From c1b309e0a5d93fdb548c7051ce363739e7571449 Mon Sep 17 00:00:00 2001 From: "Timothy P. Ellsworth Bowers" Date: Mon, 10 Nov 2025 16:51:52 -0700 Subject: [PATCH 01/16] New template-syncing Action modified: .github/workflows/create-dependabot-labels.yaml --- .../workflows/create-dependabot-labels.yaml | 47 ------------------- 1 file changed, 47 deletions(-) diff --git a/.github/workflows/create-dependabot-labels.yaml b/.github/workflows/create-dependabot-labels.yaml index d2795e5..e69de29 100644 --- a/.github/workflows/create-dependabot-labels.yaml +++ b/.github/workflows/create-dependabot-labels.yaml @@ -1,47 +0,0 @@ -name: "Ensure Dependabot Labels Exist" - -on: - push: - branches: [main] - paths: - - '.github/dependabot.yml' - workflow_dispatch: - -jobs: - create-labels: - runs-on: ubuntu-latest - permissions: - issues: write # Needed to create labels via API - steps: - - name: Create labels for Dependabot PRs - uses: actions/github-script@v8 - with: - script: | - const labels = [ - { name: "github_actions", color: "BFFFD1", description: "Updates to GitHub Actions workflows" }, - { name: "gradle dependencies", color: "02303A", description: "Gradle dependency updates" }, - ]; - - for (const label of labels) { - try { - await github.rest.issues.getLabel({ - owner: context.repo.owner, - repo: context.repo.repo, - name: label.name, - }); - core.info(`✅ Label '${label.name}' already exists.`); - } catch (error) { - if (error.status === 404) { - await github.rest.issues.createLabel({ - owner: context.repo.owner, - repo: context.repo.repo, - name: label.name, - color: label.color, - description: label.description, - }); - core.info(`🎨 Created label '${label.name}'.`); - } else { - throw error; - } - } - } From 17b1fa77db1ea91e30b251e80c28256573256b76 Mon Sep 17 00:00:00 2001 From: "Timothy P. Ellsworth Bowers" Date: Fri, 26 Dec 2025 17:05:41 -0700 Subject: [PATCH 02/16] WIP: Add 2026-beta vendordeps Some issues still extant with relating previous code to new vendor dep codes. modified: .gitignore modified: .vscode/launch.json modified: .vscode/settings.json modified: .wpilib/wpilib_preferences.json modified: WPILib-License.md modified: build.gradle modified: gradle/wrapper/gradle-wrapper.properties modified: gradlew modified: gradlew.bat modified: settings.gradle modified: src/main/java/frc/robot/util/PowerMonitoring.java modified: vendordeps/AdvantageKit.json modified: vendordeps/ChoreoLib2025.json modified: vendordeps/PathplannerLib.json new file: vendordeps/Phoenix5-5.36.0-beta-1.json deleted: vendordeps/Phoenix5-frc2025-latest.json new file: vendordeps/Phoenix6-26.0.0-beta-1.json deleted: vendordeps/Phoenix6-frc2025-latest.json modified: vendordeps/REVLib.json modified: vendordeps/ReduxLib-2025.0.1.json deleted: vendordeps/Studica-2025.0.1.json new file: vendordeps/Studica-2026.0.0-beta.json new file: vendordeps/StudicaLib.json modified: vendordeps/ThriftyLib.json modified: vendordeps/URCL.json modified: vendordeps/WPILibNewCommands.json modified: vendordeps/maple-sim.json modified: vendordeps/photonlib.json modified: vendordeps/yagsl-2025.8.0.json --- .gitignore | 378 +++++++------- .vscode/launch.json | 8 +- .vscode/settings.json | 23 +- .wpilib/wpilib_preferences.json | 10 +- WPILib-License.md | 2 +- build.gradle | 160 +----- gradle/wrapper/gradle-wrapper.properties | 14 +- gradlew | 7 +- gradlew.bat | 186 +++---- settings.gradle | 4 +- .../java/frc/robot/util/PowerMonitoring.java | 2 +- vendordeps/AdvantageKit.json | 68 +-- vendordeps/ChoreoLib2025.json | 2 +- vendordeps/PathplannerLib.json | 2 +- vendordeps/Phoenix5-5.36.0-beta-1.json | 171 +++++++ vendordeps/Phoenix5-frc2025-latest.json | 171 ------- vendordeps/Phoenix6-26.0.0-beta-1.json | 449 ++++++++++++++++ vendordeps/Phoenix6-frc2025-latest.json | 479 ------------------ vendordeps/REVLib.json | 202 +++++--- vendordeps/ReduxLib-2025.0.1.json | 2 +- vendordeps/Studica-2025.0.1.json | 71 --- vendordeps/Studica-2026.0.0-beta.json | 71 +++ vendordeps/StudicaLib.json | 71 +++ vendordeps/ThriftyLib.json | 2 +- vendordeps/URCL.json | 2 +- vendordeps/WPILibNewCommands.json | 3 +- vendordeps/maple-sim.json | 2 +- vendordeps/photonlib.json | 2 +- vendordeps/yagsl-2025.8.0.json | 2 +- 29 files changed, 1261 insertions(+), 1305 deletions(-) create mode 100644 vendordeps/Phoenix5-5.36.0-beta-1.json delete mode 100644 vendordeps/Phoenix5-frc2025-latest.json create mode 100644 vendordeps/Phoenix6-26.0.0-beta-1.json delete mode 100644 vendordeps/Phoenix6-frc2025-latest.json delete mode 100644 vendordeps/Studica-2025.0.1.json create mode 100644 vendordeps/Studica-2026.0.0-beta.json create mode 100644 vendordeps/StudicaLib.json diff --git a/.gitignore b/.gitignore index c4c22fc..9a9ca7b 100644 --- a/.gitignore +++ b/.gitignore @@ -1,191 +1,187 @@ -# This gitignore has been specially created by the WPILib team. -# If you remove items from this file, intellisense might break. - -### C++ ### -# Prerequisites -*.d - -# Compiled Object files -*.slo -*.lo -*.o -*.obj - -# Precompiled Headers -*.gch -*.pch - -# Compiled Dynamic libraries -*.so -*.dylib -*.dll - -# Fortran module files -*.mod -*.smod - -# Compiled Static libraries -*.lai -*.la -*.a -*.lib - -# Executables -*.exe -*.out -*.app - -### Java ### -# Compiled class file -*.class - -# Log file -*.log - -# BlueJ files -*.ctxt - -# Mobile Tools for Java (J2ME) -.mtj.tmp/ - -# Package Files # -*.jar -*.war -*.nar -*.ear -*.zip -*.tar.gz -*.rar - -# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml -hs_err_pid* - -### Linux ### -*~ - -# temporary files which can be created if a process still has a handle open of a deleted file -.fuse_hidden* - -# KDE directory preferences -.directory - -# Linux trash folder which might appear on any partition or disk -.Trash-* - -# .nfs files are created when an open file is removed but is still being accessed -.nfs* - -### macOS ### -# General -.DS_Store -.AppleDouble -.LSOverride - -# Icon must end with two \r -Icon - -# Thumbnails -._* - -# Files that might appear in the root of a volume -.DocumentRevisions-V100 -.fseventsd -.Spotlight-V100 -.TemporaryItems -.Trashes -.VolumeIcon.icns -.com.apple.timemachine.donotpresent - -# Directories potentially created on remote AFP share -.AppleDB -.AppleDesktop -Network Trash Folder -Temporary Items -.apdisk - -### VisualStudioCode ### -.vscode/* -!.vscode/settings.json -!.vscode/tasks.json -!.vscode/launch.json -!.vscode/extensions.json -*.code-workspace - -### Windows ### -# Windows thumbnail cache files -Thumbs.db -ehthumbs.db -ehthumbs_vista.db - -# Dump file -*.stackdump - -# Folder config file -[Dd]esktop.ini - -# Recycle Bin used on file shares -$RECYCLE.BIN/ - -# Windows Installer files -*.cab -*.msi -*.msix -*.msm -*.msp - -# Windows shortcuts -*.lnk - -### Gradle ### -.gradle -/build/ - -# Ignore Gradle GUI config -gradle-app.setting - -# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored) -!gradle-wrapper.jar - -# Cache of project -.gradletasknamecache - -# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898 -# gradle/wrapper/gradle-wrapper.properties - -# # VS Code Specific Java Settings -# DO NOT REMOVE .classpath and .project -.classpath -.project -.settings/ -bin/ - -# IntelliJ -*.iml -*.ipr -*.iws -.idea/ -out/ - -# Fleet -.fleet - -# Simulation GUI and other tools window save file -networktables.json -simgui*.json -*-window.json - -# Simulation data log directory -logs/ - -# Folder that has CTRE Phoenix Sim device config storage -ctre_sim/ - -# clangd -/.cache -compile_commands.json - -# Version file -src/main/java/frc/robot/BuildConstants.java - -# Do not push changes to the wpilib_preferences,json file -wpilib_preferences.json +# This gitignore has been specially created by the WPILib team. +# If you remove items from this