Staged alpha 1 #14
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Staged alpha 1 #14
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modified: .gitignore modified: LICENSE new file: WPILib-License.md
new file: .vscode/launch.json new file: .vscode/settings.json new file: .wpilib/wpilib_preferences.json new file: AdvantageKit-License.md new file: build.gradle new file: gradle/wrapper/gradle-wrapper.jar new file: gradle/wrapper/gradle-wrapper.properties new file: gradlew new file: gradlew.bat new file: settings.gradle new file: src/main/deploy/README.md new file: src/main/java/frc/robot/Constants.java new file: src/main/java/frc/robot/FieldConstants2024.java new file: src/main/java/frc/robot/Main.java new file: src/main/java/frc/robot/Robot.java new file: src/main/java/frc/robot/RobotContainer.java new file: src/main/java/frc/robot/util/Alert.java new file: src/main/java/frc/robot/util/AllianceFlipUtil.java new file: src/main/java/frc/robot/util/GeomUtil.java new file: src/main/java/frc/robot/util/LocalADStarAK.java new file: src/main/java/frc/robot/util/LoggedTunableNumber.java new file: src/main/java/frc/robot/util/OverrideSwitches.java new file: src/main/java/frc/robot/util/VirtualSubsystem.java new file: src/main/java/frc/robot/util/swerve/ModuleLimits.java new file: vendordeps/AdvantageKit.json new file: vendordeps/PathplannerLib.json new file: vendordeps/Phoenix5.json new file: vendordeps/Phoenix6.json new file: vendordeps/REVLib.json new file: vendordeps/WPILibNewCommands.json new file: vendordeps/photonlib.json new file: vendordeps/yagsl.json
Plus, updating README to provide some basic information and playing around with the copyrights to point to Az-FIRST. modified: README.md new file: src/main/deploy/pathplanner2024/autos/Example Auto.auto new file: src/main/deploy/pathplanner2024/navgrid.json new file: src/main/deploy/pathplanner2024/paths/Example Path.path new file: src/main/java/frc/robot/commands/DriveCommands.java new file: src/main/java/frc/robot/subsystems/drive/Drive.java new file: src/main/java/frc/robot/subsystems/drive/GyroIO.java new file: src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java new file: src/main/java/frc/robot/subsystems/drive/Module.java new file: src/main/java/frc/robot/subsystems/drive/ModuleIO.java new file: src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java new file: src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java new file: src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java new file: src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java new file: src/main/java/frc/robot/subsystems/drive/SparkMaxOdometryThread.java new file: src/main/java/frc/robot/subsystems/flywheel/Flywheel.java new file: src/main/java/frc/robot/subsystems/flywheel/FlywheelIO.java new file: src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSim.java new file: src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSparkMax.java new file: src/main/java/frc/robot/subsystems/flywheel/FlywheelIOTalonFX.java modified: src/main/java/frc/robot/util/Alert.java modified: src/main/java/frc/robot/util/AllianceFlipUtil.java modified: src/main/java/frc/robot/util/GeomUtil.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/VirtualSubsystem.java modified: src/main/java/frc/robot/util/swerve/ModuleLimits.java
TODO: Still need to meld together the YAGSL commands and subsystems with those from the AdvantageKit to make something that works. modified: README.md 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/swervedrive/auto/AutoBalanceCommand.java new file: src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteDrive.java new file: src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteDriveAdv.java new file: src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteFieldDrive.java new file: src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java new file: src/main/java/frc/robot/subsystems/swervedrive/Vision.java
modified: README.md new file: vendordeps/ChoreoLib.json
new file: AZ-First-logo.png modified: README.md
new file: .github/workflows/dependency-submission.yml
