![]() This is a modified backport of the C 20 std::spanĬ : wpi::Twine is replaced with fmtlib. This is a drop in replacement in most casesĬ : wpi::ArrayRef is replaced with wpi::span. Please only include what you needĬ : wpi::StringRef is replaced with std::string_view. Use the Counter class insteadĬ : Deprecated WPILib.h has been removed. Use DifferentialDrive insteadĭeprecated GearTooth has been removed. Use cameraserver insteadĭeprecated RobotDrive has been removed. NormalizeWheelSpeeds has been renamed to DesaturateWheelSpeeds in SwerveDriveKinematics.ĭeprecated wpilibj.cameraserver has been removed. Normalize has been renamed to Desaturate in DifferentialDrive, MecanumDrive, KilloughDrive, MecanumDriveWheelSpeeds, DifferentialDriveWheelSpeeds. Various DriverStation In functions has been renamed (IE: InDisabled -> inDisabled) Use the PWM class directly if this level of control is needed. Several low level methods have been removed: position, bounds, periodMultiplier, zeroLatch, and raw methods. Several duplicate SpeedController methods have been removed. 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
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