file, intellisense might break. + +### C++ ### +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app + +### Java ### +# Compiled class file +*.class + +# Log file +*.log + +# BlueJ files +*.ctxt + +# Mobile Tools for Java (J2ME) +.mtj.tmp/ + +# Package Files # +*.jar +*.war +*.nar +*.ear +*.zip +*.tar.gz +*.rar + +# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml +hs_err_pid* + +### Linux ### +*~ + +# temporary files which can be created if a process still has a handle open of a deleted file +.fuse_hidden* + +# KDE directory preferences +.directory + +# Linux trash folder which might appear on any partition or disk +.Trash-* + +# .nfs files are created when an open file is removed but is still being accessed +.nfs* + +### macOS ### +# General +.DS_Store +.AppleDouble +.LSOverride + +# Icon must end with two \r +Icon + +# Thumbnails +._* + +# Files that might appear in the root of a volume +.DocumentRevisions-V100 +.fseventsd +.Spotlight-V100 +.TemporaryItems +.Trashes +.VolumeIcon.icns +.com.apple.timemachine.donotpresent + +# Directories potentially created on remote AFP share +.AppleDB +.AppleDesktop +Network Trash Folder +Temporary Items +.apdisk + +### VisualStudioCode ### +.vscode/* +!.vscode/settings.json +!.vscode/tasks.json +!.vscode/launch.json +!.vscode/extensions.json + +### Windows ### +# Windows thumbnail cache files +Thumbs.db +ehthumbs.db +ehthumbs_vista.db + +# Dump file +*.stackdump + +# Folder config file +[Dd]esktop.ini + +# Recycle Bin used on file shares +$RECYCLE.BIN/ + +# Windows Installer files +*.cab +*.msi +*.msix +*.msm +*.msp + +# Windows shortcuts +*.lnk + +### Gradle ### +.gradle +/build/ + +# Ignore Gradle GUI config +gradle-app.setting + +# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored) +!gradle-wrapper.jar + +# Cache of project +.gradletasknamecache + +# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898 +# gradle/wrapper/gradle-wrapper.properties + +# # VS Code Specific Java Settings +# DO NOT REMOVE .classpath and .project +.classpath +.project +.settings/ +bin/ + +# IntelliJ +*.iml +*.ipr +*.iws +.idea/ +out/ + +# Fleet +.fleet + +# Simulation GUI and other tools window save file +networktables.json +simgui.json +*-window.json + +# Simulation data log directory +logs/ + +# Folder that has CTRE Phoenix Sim device config storage +ctre_sim/ + +# clangd +/.cache +compile_commands.json + +# Eclipse generated file for annotation processors +.factorypath diff --git a/.vscode/launch.json b/.vscode/launch.json index b8c1920..c9c9713 100644 --- a/.vscode/launch.json +++ b/.vscode/launch.json @@ -1,17 +1,21 @@ { + // Use IntelliSense to learn about possible attributes. + // Hover to view descriptions of existing attributes. + // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 "version": "0.2.0", "configurations": [ + { "type": "wpilib", "name": "WPILib Desktop Debug", "request": "launch", - "desktop": true + "desktop": true, }, { "type": "wpilib", "name": "WPILib roboRIO Debug", "request": "launch", - "desktop": false + "desktop": false, } ] } diff --git a/.vscode/settings.json b/.vscode/settings.json index 39a65d9..5e6ede8 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -18,23 +18,14 @@ { "name": "WPIlibUnitTests", "workingDirectory": "${workspaceFolder}/build/jni/release", - "vmargs": [ - "-Djava.library.path=${workspaceFolder}/build/jni/release" - ], + "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ], "env": { - "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release", + "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" , "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" } }, - null ], "java.test.defaultConfig": "WPIlibUnitTests", - "editor.indentSize": 2, - "editor.inlayHints.enabled": "on", - "editor.tabSize": 2, - "files.eol": "\n", - "spotlessGradle.format.enable": true, - "spotlessGradle.diagnostics.enable": false, "java.import.gradle.annotationProcessing.enabled": false, "java.completion.favoriteStaticMembers": [ "org.junit.Assert.*", @@ -64,13 +55,7 @@ "javax.smartcardio.*", "edu.wpi.first.math.proto.*", "edu.wpi.first.math.**.proto.*", - "edu.wpi.first.math.**.struct.*" + "edu.wpi.first.math.**.struct.*", ], - "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle", - "[json]": { - "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle" - }, - "[java]": { - "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle" - } + "java.dependency.enableDependencyCheckup": false } diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json index 51005bf..874e0c0 100644 --- a/.wpilib/wpilib_preferences.json +++ b/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ { - "enableCppIntellisense": false, - "currentLanguage": "java", - "projectYear": "2025", - "teamNumber": 0 -} + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2026beta", + "teamNumber": 0 +} \ No newline at end of file diff --git a/WPILib-License.md b/WPILib-License.md index d744196..645e542 100644 --- a/WPILib-License.md +++ b/WPILib-License.md @@ -1,4 +1,4 @@ -Copyright (c) 2009-2025 FIRST and other WPILib contributors +Copyright (c) 2009-2024 FIRST and other WPILib contributors All rights reserved. Redistribution and use in source and binary forms, with or without diff --git a/build.gradle b/build.gradle index d9c15fd..ac660d4 100644 --- a/build.gradle +++ b/build.gradle @@ -1,10 +1,10 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2025.3.2" + id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1" id "com.peterabeles.gversion" version "1.10.3" id "com.diffplug.spotless" version "8.0.+" id "io.freefair.lombok" version "9.1.+" - id "com.google.protobuf" version "0.9.5" + id "com.google.protobuf" version "0.9.+" } java { @@ -31,26 +31,14 @@ deploy { // getTargetTypeClass is a shortcut to get the class type using a string frcJava(getArtifactTypeClass('FRCJavaArtifact')) { - jvmArgs.add("-XX:+UnlockExperimentalVMOptions") - jvmArgs.add("-XX:GCTimeRatio=5") - jvmArgs.add("-XX:+UseSerialGC") - jvmArgs.add("-XX:MaxGCPauseMillis=50") - - // The options below may improve performance, but should only be enabled on the RIO 2 - // - // final MAX_JAVA_HEAP_SIZE_MB = 100; - // jvmArgs.add("-Xmx" + MAX_JAVA_HEAP_SIZE_MB + "M") - // jvmArgs.add("-Xms" + MAX_JAVA_HEAP_SIZE_MB + "M") - // jvmArgs.add("-XX:+AlwaysPreTouch") } // Static files artifact frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { files = project.fileTree('src/main/deploy') directory = '/home/lvuser/deploy' - // Change to true to delete files on roboRIO that no - // longer exist in deploy directory in VSCode - deleteOldFiles = true + deleteOldFiles = false // Change to true to delete files on roboRIO that no + // longer exist in deploy directory of this project } } } @@ -59,31 +47,15 @@ deploy { def deployArtifact = deploy.targets.roborio.artifacts.frcJava -// Set to true to use debug for JNI. +// Set to true to use debug for all targets including JNI, which will drastically impact +// performance. wpi.java.debugJni = false // Set this to true to enable desktop support. -def includeDesktopSupport = true - -// Configuration for AdvantageKit -repositories { - maven { - url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit") - credentials { - username = "Mechanical-Advantage-Bot" - password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051" - } - } - mavenLocal() -} - -task(replayWatch, type: JavaExec) { - mainClass = "org.littletonrobotics.junction.ReplayWatch" - classpath = sourceSets.main.runtimeClasspath -} +def includeDesktopSupport = false // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. -// Also defines JUnit 4. +// Also defines JUnit 5. dependencies { annotationProcessor wpi.java.deps.wpilibAnnotations() implementation wpi.java.deps.wpilib() @@ -105,9 +77,6 @@ dependencies { testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' testRuntimeOnly 'org.junit.platform:junit-platform-launcher' - - def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text) - annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version" } test { @@ -116,23 +85,14 @@ test { } // Simulation configuration (e.g. environment variables). -// -// The sim GUI is *disabled* by default to support running -// AdvantageKit log replay from the command line. Set the -// value to "true" to enable the sim GUI by default (this -// is the standard WPILib behavior). -wpi.sim.addGui().defaultEnabled = false +wpi.sim.addGui().defaultEnabled = true wpi.sim.addDriverstation() // Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar') // in order to make them all available at runtime. Also adding the manifest so WPILib // knows where to look for our Robot Class. jar { - from { - configurations.runtimeClasspath.collect { - it.isDirectory() ? it : zipTree(it) - } - } + from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } from sourceSets.main.allSource manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) duplicatesStrategy = DuplicatesStrategy.INCLUDE @@ -145,103 +105,5 @@ wpi.java.configureTestTasks(test) // Configure string concat to always inline compile tasks.withType(JavaCompile) { - options.compilerArgs << '-XDstringConcat=inline' << '-Xlint:unchecked' -} - -// Create version file -project.compileJava.dependsOn(createVersionFile) -gversion { - srcDir = "src/main/java/" - classPackage = "frc.robot" - className = "BuildConstants" - dateFormat = "yyyy-MM-dd HH:mm:ss z" - timeZone = "America/Phoenix" - indent = " " -} - -// Create commit with working changes on event branches -task(eventDeploy) { - doLast { - if (project.gradle.startParameter.taskNames.any({ it.toLowerCase().contains("deploy") })) { - def branchPrefix = "event" - def branch = 'git branch --show-current'.execute().text.trim() - def commitMessage = "Update at '${new Date().toString()}'" - - if (branch.startsWith(branchPrefix)) { - exec { - workingDir(projectDir) - executable 'git' - args 'add', '-A' - } - exec { - workingDir(projectDir) - executable 'git' - args 'commit', '-m', commitMessage - ignoreExitValue = true - } - - println "Committed to branch: '$branch'" - println "Commit message: '$commitMessage'" - } else { - println "Not on an event branch, skipping commit" - } - } else { - println "Not running deploy task, skipping commit" - } - } -} -createVersionFile.dependsOn(eventDeploy) - -// Spotless formatting -project.compileJava.dependsOn(spotlessApply) -spotless { - enforceCheck true - java { - target fileTree('.') { - include '**/*.java' - exclude '**/build/**', '**/build-*/**' - } - importOrder() - toggleOffOn() - googleJavaFormat() - removeUnusedImports() - trimTrailingWhitespace() - endWithNewline() - } - groovyGradle { - target fileTree('.') { - include '**/*.gradle' - exclude '**/build/**', '**/build-*/**' - } - greclipse() - leadingTabsToSpaces(4) - trimTrailingWhitespace() - endWithNewline() - } - json { - target fileTree('.'){ - include '**/*.json' - exclude '**/build/**', '**/build-*/**' - } - gson().indentWithSpaces(2) - } - format 'xml', { - target fileTree('.') { - include '**/*.xml' - exclude '**/build/**', '**/build-*/**' - } - eclipseWtp('xml') - trimTrailingWhitespace() - leadingTabsToSpaces(2) - endWithNewline() - } - format "misc", { - target fileTree('.') { - include '**/*.md', '**/.gitignore' - exclude '**/build/**', '**/build-*/**' - } - trimTrailingWhitespace() - leadingTabsToSpaces(2) - endWithNewline() - } + options.compilerArgs.add '-XDstringConcat=inline' } diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties index 34bd9ce..8e975a5 100644 --- a/gradle/wrapper/gradle-wrapper.properties +++ b/gradle/wrapper/gradle-wrapper.properties @@ -1,7 +1,7 @@ -distributionBase=GRADLE_USER_HOME -distributionPath=permwrapper/dists -distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip -networkTimeout=10000 -validateDistributionUrl=true -zipStoreBase=GRADLE_USER_HOME -zipStorePath=permwrapper/dists +distributionBase=GRADLE_USER_HOME +distributionPath=permwrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip +networkTimeout=10000 +validateDistributionUrl=true +zipStoreBase=GRADLE_USER_HOME +zipStorePath=permwrapper/dists diff --git a/gradlew b/gradlew index 1aa94a4..f5feea6 100755 --- a/gradlew +++ b/gradlew @@ -15,6 +15,8 @@ # See the License for the specific language governing permissions and # limitations under the License. # +# SPDX-License-Identifier: Apache-2.0 +# ############################################################################## # @@ -55,7 +57,7 @@ # Darwin, MinGW, and NonStop. # # (3) This script is generated from the Groovy template -# https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt +# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt # within the Gradle project. # # You can find Gradle at https://github.com/gradle/gradle/. @@ -84,7 +86,8 @@ done # shellcheck disable=SC2034 APP_BASE_NAME=${0##*/} # Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) -APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit +APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s +' "$PWD" ) || exit # Use the maximum available, or set MAX_FD != -1 to use that value. MAX_FD=maximum diff --git a/gradlew.bat b/gradlew.bat index 93e3f59..9b42019 100644 --- a/gradlew.bat +++ b/gradlew.bat @@ -1,92 +1,94 @@ -@rem -@rem Copyright 2015 the original author or authors. -@rem -@rem Licensed under the Apache License, Version 2.0 (the "License"); -@rem you may not use this file except in compliance with the License. -@rem You may obtain a copy of the License at -@rem -@rem https://www.apache.org/licenses/LICENSE-2.0 -@rem -@rem Unless required by applicable law or agreed to in writing, software -@rem distributed under the License is distributed on an "AS IS" BASIS, -@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -@rem See the License for the specific language governing permissions and -@rem limitations under the License. -@rem - -@if "%DEBUG%"=="" @echo off -@rem ########################################################################## -@rem -@rem Gradle startup script for Windows -@rem -@rem ########################################################################## - -@rem Set local scope for the variables with windows NT shell -if "%OS%"=="Windows_NT" setlocal - -set DIRNAME=%~dp0 -if "%DIRNAME%"=="" set DIRNAME=. -@rem This is normally unused -set APP_BASE_NAME=%~n0 -set APP_HOME=%DIRNAME% - -@rem Resolve any "." and ".." in APP_HOME to make it shorter. -for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi - -@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. -set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" - -@rem Find java.exe -if defined JAVA_HOME goto findJavaFromJavaHome - -set JAVA_EXE=java.exe -%JAVA_EXE% -version >NUL 2>&1 -if %ERRORLEVEL% equ 0 goto execute - -echo. -echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. -echo. -echo Please set the JAVA_HOME variable in your environment to match the -echo location of your Java installation. - -goto fail - -:findJavaFromJavaHome -set JAVA_HOME=%JAVA_HOME:"=% -set JAVA_EXE=%JAVA_HOME%/bin/java.exe - -if exist "%JAVA_EXE%" goto execute - -echo. -echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% -echo. -echo Please set the JAVA_HOME variable in your environment to match the -echo location of your Java installation. - -goto fail - -:execute -@rem Setup the command line - -set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar - - -@rem Execute Gradle -"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* - -:end -@rem End local scope for the variables with windows NT shell -if %ERRORLEVEL% equ 0 goto mainEnd - -:fail -rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of -rem the _cmd.exe /c_ return code! -set EXIT_CODE=%ERRORLEVEL% -if %EXIT_CODE% equ 0 set EXIT_CODE=1 -if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% -exit /b %EXIT_CODE% - -:mainEnd -if "%OS%"=="Windows_NT" endlocal - -:omega +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem +@rem SPDX-License-Identifier: Apache-2.0 +@rem + +@if "%DEBUG%"=="" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if %ERRORLEVEL% equ 0 goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:execute +@rem Setup the command line + +set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* + +:end +@rem End local scope for the variables with windows NT shell +if %ERRORLEVEL% equ 0 goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +set EXIT_CODE=%ERRORLEVEL% +if %EXIT_CODE% equ 0 set EXIT_CODE=1 +if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% +exit /b %EXIT_CODE% + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/settings.gradle b/settings.gradle index 969c7b0..c493958 100644 --- a/settings.gradle +++ b/settings.gradle @@ -20,8 +20,8 @@ pluginManagement { } def frcHomeMaven = new File(frcHome, 'maven') maven { - name 'frcHome' - url frcHomeMaven + name = 'frcHome' + url = frcHomeMaven } } } diff --git a/src/main/java/frc/robot/util/PowerMonitoring.java b/src/main/java/frc/robot/util/PowerMonitoring.java index 52850d3..5450f2e 100644 --- a/src/main/java/frc/robot/util/PowerMonitoring.java +++ b/src/main/java/frc/robot/util/PowerMonitoring.java @@ -20,7 +20,7 @@ import frc.robot.util.Alert.AlertType; import org.littletonrobotics.conduit.ConduitApi; import org.littletonrobotics.junction.Logger; -import org.littletonrobotics.junction.inputs.LoggedPowerDistribution; +import org.littletonrobotics.junction.LoggedPowerDistribution; /** * Power monitoring virtual subsystem that periodically polls the Power Distribution Module. Each diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json index 2707c2b..5d79bff 100644 --- a/vendordeps/AdvantageKit.json +++ b/vendordeps/AdvantageKit.json @@ -1,35 +1,35 @@ { - "fileName": "AdvantageKit.json", - "name": "AdvantageKit", - "version": "4.1.2", - "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003", - "frcYear": "2025", - "mavenUrls": [ - "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/" - ], - "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json", - "javaDependencies": [ - { - "groupId": "org.littletonrobotics.akit", - "artifactId": "akit-java", - "version": "4.1.2" - } - ], - "jniDependencies": [ - { - "groupId": "org.littletonrobotics.akit", - "artifactId": "akit-wpilibio", - "version": "4.1.2", - "skipInvalidPlatforms": false, - "isJar": false, - "validPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - } - ], - "cppDependencies": [] -} + "fileName": "AdvantageKit.json", + "name": "AdvantageKit", + "version": "26.0.0-beta-1", + "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003", + "frcYear": "2026beta", + "mavenUrls": [ + "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/" + ], + "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json", + "javaDependencies": [ + { + "groupId": "org.littletonrobotics.akit", + "artifactId": "akit-java", + "version": "26.0.0-beta-1" + } + ], + "jniDependencies": [ + { + "groupId": "org.littletonrobotics.akit", + "artifactId": "akit-wpilibio", + "version": "26.0.0-beta-1", + "skipInvalidPlatforms": false, + "isJar": false, + "validPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + } + ], + "cppDependencies": [] +} \ No newline at end of file diff --git a/vendordeps/ChoreoLib2025.json b/vendordeps/ChoreoLib2025.json index 2c2d3c3..5259ca8 100644 --- a/vendordeps/ChoreoLib2025.json +++ b/vendordeps/ChoreoLib2025.json @@ -3,7 +3,7 @@ "name": "ChoreoLib", "version": "2025.0.3", "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca", - "frcYear": "2025", + "frcYear": "2026beta", "mavenUrls": [ "https://lib.choreo.autos/dep", "https://repo1.maven.org/maven2" diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json index 20b1b15..73ae375 100644 --- a/vendordeps/PathplannerLib.json +++ b/vendordeps/PathplannerLib.json @@ -3,7 +3,7 @@ "name": "PathplannerLib", "version": "2025.2.7", "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", - "frcYear": "2025", + "frcYear": "2026beta", "mavenUrls": [ "https://3015rangerrobotics.github.io/pathplannerlib/repo" ], diff --git a/vendordeps/Phoenix5-5.36.0-beta-1.json b/vendordeps/Phoenix5-5.36.0-beta-1.json new file mode 100644 index 0000000..987c74c --- /dev/null +++ b/vendordeps/Phoenix5-5.36.0-beta-1.json @@ -0,0 +1,171 @@ +{ + "fileName": "Phoenix5-5.36.0-beta-1.json", + "name": "CTRE-Phoenix (v5)", + "version": "5.36.0-beta-1", + "frcYear": "2026beta", + "uuid": "ab676553-b602-441f-a38d-f1296eff6537", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2026-beta-latest.json", + "requires": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", + "offlineFileName": "Phoenix6-frc2026-beta-latest.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-beta-latest.json" + } + ], + "conflictsWith": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.", + "offlineFileName": "Phoenix6-replay-frc2026-beta-latest.json" + }, + { + "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", + "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", + "offlineFileName": "Phoenix5-replay-frc2026-beta-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-java", + "version": "5.36.0-beta-1" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-java", + "version": "5.36.0-beta-1" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-cpp", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-cpp", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "api-cpp-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixSim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} \ No newline at end of file diff --git a/vendordeps/Phoenix5-frc2025-latest.json b/vendordeps/Phoenix5-frc2025-latest.json deleted file mode 100644 index aa08d95..0000000 --- a/vendordeps/Phoenix5-frc2025-latest.json +++ /dev/null @@ -1,171 +0,0 @@ -{ - "fileName": "Phoenix5-frc2025-latest.json", - "name": "CTRE-Phoenix (v5)", - "version": "5.35.1", - "frcYear": "2025", - "uuid": "ab676553-b602-441f-a38d-f1296eff6537", - "mavenUrls": [ - "https://maven.ctr-electronics.com/release/" - ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-latest.json", - "requires": [ - { - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", - "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", - "offlineFileName": "Phoenix6-frc2025-latest.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json" - } - ], - "conflictsWith": [ - { - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", - "errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.", - "offlineFileName": "Phoenix6-replay-frc2025-latest.json" - }, - { - "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", - "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", - "offlineFileName": "Phoenix5-replay-frc2025-latest.json" - } - ], - "javaDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-java", - "version": "5.35.1" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-java", - "version": "5.35.1" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.35.1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.35.1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-cpp", - "version": "5.35.1", - "libName": "CTRE_Phoenix_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-cpp", - "version": "5.35.1", - "libName": "CTRE_Phoenix", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.35.1", - "libName": "CTRE_PhoenixCCI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "5.35.1", - "libName": "CTRE_Phoenix_WPISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "api-cpp-sim", - "version": "5.35.1", - "libName": "CTRE_PhoenixSim", - "headerClassifier": 