Since we are going to use the YAGSL swerve library -- with its associated example commands and subsystem -- remove the subsystem and commands that came with the AdvantageKit sketch. modified: src/main/java/frc/robot/Robot.java deleted: src/main/java/frc/robot/commands/DriveCommands.java deleted: src/main/java/frc/robot/subsystems/drive/Drive.java deleted: src/main/java/frc/robot/subsystems/drive/GyroIO.java deleted: src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java deleted: src/main/java/frc/robot/subsystems/drive/Module.java deleted: src/main/java/frc/robot/subsystems/drive/ModuleIO.java deleted: src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java deleted: src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java deleted: src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java deleted: src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java deleted: src/main/java/frc/robot/subsystems/drive/SparkMaxOdometryThread.java
new file: src/main/deploy/swerve/example.txt new file: src/main/deploy/swerve/falcon/controllerproperties.json new file: src/main/deploy/swerve/falcon/modules/backleft.json new file: src/main/deploy/swerve/falcon/modules/backright.json new file: src/main/deploy/swerve/falcon/modules/frontleft.json new file: src/main/deploy/swerve/falcon/modules/frontright.json new file: src/main/deploy/swerve/falcon/modules/pdifproperties.json new file: src/main/deploy/swerve/falcon/modules/physicalproperties.json new file: src/main/deploy/swerve/falcon/swervedrive.json 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/util/OverrideSwitches.java
Starting to outline power management with monitoring, Still need to think about how to prioritize current to certain motors (and a wrapper for pushing current maximums) when total current draw exceeds the limits. Right now, logging and alerts are used to warn the operator if over budget on amps. modified: .vscode/settings.json modified: src/main/java/frc/robot/Constants.java new file: src/main/java/frc/robot/Ports.java modified: src/main/java/frc/robot/Robot.java modified: src/main/java/frc/robot/RobotContainer.java new file: src/main/java/frc/robot/util/CanDeviceId.java new file: src/main/java/frc/robot/util/PowerMonitoring.java
Log and report accelerations from both the on-board RIO accelerometer and the Pigeon2 that is part of the RB drivebase. modified: src/main/java/frc/robot/Robot.java new file: src/main/java/frc/robot/subsystems/accelerometer/Accelerometer.java new file: src/main/java/frc/robot/subsystems/accelerometer/AccelerometerIO.java new file: src/main/java/frc/robot/subsystems/accelerometer/AccelerometerIOPigeon2.java new file: src/main/java/frc/robot/subsystems/accelerometer/AccelerometerIORio.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 modified: src/main/java/frc/robot/util/PowerMonitoring.java
modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/FieldConstants2024.java new file: src/main/java/frc/robot/README modified: src/main/java/frc/robot/Robot.java modified: src/main/java/frc/robot/RobotContainer.java modified: src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteDrive.java modified: src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteDriveAdv.java modified: src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteFieldDrive.java modified: src/main/java/frc/robot/subsystems/accelerometer/Accelerometer.java modified: src/main/java/frc/robot/subsystems/accelerometer/AccelerometerIO.java modified: src/main/java/frc/robot/subsystems/accelerometer/AccelerometerIOPigeon2.java modified: src/main/java/frc/robot/subsystems/accelerometer/AccelerometerIORio.java modified: src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java modified: src/main/java/frc/robot/util/PowerMonitoring.java new file: src/test/README new file: src/test/RobotContainerTest.java
modified: src/main/java/frc/robot/Constants.java deleted: src/main/java/frc/robot/FieldConstants2024.java deleted: src/main/java/frc/robot/Ports.java modified: src/main/java/frc/robot/README modified: src/main/java/frc/robot/Robot.java modified: src/main/java/frc/robot/RobotContainer.java modified: src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java modified: src/main/java/frc/robot/subsystems/swervedrive/Vision.java deleted: src/main/java/frc/robot/util/AllianceFlipUtil.java modified: src/main/java/frc/robot/util/PowerMonitoring.java
modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/RobotContainer.java modified: src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java renamed: src/main/java/frc/robot/subsystems/swervedrive/Vision.java -> src/main/java/frc/robot/subsystems/vision/Vision.java new file: src/main/java/frc/robot/subsystems/vision/VisionIO.java new file: src/main/java/frc/robot/subsystems/vision/VisionIOPhoton.java
renamed: src/main/java/frc/robot/subsystems/flywheel/Flywheel.java -> src/main/java/frc/robot/subsystems/flywheel_example/Flywheel.java renamed: src/main/java/frc/robot/subsystems/flywheel/FlywheelIO.java -> src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIO.java renamed: src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSim.java -> src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSim.java renamed: src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSparkMax.java -> src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSparkMax.java renamed: src/main/java/frc/robot/subsystems/flywheel/FlywheelIOTalonFX.java -> src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOTalonFX.java new file: src/main/java/frc/robot/subsystems/flywheel_example/README
modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/README modified: src/main/java/frc/robot/RobotContainer.java modified: src/main/java/frc/robot/subsystems/vision/VisionIO.java modified: src/main/java/frc/robot/subsystems/vision/VisionIOPhoton.java deleted: src/main/java/frc/robot/util/swerve/ModuleLimits.java
Utilize some of GitHub's features. * Bumps com.peterabeles.gversion from 1.10 to 1.10.3. * Bumps com.diffplug.spotless from 6.12.0 to 6.25.0. * Bumps io.freefair.lombok from 8.4 to 8.10.2. Cleaning after upgrade of spotless --- updated-dependencies: - dependency-name: com.peterabeles.gversion dependency-type: direct:production update-type: version-update:semver-patch - dependency-name: com.diffplug.spotless dependency-type: direct:production update-type: version-update:semver-minor - dependency-name: io.freefair.lombok dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] <support@github.com> new file: .github/dependabot.yml modified: build.gradle modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/RobotContainer.java modified: src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java modified: src/main/java/frc/robot/subsystems/vision/Vision.java
renamed: src/main/deploy/pathplanner2024/autos/Example Auto.auto -> src/main/deploy/pathplanner/autos/Example Auto.auto new file: src/main/deploy/pathplanner/autos/New Auto.auto renamed: src/main/deploy/pathplanner2024/navgrid.json -> src/main/deploy/pathplanner/navgrid.json renamed: src/main/deploy/pathplanner2024/paths/Example Path.path -> src/main/deploy/pathplanner/paths/Example Path.path new file: src/main/deploy/pathplanner/paths/New Path.path renamed: src/main/deploy/swerve/falcon/controllerproperties.json -> src/main/deploy/swerve/controllerproperties.json deleted: src/main/deploy/swerve/falcon/modules/backleft.json deleted: src/main/deploy/swerve/falcon/modules/backright.json deleted: src/main/deploy/swerve/falcon/modules/frontleft.json deleted: src/main/deploy/swerve/falcon/modules/frontright.json deleted: src/main/deploy/swerve/falcon/modules/physicalproperties.json new file: src/main/deploy/swerve/modules/backleft.json new file: src/main/deploy/swerve/modules/backright.json new file: src/main/deploy/swerve/modules/frontleft.json new file: src/main/deploy/swerve/modules/frontright.json new file: src/main/deploy/swerve/modules/physicalproperties.json renamed: src/main/deploy/swerve/falcon/modules/pdifproperties.json -> src/main/deploy/swerve/modules/pidfproperties.json renamed: src/main/deploy/swerve/falcon/swervedrive.json -> src/main/deploy/swerve/swervedrive.json modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/RobotContainer.java modified: src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java modified: src/main/java/frc/robot/subsystems/vision/Vision.java modified: src/main/java/frc/robot/subsystems/vision/VisionIOPhoton.java
modified: .vscode/settings.json modified: src/main/java/frc/robot/RobotContainer.java
added spotless for code cleanliness
sorts imports + imports sorted
Hopefully fix main.yaml crash; add teamNumber=0 and gitignore the wpilib_preferences.json file. modified: .github/workflows/main.yml modified: .gitignore modified: .vscode/settings.json modified: .wpilib/wpilib_preferences.json modified: src/main/java/frc/robot/RobotContainer.java
added json section to linter
