -181,7 +179,7 @@ To access settings for the Messages tab, click the Gear icon. This will display Charts Tab ---------- -.. image:: images/driver-station/ds-charts-tab.png +.. image:: images/driver-station/DriverStation_ChartsTab.png :alt: This is the second tab from the top on the right hand side. 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Tue, 8 Aug 2023 14:09:14 -0400 Subject: [PATCH 28/28] Correcting branch to contain correct changes. --- .gitignore | 3 ++ .../software/driverstation/driver-station.rst | 32 ++++++++---------- .../images/driver-station/DS_Select.png | Bin 0 -> 322677 bytes .../DriverStation_CANPowerTab.png | Bin 0 -> 50522 bytes .../DriverStation_ChartsTab.png | Bin 0 -> 50986 bytes .../DriverStation_Diagnostics.png | Bin 0 -> 105221 bytes .../DriverStation_JoystickLock.png | Bin 0 -> 26950 bytes .../driver-station/DriverStation_Messages.png | Bin 0 -> 58274 bytes .../DriverStation_Operations.png | Bin 0 -> 135933 bytes .../DriverStation_SettingUp.png | Bin 0 -> 95521 bytes .../driver-station/DriverStation_Setup.png | Bin 0 -> 66422 bytes .../driver-station/DriverStation_Status.png | Bin 0 -> 34767 bytes .../DriverStation_USBJoysticks.png | Bin 0 -> 50589 bytes .../driver-station/ds-can-power-tab.png | Bin 55321 -> 0 bytes .../images/driver-station/ds-charts-tab.png | Bin 25527 -> 0 bytes .../driver-station/ds-diagnostics-tab.png | Bin 44487 -> 0 bytes .../images/driver-station/ds-icon.png | Bin 15295 -> 0 bytes .../images/driver-station/ds-messages-tab.png | Bin 18661 -> 0 bytes .../driver-station/ds-operation-tab.png | Bin 52827 -> 0 bytes .../images/driver-station/ds-setup-tab.png | Bin 31722 -> 0 bytes .../images/driver-station/ds-setup.png | Bin 52777 -> 0 bytes .../images/driver-station/ds-status-pane.png | Bin 10393 -> 0 bytes .../driver-station/ds-usb-rearrange.png | Bin 19283 -> 0 bytes .../images/driver-station/ds-usb-tab.png | Bin 39115 -> 0 bytes 24 files changed, 18 insertions(+), 17 deletions(-) create mode 100644 source/docs/software/driverstation/images/driver-station/DS_Select.png create mode 100644 source/docs/software/driverstation/images/driver-station/DriverStation_CANPowerTab.png create mode 100644 source/docs/software/driverstation/images/driver-station/DriverStation_ChartsTab.png create mode 100644 source/docs/software/driverstation/images/driver-station/DriverStation_Diagnostics.png create mode 100644 source/docs/software/driverstation/images/driver-station/DriverStation_JoystickLock.png create mode 100644 source/docs/software/driverstation/images/driver-station/DriverStation_Messages.png create mode 100644 source/docs/software/driverstation/images/driver-station/DriverStation_Operations.png create mode 100644 source/docs/software/driverstation/images/driver-station/DriverStation_SettingUp.png create mode 100644 source/docs/software/driverstation/images/driver-station/DriverStation_Setup.png create mode 100644 source/docs/software/driverstation/images/driver-station/DriverStation_Status.png create mode 100644 source/docs/software/driverstation/images/driver-station/DriverStation_USBJoysticks.png delete mode 100644 source/docs/software/driverstation/images/driver-station/ds-can-power-tab.png delete mode 100644 source/docs/software/driverstation/images/driver-station/ds-charts-tab.png delete mode 100644 source/docs/software/driverstation/images/driver-station/ds-diagnostics-tab.png delete mode 100644 source/docs/software/driverstation/images/driver-station/ds-icon.png delete mode 100644 source/docs/software/driverstation/images/driver-station/ds-messages-tab.png delete mode 100644 source/docs/software/driverstation/images/driver-station/ds-operation-tab.png delete mode 100644 source/docs/software/driverstation/images/driver-station/ds-setup-tab.png delete mode 100644 source/docs/software/driverstation/images/driver-station/ds-setup.png delete mode 100644 source/docs/software/driverstation/images/driver-station/ds-status-pane.png delete mode 100644 source/docs/software/driverstation/images/driver-station/ds-usb-rearrange.png delete mode 100644 source/docs/software/driverstation/images/driver-station/ds-usb-tab.png diff --git a/.gitignore b/.gitignore index 6a2b230273..7992ec4f8c 100644 --- a/.gitignore +++ b/.gitignore @@ -1,6 +1,9 @@ # Created by