Users should pass MotorController instead Various portions of the API still refers to SpeedController for backwards compatibility. SpeedController has been renamed to MotorController Status of frc::err::Error can be used for Errors and frc::warn::Warning can be used for warnings. Use FRC_ReportError in frc\Errors.h header. DigitalInput).Ĭ++: DriverStation.ReportWarning and DriverStation.ReportError have been removed. Rather then a class, like DigitalInput extending InterruptableSendableBase and all interrupt methods being accessed through the DigitalInput, teams should instead construct AsynchronousInterrupt or SynchronousInterrupt, and pass it the DigitalSource (e.g. InterruptableSendableBase has been broken up into AsynchronousInterrupt & SynchronousInterrupt. This will make it easier for vendors and external libraries to integrate Sendable Sendable has been broken up into NetworkTables components (called NTSendable*, nt namespace) and non-NetworkTables components (moved to wpiutil, wpi namespace). Vendor specific methods have been moved to the PneumaticsControlModule or PneumaticHub classes Various PCM related classes (Solenoid, Compressor) now require a PneumaticsModuleType to support either the CTRE Pneumatics Control Module or REV Pneumatic Hub. Several new classes have been added to enable simpler access to Counter: ExternalDirectionCounter ( Java/ C++), Tachometer ( Java/ C++), and UpDownCounter ( Java/ C++)ĭut圜ycleEncoder: add support for setting duty cycle rangeĪdded ADIS16448_IMU and ADIS16470_IMU classes.Īdded BangBangController class ( Java, C++) for maximally-aggressive velocity control of high-inertia mechanisms, which is useful for flywheel shooters. Timer::HasPeriodPassed() and Timer.hasPeriodPassed() have been deprecated. GetInstance() functions in CameraServer, DriverStation, LiveWindow, Preferences, SendableRegistry, have been deprecated and replaced with static functions An example conversion is below:Ĭontroller.getTriggerAxis() -> controller.getLeftTriggerAxis()Ĭontroller.getX() -> controller.getLeftX() XboxController has migrated away from taking arguments in functions and instead has functions with no arguments. GenericHID has been updated to static functions to use for non-defined controller types. This helps with filtering rising and falling edges when dealing with boolean valuesĪdded PneumaticHub class for use with the REV Pneumatic Hub This allows users to timeslice schedule periodic functionsĪdded better message for when an I2C port is out of rangeĪdded Debouncer ( Java, C++) class.
Improved the error message when a program crashesĪdded TimesliceRobot project template. Rewrite Mechanism2d to utilize NetworkTables
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