modified: README.md modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/RobotContainer.java modified: src/main/java/frc/robot/commands/swervedrive/auto/AutoBalanceCommand.java modified: src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteDrive.java modified: src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteDriveAdv.java modified: src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteFieldDrive.java new file: src/main/java/frc/robot/generated/README modified: src/main/java/frc/robot/generated/TunerConstants.java new file: src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java renamed: src/main/java/frc/robot/subsystems/swervedrive_phoenix/CommandSwerveDrivetrain.java -> src/main/java/frc/robot/subsystems/swervedrive/underlying/Phoenix6Swerve.java renamed: src/main/java/frc/robot/subsystems/swervedrive_yagsl/SwerveSubsystem.java -> src/main/java/frc/robot/subsystems/swervedrive/underlying/YAGSLSwerve.java deleted: src/main/java/frc/robot/util/YAGSL_AzRBSI/CANCoderSwerve_RBSI.java deleted: src/main/java/frc/robot/util/YAGSL_AzRBSI/DeviceJson_RBSI.java deleted: src/main/java/frc/robot/util/YAGSL_AzRBSI/Pigeon2Swerve_RBSI.java deleted: src/main/java/frc/robot/util/YAGSL_AzRBSI/README deleted: src/main/java/frc/robot/util/YAGSL_AzRBSI/SwerveDriveJson_RBSI.java deleted: src/main/java/frc/robot/util/YAGSL_AzRBSI/SwerveParser_RBSI.java deleted: src/main/java/frc/robot/util/YAGSL_AzRBSI/TalonFXSwerve_RBSI.java
modified: src/main/java/frc/robot/RobotContainer.java modified: src/main/java/frc/robot/generated/TunerConstants.java modified: src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java deleted: src/main/java/frc/robot/subsystems/swervedrive/underlying/Phoenix6Swerve.java modified: src/main/java/frc/robot/subsystems/vision/Vision.java new file: src/test/CurrentLimitTests.java new file: src/test/FusedCANcoderTests.java new file: src/test/LatencyCompensationTests.java
Still need to get the telemetry working... modified: .gitignore modified: src/main/java/frc/robot/commands/swervedrive/auto/AutoBalanceCommand.java renamed: src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteDrive.java -> src/main/java/frc/robot/commands/swervedrive/drivebase/YAGSL_AbsoluteDrive.java renamed: src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteDriveAdv.java -> src/main/java/frc/robot/commands/swervedrive/drivebase/YAGSL_AbsoluteDriveAdv.java renamed: src/main/java/frc/robot/commands/swervedrive/drivebase/AbsoluteFieldDrive.java -> src/main/java/frc/robot/commands/swervedrive/drivebase/YAGSL_AbsoluteFieldDrive.java modified: src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java renamed: src/main/java/frc/robot/subsystems/swervedrive/underlying/YAGSLSwerve.java -> src/main/java/frc/robot/subsystems/swervedrive/yagsl_old/YAGSLSwerve.java modified: src/main/java/frc/robot/subsystems/vision/Vision.java
They run as a Virtual Subsystem, logging each "click". modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/RobotContainer.java modified: src/main/java/frc/robot/subsystems/accelerometer/Accelerometer.java deleted: src/main/java/frc/robot/subsystems/accelerometer/AccelerometerIO.java deleted: src/main/java/frc/robot/subsystems/accelerometer/AccelerometerIOPigeon2.java deleted: src/main/java/frc/robot/subsystems/accelerometer/AccelerometerIORio.java modified: src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java deleted: vendordeps/Phoenix5.json
new file: src/main/deploy/pathplanner/Tests.path new file: src/main/deploy/pathplanner/autos/Tests.auto new file: src/main/deploy/pathplanner/paths/SimplePath.path 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/Telemetry.java modified: src/main/java/frc/robot/commands/swervedrive/drivebase/YAGSL_AbsoluteDriveAdv.java modified: src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSparkMax.java modified: src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOTalonFX.java modified: src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java modified: src/main/java/frc/robot/subsystems/swervedrive/yagsl_old/YAGSLSwerve.java
modified: src/main/java/frc/robot/RobotContainer.java modified: src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java renamed: src/main/java/frc/robot/Telemetry.java -> src/main/java/frc/robot/subsystems/swervedrive/SwerveTelemetry.java
