koawalib v1.1.0

[AsianKoala]

new features:

• Command renamed to Cmd
• KMotorEx completely rewritten with new pid controller and asym motion profiling
• KMotorExTuner for tuning motor pid/ff constants
• infix Cmd scheduling | tested
• GVF Simple and FF Controller
• GVFCmd (see GVFController)
• LoopUntilCmd (loops an action until given end condition is reached)
• LoopCmd now extends LoopUntilCmd
• WaitForCmd renamed to WaitUntilCmd
• Groups (Cmd groups were entirely rewritten)
• new custom pid controller instead of using rr's
• Asymmetrical motion profiles | tested
• Debouncer on KTrigger
• KDIstanceSensor rate limited to avoid Rev2m blocking
• Rate limiter | tested
• Speeds class used for representing drive power with conversions (e.g. wheel power to field centric) | tested
• Some wpilib classes ported (debouncer, dcmotor, slewratelimiter, units)

internal changes:

• gradle dependency refactor | tested
• device registery | tested
• voltage sensor integration with device registery
• KScheduler rewritten | tested
• Logger smart reset | tested
• GVF Controller abstracted away
• Gamepad functionality rewritten (KButton, KAxis, KStick, KTrigger)
• ButtonFunc interface, Button class (impl of ButtonFunc)
• GVFUtil (should make internal)
• Logger somewhat fixed for now | tested
• derivative estimation math moved to math util
• extend and projection functions now use vector math instead | tested
• KBoolean isn't a fun interface anymore
• Extensions class | tested

[AsianKoala]

hopefully @Spanini2 or @TheCoolGuy123 can test the feature branch for this pr when you guys next come over.

implementation 'com.github.AsianKoala:koawalib:feature-1.1.0-SNAPSHOT'

[AsianKoala]

• removed direct velocity control from pidcontroller (might add later)
• fixed rate limiter
• fixed logger/added timestamps to logdata print string
• default configs for logger
• wrote some tests

[AsianKoala]

hopefully @Spanini2 or @TheCoolGuy123 can test the feature branch for this pr when you guys next come over.

implementation 'com.github.AsianKoala:koawalib:feature-1.1.0-SNAPSHOT'

specifically if @spanini2 or @TheCoolGuy123 could test the new KMotorEx that would be nice. First priority is basic PID, but motion profiling ur turret would be helpful.

[AsianKoala]

seems like ill never be happy with koawalib to the point of merging this pr at least until school ends.. feelsbad

[AsianKoala]

at this point just unit test the new KMotor, try using it in https://github.com/ftc-noteam/offseason, and then merge

[AsianKoala]

tfw this will never get merged because im lazy

[AsianKoala]

we back

[AsianKoala]

TODO: check the @ TODO's in the project

[AsianKoala]

removed Motor class (wpilib clone)

[AsianKoala]

private val ticksPerUnit = 1892.3724

[AsianKoala]

omg finally merging wtf??????????

[AsianKoala]

@TheCoolGuy123 @spanini2 koawalib v1.1.0 has finally merged