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"skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simVictorSPX", - "version": "25.4.0", - "libName": "CTRE_SimVictorSPX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simPigeonIMU", - "version": "25.4.0", - "libName": "CTRE_SimPigeonIMU", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simCANCoder", - "version": "25.4.0", - "libName": "CTRE_SimCANCoder", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFX", - "version": "25.4.0", - "libName": "CTRE_SimProTalonFX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFXS", - "version": "25.4.0", - "libName": "CTRE_SimProTalonFXS", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANcoder", - "version": "25.4.0", - "libName": "CTRE_SimProCANcoder", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProPigeon2", - "version": "25.4.0", - "libName": "CTRE_SimProPigeon2", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANrange", - "version": "25.4.0", - "libName": "CTRE_SimProCANrange", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdi", - "version": "25.4.0", - "libName": "CTRE_SimProCANdi", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdle", - "version": "25.4.0", - "libName": "CTRE_SimProCANdle", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json index 459a62f..0f666c9 100644 --- a/vendordeps/REVLib.json +++ b/vendordeps/REVLib.json @@ -1,71 +1,133 @@ { - "fileName": "REVLib.json", - "name": "REVLib", - "version": "2025.0.3", - "frcYear": "2025", - "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", - "mavenUrls": [ - "https://maven.revrobotics.com/" - ], - "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json", - "javaDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-java", - "version": "2025.0.3" - } - ], - "jniDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-driver", - "version": "2025.0.3", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-cpp", - "version": "2025.0.3", - "libName": "REVLib", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-driver", - "version": "2025.0.3", - "libName": "REVLibDriver", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ] -} + "fileName": "REVLib.json", + "name": "REVLib", + "version": "2026.0.0-beta-1", + "frcYear": "2026beta", + "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", + "mavenUrls": [ + "https://maven.revrobotics.com/" + ], + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json", + "javaDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-java", + "version": "2026.0.0-beta-1" + } + ], + "jniDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2026.0.0-beta-1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2026.0.0-beta-1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2026.0.0-beta-1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-cpp", + "version": "2026.0.0-beta-1", + "libName": "REVLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2026.0.0-beta-1", + "libName": "REVLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2026.0.0-beta-1", + "libName": "BackendDriver", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2026.0.0-beta-1", + "libName": "REVLibWpi", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/vendordeps/ReduxLib-2025.0.1.json b/vendordeps/ReduxLib-2025.0.1.json index 3a66d72..9aaec1c 100644 --- a/vendordeps/ReduxLib-2025.0.1.json +++ b/vendordeps/ReduxLib-2025.0.1.json @@ -2,7 +2,7 @@ "fileName": "ReduxLib-2025.0.1.json", "name": "ReduxLib", "version": "2025.0.1", - "frcYear": "2025", + "frcYear": "2026beta", "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", "mavenUrls": [ "https://maven.reduxrobotics.com/" diff --git a/vendordeps/Studica-2025.0.1.json b/vendordeps/Studica-2025.0.1.json deleted file mode 100644 index a3ed1fe..0000000 --- a/vendordeps/Studica-2025.0.1.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "Studica-2025.0.1.json", - "name": "Studica", - "version": "2025.0.1", - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "frcYear": "2025", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2025/" - ], - "jsonUrl": "https://dev.studica.com/releases/2025/Studica-2025.0.1.json", - "cppDependencies": [ - { - "artifactId": "Studica-cpp", - "binaryPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "groupId": "com.studica.frc", - "headerClassifier": "headers", - "libName": "Studica", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "version": "2025.0.1" - }, - { - "artifactId": "Studica-driver", - "binaryPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "groupId": "com.studica.frc", - "headerClassifier": "headers", - "libName": "StudicaDriver", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "version": "2025.0.1" - } - ], - "javaDependencies": [ - { - "artifactId": "Studica-java", - "groupId": "com.studica.frc", - "version": "2025.0.1" - } - ], - "jniDependencies": [ - { - "artifactId": "Studica-driver", - "groupId": "com.studica.frc", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "linuxathena", - "linuxarm32", - "linuxarm64", - "linuxx86-64", - "osxuniversal", - "windowsx86-64" - ], - "version": "2025.0.1" - } - ] -} diff --git a/vendordeps/Studica-2026.0.0-beta.json b/vendordeps/Studica-2026.0.0-beta.json new file mode 100644 index 0000000..c5d48c7 --- /dev/null +++ b/vendordeps/Studica-2026.0.0-beta.json @@ -0,0 +1,71 @@ +{ + "fileName": "Studica-2026.0.0-beta.json", + "name": "Studica", + "version": "2026.0.0-beta", + "frcYear": "2026beta", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0-beta.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-java", + "version": "2026.0.0-beta" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0-beta", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-cpp", + "version": "2026.0.0-beta", + "libName": "Studica", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0-beta", + "libName": "StudicaDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/vendordeps/StudicaLib.json b/vendordeps/StudicaLib.json new file mode 100644 index 0000000..b6ed33e --- /dev/null +++ b/vendordeps/StudicaLib.json @@ -0,0 +1,71 @@ +{ + "fileName": "StudicaLib.json", + "name": "StudicaLib", + "version": "2026.0.1-beta", + "frcYear": "2026beta", + "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.1-beta.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-java", + "version": "2026.0.1-beta" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.1-beta", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-cpp", + "version": "2026.0.1-beta", + "libName": "StudicaLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "StudicaLib-driver", + "version": "2026.0.1-beta", + "libName": "StudicaLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} \ No newline at end of file diff --git a/vendordeps/ThriftyLib.json b/vendordeps/ThriftyLib.json index 5c3595e..b012e45 100644 --- a/vendordeps/ThriftyLib.json +++ b/vendordeps/ThriftyLib.json @@ -2,7 +2,7 @@ "fileName": "ThriftyLib.json", "name": "ThriftyLib", "version": "2025.1.1", - "frcYear": "2025", + "frcYear": "2026beta", "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", "mavenUrls": [ "https://docs.home.thethriftybot.com" diff --git a/vendordeps/URCL.json b/vendordeps/URCL.json index 6beb912..8cb9ea0 100644 --- a/vendordeps/URCL.json +++ b/vendordeps/URCL.json @@ -2,7 +2,7 @@ "fileName": "URCL.json", "name": "URCL", "version": "2025.0.1", - "frcYear": "2025", + "frcYear": "2026beta", "uuid": "84246d17-a797-4d1e-bd9f-c59cd8d2477c", "mavenUrls": [ "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/" diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json index 3718e0a..7ebc954 100644 --- a/vendordeps/WPILibNewCommands.json +++ b/vendordeps/WPILibNewCommands.json @@ -3,7 +3,7 @@ "name": "WPILib-New-Commands", "version": "1.0.0", "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "frcYear": "2025", + "frcYear": "2026beta", "mavenUrls": [], "jsonUrl": "", "javaDependencies": [ @@ -25,6 +25,7 @@ "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ + "linuxsystemcore", "linuxathena", "linuxarm32", "linuxarm64", diff --git a/vendordeps/maple-sim.json b/vendordeps/maple-sim.json index 65f4413..1975151 100644 --- a/vendordeps/maple-sim.json +++ b/vendordeps/maple-sim.json @@ -2,7 +2,7 @@ "fileName": "maple-sim.json", "name": "maplesim", "version": "0.3.14", - "frcYear": "2025", + "frcYear": "2026beta", "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b", "mavenUrls": [ "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/repos/releases", diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json index 2b5b6ad..5ea96a8 100644 --- a/vendordeps/photonlib.json +++ b/vendordeps/photonlib.json @@ -3,7 +3,7 @@ "name": "photonlib", "version": "v2025.3.2", "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", - "frcYear": "2025", + "frcYear": "2026beta", "mavenUrls": [ "https://maven.photonvision.org/repository/internal", "https://maven.photonvision.org/repository/snapshots" diff --git a/vendordeps/yagsl-2025.8.0.json b/vendordeps/yagsl-2025.8.0.json index dc91af6..2cb0614 100644 --- a/vendordeps/yagsl-2025.8.0.json +++ b/vendordeps/yagsl-2025.8.0.json @@ -2,7 +2,7 @@ "fileName": "yagsl-2025.8.0.json", "name": "YAGSL", "version": "2025.8.0", - "frcYear": "2025", + "frcYear": "2026beta", "uuid": "1ccce5a4-acd2-4d18-bca3-4b8047188400", "mavenUrls": [ "https://broncbotz3481.github.io/YAGSL-Lib/yagsl/repos" From e8ba09ea56c4a4f088c7f68d762a0ac3db430458 Mon Sep 17 00:00:00 2001 From: "Timothy P. Ellsworth Bowers" Date: Fri, 26 Dec 2025 17:21:05 -0700 Subject: [PATCH 03/16] WPI: Still working on making 2026 vendir libs work 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/flywheel_example/FlywheelIOSpark.java modified: src/main/java/frc/robot/util/PowerMonitoring.java --- src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java | 2 +- src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java | 2 +- .../java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java | 2 +- .../frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java | 2 +- src/main/java/frc/robot/util/PowerMonitoring.java | 3 ++- 5 files changed, 6 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java index 2ffe7fa..0ca45dc 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java @@ -41,7 +41,7 @@ import com.revrobotics.spark.SparkClosedLoopController; import com.revrobotics.spark.SparkLowLevel.MotorType; import com.revrobotics.spark.SparkMax; -import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor; +import com.revrobotics.spark.FeedbackSensor; import com.revrobotics.spark.config.SparkBaseConfig.IdleMode; import com.revrobotics.spark.config.SparkMaxConfig; import edu.wpi.first.math.MathUtil; diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java index 83d9d4a..46445e5 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java @@ -30,7 +30,7 @@ import com.revrobotics.spark.SparkFlex; import com.revrobotics.spark.SparkLowLevel.MotorType; import com.revrobotics.spark.SparkMax; -import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor; +import com.revrobotics.spark.FeedbackSensor; import com.revrobotics.spark.config.SparkBaseConfig.IdleMode; import com.revrobotics.spark.config.SparkFlexConfig; import com.revrobotics.spark.config.SparkMaxConfig; diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java index f248e2b..393dd1b 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java @@ -32,7 +32,7 @@ import com.revrobotics.spark.SparkFlex; import com.revrobotics.spark.SparkLowLevel.MotorType; import com.revrobotics.spark.SparkMax; -import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor; +import com.revrobotics.spark.FeedbackSensor; import com.revrobotics.spark.config.SparkBaseConfig.IdleMode; import com.revrobotics.spark.config.SparkFlexConfig; import com.revrobotics.spark.config.SparkMaxConfig; diff --git a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java index 871a9de..fac1d03 100644 --- a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java +++ b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java @@ -28,7 +28,7 @@ import com.revrobotics.spark.SparkClosedLoopController.ArbFFUnits; import com.revrobotics.spark.SparkLowLevel.MotorType; import com.revrobotics.spark.SparkMax; -import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor; +import com.revrobotics.spark.FeedbackSensor; import com.revrobotics.spark.config.SparkBaseConfig.IdleMode; import com.revrobotics.spark.config.SparkFlexConfig; import edu.wpi.first.math.util.Units; diff --git a/src/main/java/frc/robot/util/PowerMonitoring.java b/src/main/java/frc/robot/util/PowerMonitoring.java index 5450f2e..5d58e20 100644 --- a/src/main/java/frc/robot/util/PowerMonitoring.java +++ b/src/main/java/frc/robot/util/PowerMonitoring.java @@ -27,8 +27,9 @@ * port and the sum total currents are compared with limits defined in the ``Constants.java`` file, * and subsystem total currents are also computed based on the power ports listed in * ``RobotContainer.java``. + * @param */ -public class PowerMonitoring extends VirtualSubsystem { +public class PowerMonitoring extends VirtualSubsystem { private final RBSISubsystem[] subsystems; From 01cb862e211a5dcdda45ae03631b19474b232faa Mon Sep 17 00:00:00 2001 From: "Timothy P. Ellsworth Bowers" Date: Fri, 26 Dec 2025 17:46:06 -0700 Subject: [PATCH 04/16] WIP: Trying to clean up the CI build deleted: vendordeps/StudicaLib.json --- vendordeps/StudicaLib.json | 71 -------------------------------------- 1 file changed, 71 deletions(-) delete mode 100644 vendordeps/StudicaLib.json diff --git a/vendordeps/StudicaLib.json b/vendordeps/StudicaLib.json deleted file mode 100644 index b6ed33e..0000000 --- a/vendordeps/StudicaLib.json +++ /dev/null @@ -1,71 +0,0 @@ -{ - "fileName": "StudicaLib.json", - "name": "StudicaLib", - "version": "2026.0.1-beta", - "frcYear": "2026beta", - "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2026/" - ], - "jsonUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.1-beta.json", - "javaDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-java", - "version": "2026.0.1-beta" - } - ], - "jniDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-driver", - "version": "2026.0.1-beta", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-cpp", - "version": "2026.0.1-beta", - "libName": "StudicaLib", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.studica.frc", - "artifactId": "StudicaLib-driver", - "version": "2026.0.1-beta", - "libName": "StudicaLibDriver", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ] -} \ No newline at end of file From 4d75c9f4508ff3811f91dff87d33e2350adace8b Mon Sep 17 00:00:00 2001 From: "Timothy P. Ellsworth Bowers" Date: Sat, 27 Dec 2025 10:07:13 -0700 Subject: [PATCH 05/16] Working minus AdvantageKit bug Seems to be all working now minus a bug in AdvantageKit related to the logging of power monitoring. It seems the upstream issue solely a public/ private issue with one of the classes. modified: .gitignore modified: .vscode/launch.json modified: .vscode/settings.json modified: .wpilib/wpilib_preferences.json modified: WPILib-License.md modified: build.gradle 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/ModuleIOSpark.java modified: src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java modified: src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java modified: src/main/java/frc/robot/util/PowerMonitoring.java modified: vendordeps/AdvantageKit.json