2025 changes #11
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2025 changes #11
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new file: src/main/java/frc/robot/util/PhoenixUtil.java
…/AdvantageKit_TalonFXSwerveTemplate into 2025_changes
modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/Robot.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/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 deleted: src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java modified: src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java modified: vendordeps/ChoreoLib2025Beta.json modified: vendordeps/Phoenix5-frc2025-beta-latest.json modified: vendordeps/ReduxLib_2025.json modified: vendordeps/maple-sim-0.2.2.json modified: vendordeps/yagsl.json
…/AdvantageKit_SparkSwerveTemplate into 2025_changes
…/AdvantageKit_VisionTemplate into 2025_changes
After shifting everything to be based on AK's 2025 templates, there was a bit of work to be done to also alogn code with changes in the various 2025 libraries. This commit represents a large step toward getting things working, but the project does not yet compile. After the last 20 or so errors (according to VS Code) are fixed and the project compiles, extensive testing on actual hardware will be necessary to ensure all the changes were applied correctly. modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/Robot.java modified: src/main/java/frc/robot/RobotContainer.java modified: src/main/java/frc/robot/subsystems/drive/Drive.java modified: src/main/java/frc/robot/subsystems/drive/DriveConstants.java modified: src/main/java/frc/robot/subsystems/drive/GyroIONavX.java modified: src/main/java/frc/robot/subsystems/drive/Module.java modified: src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.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 renamed: src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSparkMax.java -> 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/LoggedTunableNumber.java
modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/Robot.java modified: src/main/java/frc/robot/RobotContainer.java new file: src/main/java/frc/robot/commands/AutoController.java deleted: src/main/java/frc/robot/subsystems/drive/DemoDrive.java modified: src/main/java/frc/robot/subsystems/drive/Drive.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 deleted: src/main/java/frc/robot/subsystems/swervedrive_ignore/SwerveSubsystem.java deleted: src/main/java/frc/robot/subsystems/swervedrive_ignore/SwerveTelemetry.java deleted: src/main/java/frc/robot/subsystems/swervedrive_ignore/yagsl_old/YAGSLSwerve.java new file: src/main/java/frc/robot/util/RBSIEnum.java modified: vendordeps/ChoreoLib2025Beta.json renamed: vendordeps/maple-sim-0.2.2.json -> vendordeps/maple-sim.json modified: vendordeps/photonlib.json
Crash on RIO 1 because of AK25's aggressive garbage collection, which works well on the RIO 2. This commit implements the changes suggested in this issue on GitHub: Mechanical-Advantage/AdvantageKit#126 modified: build.gradle
modified: src/main/java/frc/robot/generated/TunerConstants.java
modified: src/main/java/frc/robot/RobotContainer.java renamed: src/main/java/frc/robot/commands/AutoController.java -> src/main/java/frc/robot/commands/ChoreoAutoController.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/DriveConstants.java modified: src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java modified: vendordeps/yagsl.json
Also, if trying to use YAGSL on an all-CTRE drivebase, throw an exception directing the use of Phoenix Tuner X. modified: src/main/deploy/swerve/modules/backleft.json modified: src/main/deploy/swerve/modules/backright.json modified: src/main/deploy/swerve/modules/frontleft.json modified: src/main/deploy/swerve/modules/frontright.json modified: src/main/deploy/swerve/modules/physicalproperties.json modified: src/main/deploy/swerve/swervedrive.json modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/subsystems/drive/Drive.java
modified: src/main/java/frc/robot/Constants.java
Ready for broader testing! modified: src/main/java/frc/robot/generated/TunerConstants.java
Also trying to clean up the running code. new file: .github/release.yml modified: .vscode/settings.json modified: build.gradle deleted: src/main/deploy/pathplanner/autos/New Auto.auto deleted: src/main/deploy/pathplanner/autos/Tests.auto deleted: src/main/deploy/pathplanner/paths/New Path.path deleted: src/main/deploy/pathplanner/paths/SimplePath.path modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/generated/TunerConstants.java modified: src/main/java/frc/robot/subsystems/drive/Drive.java modified: vendordeps/yagsl.json
modified: src/main/java/frc/robot/subsystems/drive/ModuleIOSim.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/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/VisionConstants.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/SparkUtil.java modified: src/test/RobotContainerTest.java
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Updates to Az-RBSI to comply with all 2025-beta libraries (as of 12 December 2024).
Based on the new AdvantageKit swerve templates, and relies in part on the Phoenix Tuner X swerve drive configurator.
This will be released as the 1.0.0-beta-1 of Az-RBSI, with additional documentation for teams on how to install and use it.