https://www.gitignore.io/api/linux,macos,windows,visualstudiocode # Edit at https://www.gitignore.io/?templates=linux,macos,windows,visualstudiocode +### Miscellaneous ### +.wpilib/ + ### Sphinx ### # Build directories build/ diff --git a/source/docs/software/driverstation/driver-station.rst b/source/docs/software/driverstation/driver-station.rst index 8d9d179589..4b91ff3c86 100644 --- a/source/docs/software/driverstation/driver-station.rst +++ b/source/docs/software/driverstation/driver-station.rst @@ -10,7 +10,7 @@ For information on installing the Driver Station software see :ref:`this documen Starting the FRC Driver Station ------------------------------- -.. image:: images/driver-station/ds-icon.png +.. image:: images/driver-station/DS_Select.png :alt: This is the FRC Driver Station icon. The FRC Driver Station can be launched by double-clicking the icon on the Desktop or by selecting Start->All Programs->FRC Driver Station. @@ -32,7 +32,7 @@ Driver Station Key Shortcuts Setting Up the Driver Station ----------------------------- -.. image:: images/driver-station/ds-setup.png +.. image:: images/driver-station/DriverStation_SettingUp.png :alt: The team number box on the setup (gear) tab. The DS should be set to your team number in order to connect to your robot. In order to do this click the Setup tab then enter your team number in the team number box. Press return or click outside the box for the setting to take effect. @@ -42,7 +42,7 @@ PCs will typically have the correct network settings for the DS to connect to th Status Pane ----------- -.. image:: images/driver-station/ds-status-pane.png +.. image:: images/driver-station/DriverStation_Status.png :alt: This is the pane in the center of the Driver station that is always visible. The Status Pane of the Driver Station is located in the center of the display and is always visible regardless of the tab selected. It displays a selection of critical information about the state of the DS and robot: @@ -55,7 +55,7 @@ The Status Pane of the Driver Station is located in the center of the display an Operation Tab ------------- -.. image:: images/driver-station/ds-operation-tab.png +.. image:: images/driver-station/DriverStation_Operations.png :alt: This is the first tab from the top on the left hand side. The Operations Tab is used to control the mode of the robot and provide additional key status indicators while the robot is running. @@ -79,7 +79,7 @@ The Operations Tab is used to control the mode of the robot and provide addition Diagnostics Tab --------------- -.. image:: images/driver-station/ds-diagnostics-tab.png +.. image:: images/driver-station/DriverStation_Diagnostics.png :alt: This is the second tab from the top on the left hand side. The Diagnostics Tab contains additional status indicators that teams can use to diagnose issues with their robot: @@ -109,7 +109,7 @@ The Diagnostics Tab contains additional status indicators that teams can use to Setup Tab --------- -.. image:: images/driver-station/ds-setup-tab.png +.. image:: images/driver-station/DriverStation_Setup.png :alt: This is the third tab from the top on the left hand side. The Setup Tab contains a number of buttons teams can use to control the operation of the Driver Station: @@ -123,7 +123,7 @@ The Setup Tab contains a number of buttons teams can use to control the operatio USB Devices Tab --------------- -.. image:: images/driver-station/ds-usb-tab.png +.. image:: images/driver-station/DriverStation_USBJoysticks.png :alt: This is the fourth tab from the top on the left hand side. The USB Devices tab includes the information about the USB Devices connected to the DS @@ -136,26 +136,24 @@ The USB Devices tab includes the information about the USB Devices connected to Re-Arranging and Locking Devices ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -.. image:: images/driver-station/ds-usb-rearrange.png +.. image:: images/driver-station/DriverStation_JoystickLock.png :alt: USB Order box where you can click and drag to rearrange the joysticks. The Driver Station has the capability of "locking" a USB device into a specific slot. This is done automatically if the device is dragged to a new position and can also be triggered by double clicking on the device. "Locked" devices will show up with an underline