Deprecated API
Contents
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Packages Package Description edu.wpi.first.wpilibj.vision
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Interfaces Interface Description edu.wpi.first.wpilibj.Controller None of the 2020 FRC controllers use this.edu.wpi.first.wpilibj.PIDInterface edu.wpi.first.wpilibj.PIDOutput Use DoubleConsumer and new PIDController class.edu.wpi.first.wpilibj.PIDSource Use DoubleSupplier and new PIDController class.edu.wpi.first.wpilibj.SpeedController UseMotorController.edu.wpi.first.wpilibj.vision.VisionPipeline Replaced with edu.wpi.first.vision.VisionPipeline
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Enums Enum Description edu.wpi.first.wpilibj.PIDSourceType
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Methods Method Description edu.wpi.first.cameraserver.CameraServer.getInstance() Use the static methodsedu.wpi.first.hal.SimDevice.createBoolean(String, boolean, boolean) Use direction function insteadedu.wpi.first.hal.SimDevice.createDouble(String, boolean, double) Use direction function insteadedu.wpi.first.hal.SimDevice.createEnum(String, boolean, String[], int) Use direction function insteadedu.wpi.first.hal.SimDevice.createValue(String, boolean, HALValue) Use direction function insteadedu.wpi.first.hal.SimDeviceJNI.createSimValue(int, String, boolean, HALValue) Use direction-taking function insteadedu.wpi.first.hal.SimDeviceJNI.createSimValueBoolean(int, String, boolean, boolean) Use direction-taking function insteadedu.wpi.first.hal.SimDeviceJNI.createSimValueDouble(int, String, boolean, double) Use direction-taking function insteadedu.wpi.first.hal.SimDeviceJNI.createSimValueEnum(int, String, boolean, String[], int) Use direction-taking function insteadedu.wpi.first.wpilibj.Compressor.start() Use enableDigital() instead.edu.wpi.first.wpilibj.Compressor.stop() Use disable() instead.edu.wpi.first.wpilibj.drive.RobotDriveBase.applyDeadband(double, double) Use MathUtil.applyDeadband(double,double).edu.wpi.first.wpilibj.DriverStation.getInstance() Use the static methodsedu.wpi.first.wpilibj.DriverStation.inOperatorControl(boolean) UseDriverStation.inTeleop(boolean)instead.edu.wpi.first.wpilibj.DriverStation.isOperatorControl() Use isTeleop() instead.edu.wpi.first.wpilibj.DriverStation.isOperatorControlEnabled() Use isTeleopEnabled() instead.edu.wpi.first.wpilibj.Encoder.getPeriod() Use getRate() in favor of this method.edu.wpi.first.wpilibj.PIDBase.getAvgError() Use getError(), which is now already filtered.edu.wpi.first.wpilibj.PIDBase.setTolerance(PIDBase.Tolerance) Use setPercentTolerance() instead.edu.wpi.first.wpilibj.PIDBase.setToleranceBuffer(int) Use a LinearFilter as the input.edu.wpi.first.wpilibj.Preferences.getInstance() Use the static methodsedu.wpi.first.wpilibj.Preferences.putBoolean(String, boolean) edu.wpi.first.wpilibj.Preferences.putDouble(String, double) edu.wpi.first.wpilibj.Preferences.putFloat(String, float) edu.wpi.first.wpilibj.Preferences.putInt(String, int) edu.wpi.first.wpilibj.Preferences.putLong(String, long) edu.wpi.first.wpilibj.Preferences.putString(String, String) edu.wpi.first.wpilibj.RobotBase.isOperatorControl() Use isTeleop() instead.edu.wpi.first.wpilibj.RobotBase.isOperatorControlEnabled() Use isTeleopEnabled() instead.edu.wpi.first.wpilibj.RobotState.isOperatorControl() edu.wpi.first.wpilibj.smartdashboard.SendableChooser.addDefault(String, V) UseSendableChooser.setDefaultOption(String, Object)instead.edu.wpi.first.wpilibj.smartdashboard.SendableChooser.addObject(String, V) UseSendableChooser.addOption(String, Object)instead.edu.wpi.first.wpilibj.SPI.setSampleDataOnFalling() useSPI.setSampleDataOnTrailingEdge()in most cases.edu.wpi.first.wpilibj.SPI.setSampleDataOnRising() useSPI.setSampleDataOnLeadingEdge()in most cases.edu.wpi.first.wpilibj.Timer.hasPeriodPassed(double) Use advanceIfElapsed() instead.org.opencv.core.Core.getThreadNum() Current implementation doesn't corresponding to this documentation. The exact meaning of the return value depends on the threading framework used by OpenCV library:-
TBB- Unsupported with current 4.1 TBB release. Maybe will be supported in future. -
OpenMP- The thread number, within the current team, of the calling thread. -
Concurrency- An ID for the virtual processor that the current context is executing on (0 for master thread and unique number for others, but not necessary 1,2,3,...). -
GCD- System calling thread's ID. Never returns 0 inside parallel region. -
C=- The index of the current parallel task. SEE: setNumThreads, getNumThreads
org.opencv.imgproc.Imgproc.linearPolar(Mat, Mat, Point, double, int) This function produces same result as cv::warpPolar(src, dst, src.size(), center, maxRadius, flags) Transform the source image using the following transformation (See REF: polar_remaps_reference_image "Polar remaps reference image c)"): \(\begin{array}{l} dst( \rho , \phi ) = src(x,y) \\ dst.size() \leftarrow src.size() \end{array}\) where \(\begin{array}{l} I = (dx,dy) = (x - center.x,y - center.y) \\ \rho = Kmag \cdot \texttt{magnitude} (I) ,\\ \phi = angle \cdot \texttt{angle} (I) \end{array}\) and \(\begin{array}{l} Kx = src.cols / maxRadius \\ Ky = src.rows / 2\Pi \end{array}\)org.opencv.imgproc.Imgproc.logPolar(Mat, Mat, Point, double, int) This function produces same result as cv::warpPolar(src, dst, src.size(), center, maxRadius, flags+WARP_POLAR_LOG); Transform the source image using the following transformation (See REF: polar_remaps_reference_image "Polar remaps reference image d)"): \(\begin{array}{l} dst( \rho , \phi ) = src(x,y) \\ dst.size() \leftarrow src.size() \end{array}\) where \(\begin{array}{l} I = (dx,dy) = (x - center.x,y - center.y) \\ \rho = M \cdot log_e(\texttt{magnitude} (I)) ,\\ \phi = Kangle \cdot \texttt{angle} (I) \\ \end{array}\) and \(\begin{array}{l} M = src.cols / log_e(maxRadius) \\ Kangle = src.rows / 2\Pi \\ \end{array}\) The function emulates the human "foveal" vision and can be used for fast scale and rotation-invariant template matching, for object tracking and so forth. -
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Constructors Constructor Description edu.wpi.first.wpilibj.SerialPort(int, String, SerialPort.Port, int, SerialPort.Parity, SerialPort.StopBits) Will be removed for 2019