modified: src/main/java/frc/robot/generated/TunerConstants.java modified: src/main/java/frc/robot/subsystems/accelerometer/Accelerometer.java
modified: src/main/java/frc/robot/Robot.java modified: src/main/java/frc/robot/RobotContainer.java modified: src/main/java/frc/robot/subsystems/accelerometer/Accelerometer.java
new file: vendordeps/NavX.json new file: vendordeps/Phoenix5.json new file: vendordeps/ReduxLib_2024.json modified: vendordeps/yagsl.json
Use the power port number for power monitoring. modified: .vscode/settings.json modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/RobotContainer.java modified: src/main/java/frc/robot/util/PowerMonitoring.java renamed: src/main/java/frc/robot/util/CanDeviceId.java -> src/main/java/frc/robot/util/RobotDeviceId.java
modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/RobotContainer.java deleted: src/main/java/frc/robot/commands/swervedrive/auto/AutoBalanceCommand.java new file: src/main/java/frc/robot/commands/swervedrive/auto/YAGSL_AutoBalanceCommand.java modified: src/main/java/frc/robot/commands/swervedrive/drivebase/YAGSL_AbsoluteDrive.java modified: src/main/java/frc/robot/commands/swervedrive/drivebase/YAGSL_AbsoluteDriveAdv.java modified: src/main/java/frc/robot/commands/swervedrive/drivebase/YAGSL_AbsoluteFieldDrive.java modified: src/main/java/frc/robot/generated/TunerConstants.java modified: src/main/java/frc/robot/subsystems/accelerometer/Accelerometer.java modified: src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java modified: src/main/java/frc/robot/subsystems/swervedrive/yagsl_old/YAGSLSwerve.java modified: src/main/java/frc/robot/subsystems/vision/Vision.java modified: src/main/java/frc/robot/util/PowerMonitoring.java
modified: README.md modified: src/main/java/frc/robot/README modified: src/main/java/frc/robot/Robot.java
Simply pass in subsystems to be monitored in RobotContainer. modified: src/main/java/frc/robot/README modified: src/main/java/frc/robot/RobotContainer.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/FlywheelIOSparkMax.java modified: src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOTalonFX.java modified: src/main/java/frc/robot/util/PowerMonitoring.java new file: src/main/java/frc/robot/util/RBSISubsystem.java
new file: .github/workflows/pubish_release.yml modified: src/main/java/frc/robot/RobotContainer.java modified: src/main/java/frc/robot/util/PowerMonitoring.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/RobotContainer.java modified: src/main/java/frc/robot/generated/TunerConstants.java new file: src/main/java/frc/robot/subsystems/drive/Drive.java new file: src/main/java/frc/robot/subsystems/drive/GyroIO.java new file: src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java new file: src/main/java/frc/robot/subsystems/drive/Module.java new file: src/main/java/frc/robot/subsystems/drive/ModuleIO.java new file: src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java new file: src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java new file: src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java new file: src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java renamed: src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java -> src/main/java/frc/robot/subsystems/swervedrive_ignore/SwerveSubsystem.java renamed: src/main/java/frc/robot/subsystems/swervedrive/SwerveTelemetry.java -> src/main/java/frc/robot/subsystems/swervedrive_ignore/SwerveTelemetry.java renamed: src/main/java/frc/robot/subsystems/swervedrive/yagsl_old/YAGSLSwerve.java -> src/main/java/frc/robot/subsystems/swervedrive_ignore/yagsl_old/YAGSLSwerve.java
Working to reintegrate the AdvantageKit swerve examples in anticipation of the 2025 beta becoming available in the very near future. Accelerometers are all up to snuff now (I think), and the next steps are to integrate the CTRE and YAGSL inputs into the AdvantageKit framework. Also added rough copies of examples from both PathPlanner and Choreo into the codebase, but need to streamline and clean those up. modified: README.md modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/RobotContainer.java new file: src/main/java/frc/robot/commands/DriveCommands.java modified: src/main/java/frc/robot/generated/TunerConstants.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/GyroIOPigeon2.java modified: src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java modified: src/main/java/frc/robot/subsystems/swervedrive_ignore/yagsl_old/YAGSLSwerve.java
