Phoenix 6 (v24.2.0-288) 2024 Dev Release (Patch for v24.2.0)

Dev release of Phoenix for the 2024 FRC Season

This is a dev release of Phoenix 6 to address some recent feedback from teams.
Updating is not required, however if you are observing any symptoms that are addressed in the changelog below, you can update by using the attached vendordep.

This is a dev release (and not a formal release) so that teams impacted by any of the symptoms below can update, without having to wait for the full test plan and eventual formal release.

Major changes include:

288-specific

• Further improvements to current limit API documentation to include a basic description of when to use the current limit, and a reasonable default and common range of values
• Improved readability of API documentation
• Fixed stator current limiting in simulation
• Fixed simulation reporting a non-zero torque current when motor is coasting
• Added Ancillary Device Temperature to Talon FX Self Test
• Reduced memory footprint of signal logger
• Fixed regression from 232 dev release: Simulated Talon FX devices now reach full speed

232-specific

• Added ActiveBrake to bridge output status signal
• Added StaticBrakeDisabled fault status signal, which trips when the static brake is momentarily disabled due to excessive braking current while disabled
• Fixed CANivore getStatus() erroneously failing on Windows
• Fixed an issue where a CANivore SignalLogger sometimes would not start or create empty logs if called before refreshing/applying any configs or waiting for any StatusSignals
• Fixed the SignalLogger free space error when the log must be stopped to report the correct 5 MB limit
• Swerve: Added support for default configuration objects, allowing users to set up configs that the Swerve API does not touch, such as supply current limits. There are new members in SwerveModuleConstantsFactory and SwerveDrivetrainConstants to specify the default configs for the respective devices.
• Swerve: Fixed an issue where on program startup, the odometry thread could erroneously think a CANivore bus was not CAN FD if constructed before refreshing/applying any configs or waiting for any StatusSignals
• Improved the API documentation for control and config object parameters
• Fixed FeedbackConfigs CANcoder helper functions not being public in Java
• Added withSyncCANcoder() to FeedbackConfigs
• Added withForwardRemoteTalonFX(), withReverseRemoteTalonFX(), withForwardRemoteCANcoder(), and withReverseRemoteCANcoder(), to HardwareLimitSwitchConfigs