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Merged
tbowers7 merged 12 commits into from
Jan 11, 2025
Merged

Smooth out the driving #28

tbowers7 merged 12 commits into from
Jan 11, 2025

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@tbowers7 tbowers7 commented Jan 11, 2025

Made various corrections to the TalonFX drive modules to correctly plumb the drive values all the way through.

Also includes all the currently known WPILib and vendor library updates to 2025 kickoff or later versions.

tbowers7 added 11 commits January 2, 2025 08:34
@tbowers7
Update to 2025, WPILib 2025.1.1
6ec382f 
	modified:   .github/dependabot.yml
	modified:   AdvantageScope Swerve Calibration.json
	modified:   WPILib-License.md
	modified:   build.gradle
	modified:   settings.gradle
	modified:   src/main/java/frc/robot/Constants.java
	modified:   src/main/java/frc/robot/Main.java
	modified:   src/main/java/frc/robot/Robot.java
	modified:   src/main/java/frc/robot/RobotContainer.java
	modified:   src/main/java/frc/robot/commands/ChoreoAutoController.java
	modified:   src/main/java/frc/robot/commands/DriveCommands.java
	modified:   src/main/java/frc/robot/subsystems/accelerometer/Accelerometer.java
	modified:   src/main/java/frc/robot/subsystems/drive/Drive.java
	modified:   src/main/java/frc/robot/subsystems/drive/GyroIO.java
	modified:   src/main/java/frc/robot/subsystems/drive/GyroIONavX.java
	modified:   src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java
	modified:   src/main/java/frc/robot/subsystems/drive/Module.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIO.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java
	modified:   src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java
	modified:   src/main/java/frc/robot/subsystems/drive/SparkOdometryThread.java
	modified:   src/main/java/frc/robot/subsystems/drive/SwerveConstants.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/Flywheel.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIO.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSim.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOTalonFX.java
	modified:   src/main/java/frc/robot/subsystems/vision/Vision.java
	modified:   src/main/java/frc/robot/subsystems/vision/VisionIO.java
	modified:   src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java
	modified:   src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java
	modified:   src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java
	modified:   src/main/java/frc/robot/util/Alert.java
	modified:   src/main/java/frc/robot/util/GeomUtil.java
	modified:   src/main/java/frc/robot/util/GetJoystickValue.java
	modified:   src/main/java/frc/robot/util/LocalADStarAK.java
	modified:   src/main/java/frc/robot/util/LoggedTunableNumber.java
	modified:   src/main/java/frc/robot/util/OverrideSwitches.java
	modified:   src/main/java/frc/robot/util/PhoenixUtil.java
	modified:   src/main/java/frc/robot/util/PowerMonitoring.java
	modified:   src/main/java/frc/robot/util/RBSIEnum.java
	modified:   src/main/java/frc/robot/util/RBSISubsystem.java
	modified:   src/main/java/frc/robot/util/RobotDeviceId.java
	modified:   src/main/java/frc/robot/util/SparkUtil.java
	modified:   src/main/java/frc/robot/util/VirtualSubsystem.java
	modified:   src/main/java/frc/robot/util/YagslConstants.java
	modified:   src/test/CurrentLimitTests.java
	modified:   src/test/FusedCANcoderTests.java
	modified:   src/test/LatencyCompensationTests.java
	modified:   src/test/RobotContainerTest.java
@tbowers7
Tie in CTRE Pro to all relevant places
0651ebc 
	modified:   src/main/java/frc/robot/Constants.java
	modified:   src/main/java/frc/robot/RobotContainer.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOTalonFX.java
	modified:   src/main/java/frc/robot/util/RBSIEnum.java
@tbowers7
Align drive commands with AK2025 templates
5d3078d 
	modified:   src/main/java/frc/robot/Constants.java
	modified:   src/main/java/frc/robot/commands/DriveCommands.java
	modified:   src/main/java/frc/robot/subsystems/drive/Drive.java
	modified:   src/main/java/frc/robot/subsystems/drive/README
@tbowers7
Cleaning up drive commands
a3fba5e 
	modified:   src/main/java/frc/robot/Constants.java
	modified:   src/main/java/frc/robot/commands/DriveCommands.java
@tbowers7
Add joystick slew rate limiter
fe8c3f6 
	modified:   src/main/java/frc/robot/Constants.java
	modified:   src/main/java/frc/robot/commands/DriveCommands.java
@tbowers7
Update FRC year for WPILib kickoff release
38f6391 
	modified:   .wpilib/wpilib_preferences.json
@tbowers7
Updated install instructions
1ad24e0 
Also regenerated `TunerConstants.java` with latest Tuner X Preview version.