The values from the YAGSL JSON files are now parsed and available under the same variable names as defined in Tuner X's ``TunerConstants.java`` file. When pulling these values from the drivetrain, it just matters which file is pulled from to get the correct constants. new file: src/main/deploy/apriltags/2024-amps.json new file: src/main/deploy/apriltags/2024-official.json new file: src/main/deploy/apriltags/2024-speakers.json new file: src/main/deploy/apriltags/2024-wpi.json 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/swervedrive.json modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/subsystems/accelerometer/Accelerometer.java new file: src/main/java/frc/robot/util/YagslConstants.java
Drive subsystem now has access to unified constant values from either input swerve framework. Next step is to construct the drive object and try to make everything happy. modified: src/main/java/frc/robot/subsystems/accelerometer/Accelerometer.java modified: src/main/java/frc/robot/subsystems/drive/Drive.java new file: src/main/java/frc/robot/subsystems/drive/DriveConstants.java new file: src/main/java/frc/robot/subsystems/drive/GyroIONavX.java modified: src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java modified: src/main/java/frc/robot/util/YagslConstants.java
Redirect all constant values to ``DriveConstants`` module. modified: src/main/deploy/swerve/modules/physicalproperties.json 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/GyroIOPigeon2.java modified: src/main/java/frc/robot/subsystems/drive/Module.java modified: src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java new file: src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java modified: src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java modified: src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java new file: src/main/java/frc/robot/subsystems/drive/README modified: src/main/java/frc/robot/util/YagslConstants.java
There was some tricky logic to be able to parse out which module type to instantiate based on what's in the YAGSL config, but this allows for generality derived simply from the JSON files. 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/README modified: src/main/java/frc/robot/util/YagslConstants.java
modified: src/main/deploy/README.md modified: src/main/java/frc/robot/subsystems/drive/DriveConstants.java
The thing finally builds without errors. TESTING REQUIRED before Alpha Release! 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/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
Bumps io.freefair.lombok from 8.10.2 to 8.11. --- updated-dependencies: - dependency-name: io.freefair.lombok dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] <support@github.com>
…bok-8.11 Bump io.freefair.lombok from 8.10.2 to 8.11
Issues: * Power monitoring not working at all * CAN issues -- maybe Az-RBSI, maybe my drivebase * Add Constant value for whether PhotonVision is enabled modified: build.gradle modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/Robot.java modified: src/main/java/frc/robot/RobotContainer.java deleted: src/main/java/frc/robot/commands/swervedrive/auto/YAGSL_AutoBalanceCommand.java deleted: src/main/java/frc/robot/commands/swervedrive/drivebase/YAGSL_AbsoluteDrive.java deleted: src/main/java/frc/robot/commands/swervedrive/drivebase/YAGSL_AbsoluteDriveAdv.java deleted: src/main/java/frc/robot/commands/swervedrive/drivebase/YAGSL_AbsoluteFieldDrive.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/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/swervedrive_ignore/SwerveSubsystem.java modified: src/main/java/frc/robot/subsystems/swervedrive_ignore/SwerveTelemetry.java
modified: src/main/java/frc/robot/generated/TunerConstants.java
Going to tag this as the 1.0.0-alpha-1 release modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/RobotContainer.java modified: src/main/java/frc/robot/generated/TunerConstants.java modified: src/main/java/frc/robot/subsystems/drive/DriveConstants.java modified: src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java modified: src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java
deleted: .github/workflows/pubish_release.yml
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First Alpha Release of v1.0.0