under the device. A locked device will reserve its slot even when the device is not connected to the computer (shown as grayed out and underlined). Devices can be unlocked (and unconnected devices removed) by double clicking on the entry. .. note:: If you have two or more of the same device, they should maintain their position as long as all devices remain plugged into the computer in the same ports they were locked in. If you switch the ports of two identical devices the lock should follow the port, not the device. If you re-arrange the ports (take one device and plug it into a new port instead of swapping) the behavior is not determinate (the devices may swap slots). If you unplug one or more of the set of devices, the positions of the others may move; they should return to the proper locked slots when all devices are reconnected. -Example: The image above shows 4 devices: +Example: The image above shows 2 devices: -- A Locked "Logitech Attack 3" joystick. This device will stay in this position unless dragged somewhere else or unlocked -- An unlocked "Logitech Extreme 3D" joystick -- An unlocked "Gamepad F310 (Controller)" which is a Logitech F310 gamepad -- A Locked, but disconnected "MadCatz GamePad (Controller)" which is a MadCatz Xbox 360 Controller +- A locked, but disconnected "Xbox One for Windows" joystick. This device will stay in this position unless dragged somewhere else or unlocked +- An unlocked "Bluetooth LE XINPUT" joystick (Xbox One controller, Bluetooth) -In this example, unplugging the Logitech Extreme 3D joystick will result in the F310 Gamepad moving up to slot 1. Plugging in the MadCatz Gamepad (even if the devices in Slots 1 and 2 are removed and those slots are empty) will result in it occupying Slot 3. +In this example, the Xbox One controller connected over USB (wired) will remain in Slot 0 regardless of it is currently attached to the computer. Plugging in the Xbox One controller connected over Bluetooth (Slot 1) will result in the following image. If it is unplugged and another device is plugged in, that device will occupy Slot 1. CAN/Power Tab -------------- -.. image:: images/driver-station/ds-can-power-tab.png +.. image:: images/driver-station/DriverStation_CANPowerTab.png :alt: This is the fifth tab from the top on the left hand side. The last tab on the left side of the DS is the CAN/Robot Power Tab. This tab contains information about the power status of the roboRIO and the status of the CAN bus: @@ -171,7 +169,7 @@ If a fault is detected, the indicator for this tab (shown in blue in the image a Messages Tab ------------ -.. image:: images/driver-station/ds-messages-tab.png +.. image:: images/driver-station/DriverStation_Messages.png :alt: This is the first tab from the top on the right hand side. The Messages tab displays diagnostic messages from the DS, WPILib, User Code, and/or the roboRIO. The messages are filtered by severity. By default, only Errors are displayed. @@ -181,7 +179,7 @@ To access settings for the Messages tab, click the Gear icon. This will display Charts Tab ---------- -.. image:: images/driver-station/ds-charts-tab.png +.. image:: images/driver-station/DriverStation_ChartsTab.png :alt: This is the second tab from the top on the right hand side. The Charts tab plots and displays advanced indicators of robot status to help teams diagnose robot issues: diff --git a/source/docs/software/driverstation/images/driver-station/DS_Select.png b/source/docs/software/driverstation/images/driver-station/DS_Select.png new file mode 100644 index 0000000000000000000000000000000000000000..55e3d9876c83acc610062717546a0ff24b4d9eb5 GIT binary patch literal 322677 zcmeF42Y_c)b^p)I{AOmSY-N{)Z7fTXDuPI}fq;lz(b!_wsEL(eje>|qV?r!3(Wudw zL}L0&- z{PM++)F*FT4GurGNJ0uiW+@pSkoEwP`onjZZrC#0y^Z2M7MYo%3Gb zy>nOB6L07vFp5cdx(e`swH1bJXi^{>k^=yZXWJ z{oWsb@BJ?t`sEwWdd(g0{k!!~n(@kWW*q&Q&%fllrel6E?b|Ou?1po`y02rw(4jYd zbJ3Td|NY5Ny6{*3*gETr9nHg+ty%Te8~)||Q;$BV`Ks5yv;WPtNn7i0zv^9=9J2BQ zdultM+3<>2uYCQx?1$g{r)4W&-8pIFnx-dyf8|$y*8Kb1?SUt}_N2ql+kMx}&z`$> z@Gq`DdTRUX`k(*XyWjKgAN%?<>{Xlpa8uK1r`4YQyf6KH{jTlbxMTIu)9>26qq+T4 z7j_=`mA`(SewU^Y*oGbmcJz33Tv9=f3iyv)}WscfIx97unetzV(e4z4a{%KlqM|-oEg>^I!1d zS6n(}w%I~E|D3a4_Mtkv{L%|At~>RtXWv_EsLeD+7{zt!DN0^)@gt 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