	modified:   INSTALL.md
	modified:   src/main/java/frc/robot/generated/TunerConstants.java
@tbowers7
Revert to WPILib 2025.1.1-beta-3
22eea3b 
Just trying to get the robot to run!

	modified:   .wpilib/wpilib_preferences.json
	modified:   build.gradle
	modified:   settings.gradle
	modified:   src/main/java/frc/robot/Robot.java
	modified:   src/main/java/frc/robot/subsystems/drive/Drive.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/README
	new file:   src/main/java/frc/robot/subsystems/vision/README
@tbowers7
Updating more vendordeps; WPILib 2025.1.1 Gold
4a0f6ec 
Still waiting on Photon Vision 2025 Gold Standard.

Also need to fix issues related to Phoenix 6 Gold (vs beta).

Update the PathPlanner navgrid.

	modified:   .wpilib/wpilib_preferences.json
	modified:   build.gradle
	modified:   settings.gradle
	modified:   src/main/deploy/pathplanner/navgrid.json
	modified:   src/main/java/frc/robot/RobotContainer.java
	modified:   src/main/java/frc/robot/subsystems/accelerometer/Accelerometer.java
	modified:   src/main/java/frc/robot/subsystems/drive/GyroIONavX.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSim.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java
	modified:   src/main/java/frc/robot/util/OverrideSwitches.java
	modified:   vendordeps/AdvantageKit.json
	renamed:    vendordeps/ChoreoLib2025Beta.json -> vendordeps/ChoreoLib2025.json
	deleted:    vendordeps/NavX.json
	renamed:    vendordeps/PathplannerLib-beta.json -> vendordeps/PathplannerLib.json
	renamed:    vendordeps/Phoenix5-frc2025-beta-latest.json -> vendordeps/Phoenix5-frc2025-latest.json
	renamed:    vendordeps/Phoenix6-frc2025-beta-latest.json -> vendordeps/Phoenix6-frc2025-latest.json
	modified:   vendordeps/REVLib.json
	renamed:    vendordeps/ReduxLib_2025.json -> vendordeps/ReduxLib-2025.0.0.json
	new file:   vendordeps/Studica-2025.0.0.json
	new file:   vendordeps/ThriftyLib.json
	modified:   vendordeps/URCL.json
	modified:   vendordeps/maple-sim.json
	renamed:    vendordeps/yagsl.json -> vendordeps/yagsl-2025.1.3.json
@tbowers7
Conformal changes for Phoenix6 kickoff version
2a95b2b 
	modified:   src/main/java/frc/robot/generated/TunerConstants.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java
	modified:   src/main/java/frc/robot/subsystems/drive/SwerveConstants.java
@tbowers7
More 2025 vendordep updates
c637e49 
	modified:   vendordeps/ChoreoLib2025.json
	modified:   vendordeps/PathplannerLib.json
	modified:   vendordeps/Phoenix5-frc2025-latest.json
	modified:   vendordeps/maple-sim.json
@tbowers7
Apply TalonFX settings correctly
18e5cc6 
Correctly apply the TalonFX settings to the motor controllers after
all settings been, well, set.

	modified:   src/main/java/frc/robot/Constants.java
	modified:   src/main/java/frc/robot/RobotContainer.java
	modified:   src/main/java/frc/robot/commands/DriveCommands.java
	modified:   src/main/java/frc/robot/generated/TunerConstants.java
	modified:   src/main/java/frc/robot/subsystems/drive/Drive.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java
	modified:   src/main/java/frc/robot/subsystems/drive/SwerveConstants.java
@tbowers7 tbowers7 merged commit 9844866 into develop Jan 11, 2025
4 checks passed
@tbowers7 tbowers7 deleted the smooth_drive branch January 11, 2025 00:56
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@tbowers7