modified: vendordeps/Phoenix5-5.36.0-beta-1.json modified: vendordeps/Phoenix6-26.0.0-beta-1.json modified: vendordeps/REVLib.json modified: vendordeps/Studica-2026.0.0-beta.json --- .gitignore | 6 + .vscode/launch.json | 8 +- .vscode/settings.json | 21 +- .wpilib/wpilib_preferences.json | 10 +- WPILib-License.md | 2 +- build.gradle | 123 ++- .../frc/robot/subsystems/drive/ModuleIO.java | 4 +- .../subsystems/drive/ModuleIOBlended.java | 2 +- .../robot/subsystems/drive/ModuleIOSpark.java | 2 +- .../drive/ModuleIOSparkCANcoder.java | 2 +- .../flywheel_example/FlywheelIOSpark.java | 2 +- .../java/frc/robot/util/PowerMonitoring.java | 5 +- vendordeps/AdvantageKit.json | 68 +- vendordeps/Phoenix5-5.36.0-beta-1.json | 340 +++---- vendordeps/Phoenix6-26.0.0-beta-1.json | 896 +++++++++--------- vendordeps/REVLib.json | 264 +++--- vendordeps/Studica-2026.0.0-beta.json | 140 +-- 17 files changed, 1015 insertions(+), 880 deletions(-) diff --git a/.gitignore b/.gitignore index 9a9ca7b..4d31af9 100644 --- a/.gitignore +++ b/.gitignore @@ -185,3 +185,9 @@ compile_commands.json # Eclipse generated file for annotation processors .factorypath + +# Version file +src/main/java/frc/robot/BuildConstants.java + +# Do not push changes to the wpilib_preferences,json file +wpilib_preferences.json diff --git a/.vscode/launch.json b/.vscode/launch.json index c9c9713..b8c1920 100644 --- a/.vscode/launch.json +++ b/.vscode/launch.json @@ -1,21 +1,17 @@ { - // Use IntelliSense to learn about possible attributes. - // Hover to view descriptions of existing attributes. - // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 "version": "0.2.0", "configurations": [ - { "type": "wpilib", "name": "WPILib Desktop Debug", "request": "launch", - "desktop": true, + "desktop": true }, { "type": "wpilib", "name": "WPILib roboRIO Debug", "request": "launch", - "desktop": false, + "desktop": false } ] } diff --git a/.vscode/settings.json b/.vscode/settings.json index 5e6ede8..7b6e1a2 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -18,14 +18,23 @@ { "name": "WPIlibUnitTests", "workingDirectory": "${workspaceFolder}/build/jni/release", - "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ], + "vmargs": [ + "-Djava.library.path=${workspaceFolder}/build/jni/release" + ], "env": { - "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" , + "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release", "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" } }, + null ], "java.test.defaultConfig": "WPIlibUnitTests", + "editor.indentSize": 2, + "editor.inlayHints.enabled": "on", + "editor.tabSize": 2, + "files.eol": "\n", + "spotlessGradle.format.enable": true, + "spotlessGradle.diagnostics.enable": false, "java.import.gradle.annotationProcessing.enabled": false, "java.completion.favoriteStaticMembers": [ "org.junit.Assert.*", @@ -56,6 +65,14 @@ "edu.wpi.first.math.proto.*", "edu.wpi.first.math.**.proto.*", "edu.wpi.first.math.**.struct.*", + null ], + "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle", + "[json]": { + "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle" + }, + "[java]": { + "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle" + }, "java.dependency.enableDependencyCheckup": false } diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json index 874e0c0..acbd59a 100644 --- a/.wpilib/wpilib_preferences.json +++ b/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ { - "enableCppIntellisense": false, - "currentLanguage": "java", - "projectYear": "2026beta", - "teamNumber": 0 -} \ No newline at end of file + "enableCppIntellisense": false, + "currentLanguage": "java", + "projectYear": "2026beta", + "teamNumber": 0 +} diff --git a/WPILib-License.md b/WPILib-License.md index 645e542..eb3061b 100644 --- a/WPILib-License.md +++ b/WPILib-License.md @@ -1,4 +1,4 @@ -Copyright (c) 2009-2024 FIRST and other WPILib contributors +Copyright (c) 2009-2026 FIRST and other WPILib contributors All rights reserved. Redistribution and use in source and binary forms, with or without diff --git a/build.gradle b/build.gradle index ac660d4..05d5b58 100644 --- a/build.gradle +++ b/build.gradle @@ -31,14 +31,26 @@ deploy { // getTargetTypeClass is a shortcut to get the class type using a string frcJava(getArtifactTypeClass('FRCJavaArtifact')) { + jvmArgs.add("-XX:+UnlockExperimentalVMOptions") + jvmArgs.add("-XX:GCTimeRatio=5") + jvmArgs.add("-XX:+UseSerialGC") + jvmArgs.add("-XX:MaxGCPauseMillis=50") + + // The options below may improve performance, but should only be enabled on the RIO 2 + // + // final MAX_JAVA_HEAP_SIZE_MB = 100; + // jvmArgs.add("-Xmx" + MAX_JAVA_HEAP_SIZE_MB + "M") + // jvmArgs.add("-Xms" + MAX_JAVA_HEAP_SIZE_MB + "M") + // jvmArgs.add("-XX:+AlwaysPreTouch") } // Static files artifact frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { files = project.fileTree('src/main/deploy') directory = '/home/lvuser/deploy' - deleteOldFiles = false // Change to true to delete files on roboRIO that no - // longer exist in deploy directory of this project + // Change to true to delete files on roboRIO that no + // longer exist in deploy directory of this project + deleteOldFiles = true } } } @@ -77,6 +89,9 @@ dependencies { testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' testRuntimeOnly 'org.junit.platform:junit-platform-launcher' + + def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text) + annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version" } test { @@ -92,7 +107,11 @@ wpi.sim.addDriverstation() // in order to make them all available at runtime. Also adding the manifest so WPILib // knows where to look for our Robot Class. jar { - from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } + from { + configurations.runtimeClasspath.collect { + it.isDirectory() ? it : zipTree(it) + } + } from sourceSets.main.allSource manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) duplicatesStrategy = DuplicatesStrategy.INCLUDE @@ -107,3 +126,101 @@ wpi.java.configureTestTasks(test) tasks.withType(JavaCompile) { options.compilerArgs.add '-XDstringConcat=inline' } + +// Create version file +project.compileJava.dependsOn(createVersionFile) +gversion { + srcDir = "src/main/java/" + classPackage = "frc.robot" + className = "BuildConstants" + dateFormat = "yyyy-MM-dd HH:mm:ss z" + timeZone = "America/Phoenix" + indent = " " +} + +// Create commit with working changes on event branches +task(eventDeploy) { + doLast { + if (project.gradle.startParameter.taskNames.any({ it.toLowerCase().contains("deploy") })) { + def branchPrefix = "event" + def branch = 'git branch --show-current'.execute().text.trim() + def commitMessage = "Update at '${new Date().toString()}'" + + if (branch.startsWith(branchPrefix)) { + exec { + workingDir(projectDir) + executable 'git' + args 'add', '-A' + } + exec { + workingDir(projectDir) + executable 'git' + args 'commit', '-m', commitMessage + ignoreExitValue = true + } + + println "Committed to branch: '$branch'" + println "Commit message: '$commitMessage'" + } else { + println "Not on an event branch, skipping commit" + } + } else { + println "Not running deploy task, skipping commit" + } + } +} +createVersionFile.dependsOn(eventDeploy) + +// Spotless formatting +project.compileJava.dependsOn(spotlessApply) +spotless { + enforceCheck true + java { + target fileTree('.') { + include '**/*.java' + exclude '**/build/**', '**/build-*/**' + } + importOrder() + toggleOffOn() + googleJavaFormat() + removeUnusedImports() + trimTrailingWhitespace() + endWithNewline() + } + groovyGradle { + target fileTree('.') { + include '**/*.gradle' + exclude '**/build/**', '**/build-*/**' + } + greclipse() + leadingTabsToSpaces(4) + trimTrailingWhitespace() + endWithNewline() + } + json { + target fileTree('.'){ + include '**/*.json' + exclude '**/build/**', '**/build-*/**' + } + gson().indentWithSpaces(2) + } + format 'xml', { + target fileTree('.') { + include '**/*.xml' + exclude '**/build/**', '**/build-*/**' + } + eclipseWtp('xml') + trimTrailingWhitespace() + leadingTabsToSpaces(2) + endWithNewline() + } + format "misc", { + target fileTree('.') { + include '**/*.md', '**/.gitignore' + exclude '**/build/**', '**/build-*/**' + } + trimTrailingWhitespace() + leadingTabsToSpaces(2) + endWithNewline() + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIO.java b/src/main/java/frc/robot/subsystems/drive/ModuleIO.java index bcd3bb3..296c9f3 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIO.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIO.java @@ -29,8 +29,8 @@ public static class ModuleIOInputs { public boolean turnConnected = false; public boolean turnEncoderConnected = false; - public Rotation2d turnAbsolutePosition = new Rotation2d(); - public Rotation2d turnPosition = new Rotation2d(); + public Rotation2d turnAbsolutePosition = Rotation2d.kZero; + public Rotation2d turnPosition = Rotation2d.kZero; public double turnVelocityRadPerSec = 0.0; public double turnAppliedVolts = 0.0; public double turnCurrentAmps = 0.0; diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java index 0ca45dc..bdff6db 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java @@ -34,6 +34,7 @@ import com.ctre.phoenix6.swerve.SwerveModuleConstants; import com.ctre.phoenix6.swerve.SwerveModuleConstants.ClosedLoopOutputType; import com.ctre.phoenix6.swerve.SwerveModuleConstantsFactory; +import com.revrobotics.spark.FeedbackSensor; import com.revrobotics.spark.SparkBase; import com.revrobotics.spark.SparkBase.ControlType; import com.revrobotics.spark.SparkBase.PersistMode; @@ -41,7 +42,6 @@ import com.revrobotics.spark.SparkClosedLoopController; import com.revrobotics.spark.SparkLowLevel.MotorType; import com.revrobotics.spark.SparkMax; -import com.revrobotics.spark.FeedbackSensor; import com.revrobotics.spark.config.SparkBaseConfig.IdleMode; import com.revrobotics.spark.config.SparkMaxConfig; import edu.wpi.first.math.MathUtil; diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java index 46445e5..991b739 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java @@ -21,6 +21,7 @@ import com.revrobotics.AbsoluteEncoder; import com.revrobotics.RelativeEncoder; import com.revrobotics.spark.ClosedLoopSlot; +import com.revrobotics.spark.FeedbackSensor; import com.revrobotics.spark.SparkBase; import com.revrobotics.spark.SparkBase.ControlType; import com.revrobotics.spark.SparkBase.PersistMode; @@ -30,7 +31,6 @@ import com.revrobotics.spark.SparkFlex; import com.revrobotics.spark.SparkLowLevel.MotorType; import com.revrobotics.spark.SparkMax; -import com.revrobotics.spark.FeedbackSensor; import com.revrobotics.spark.config.SparkBaseConfig.IdleMode; import com.revrobotics.spark.config.SparkFlexConfig; import com.revrobotics.spark.config.SparkMaxConfig; diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java index 393dd1b..0814682 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java @@ -23,6 +23,7 @@ import com.ctre.phoenix6.hardware.CANcoder; import com.revrobotics.RelativeEncoder; import com.revrobotics.spark.ClosedLoopSlot; +import com.revrobotics.spark.FeedbackSensor; import com.revrobotics.spark.SparkBase; import com.revrobotics.spark.SparkBase.ControlType; import com.revrobotics.spark.SparkBase.PersistMode; @@ -32,7 +33,6 @@ import com.revrobotics.spark.SparkFlex; import com.revrobotics.spark.SparkLowLevel.MotorType; import com.revrobotics.spark.SparkMax; -import com.revrobotics.spark.FeedbackSensor; import com.revrobotics.spark.config.SparkBaseConfig.IdleMode; import com.revrobotics.spark.config.SparkFlexConfig; import com.revrobotics.spark.config.SparkMaxConfig; diff --git a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java index fac1d03..5cef6dd 100644 --- a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java +++ b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java @@ -20,6 +20,7 @@ import com.revrobotics.RelativeEncoder; import com.revrobotics.spark.ClosedLoopSlot; +import com.revrobotics.spark.FeedbackSensor; import com.revrobotics.spark.SparkBase; import com.revrobotics.spark.SparkBase.ControlType; import com.revrobotics.spark.SparkBase.PersistMode; @@ -28,7 +29,6 @@ import com.revrobotics.spark.SparkClosedLoopController.ArbFFUnits; import com.revrobotics.spark.SparkLowLevel.MotorType; import com.revrobotics.spark.SparkMax; -import com.revrobotics.spark.FeedbackSensor; import com.revrobotics.spark.config.SparkBaseConfig.IdleMode; import com.revrobotics.spark.config.SparkFlexConfig; import edu.wpi.first.math.util.Units; diff --git a/src/main/java/frc/robot/util/PowerMonitoring.java b/src/main/java/frc/robot/util/PowerMonitoring.java index 5d58e20..233b197 100644 --- a/src/main/java/frc/robot/util/PowerMonitoring.java +++ b/src/main/java/frc/robot/util/PowerMonitoring.java @@ -19,17 +19,16 @@ import frc.robot.Constants.PowerConstants; import frc.robot.util.Alert.AlertType; import org.littletonrobotics.conduit.ConduitApi; -import org.littletonrobotics.junction.Logger; import org.littletonrobotics.junction.LoggedPowerDistribution; +import org.littletonrobotics.junction.Logger; /** * Power monitoring virtual subsystem that periodically polls the Power Distribution Module. Each * port and the sum total currents are compared with limits defined in the ``Constants.java`` file, * and subsystem total currents are also computed based on the power ports listed in * ``RobotContainer.java``. - * @param */ -public class PowerMonitoring extends VirtualSubsystem { +public class PowerMonitoring extends VirtualSubsystem { private final RBSISubsystem[] subsystems; diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json index 5d79bff..849af71 100644 --- a/vendordeps/AdvantageKit.json +++ b/vendordeps/AdvantageKit.json @@ -1,35 +1,35 @@ { - "fileName": "AdvantageKit.json", - "name": "AdvantageKit", - "version": "26.0.0-beta-1", - "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003", - "frcYear": "2026beta", - "mavenUrls": [ - "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/" - ], - "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json", - "javaDependencies": [ - { - "groupId": "org.littletonrobotics.akit", - "artifactId": "akit-java", - "version": "26.0.0-beta-1" - } - ], - "jniDependencies": [ - { - "groupId": "org.littletonrobotics.akit", - "artifactId": "akit-wpilibio", - "version": "26.0.0-beta-1", - "skipInvalidPlatforms": false, - "isJar": false, - "validPlatforms": [ - "linuxathena", - "linuxx86-64", - "linuxarm64", - "osxuniversal", - "windowsx86-64" - ] - } - ], - "cppDependencies": [] -} \ No newline at end of file + "fileName": "AdvantageKit.json", + "name": "AdvantageKit", + "version": "26.0.0-beta-1", + "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003", + "frcYear": "2026beta", + "mavenUrls": [ + "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/" + ], + "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json", + "javaDependencies": [ + { + "groupId": "org.littletonrobotics.akit", + "artifactId": "akit-java", + "version": "26.0.0-beta-1" + } + ], + "jniDependencies": [ + { + "groupId": "org.littletonrobotics.akit", + "artifactId": "akit-wpilibio", + "version": "26.0.0-beta-1", + "skipInvalidPlatforms": false, + "isJar": false, + "validPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + } + ], + "cppDependencies": [] +} diff --git a/vendordeps/Phoenix5-5.36.0-beta-1.json b/vendordeps/Phoenix5-5.36.0-beta-1.json index 987c74c..c40f569 100644 --- a/vendordeps/Phoenix5-5.36.0-beta-1.json +++ b/vendordeps/Phoenix5-5.36.0-beta-1.json @@ -1,171 +1,171 @@ { - "fileName": "Phoenix5-5.36.0-beta-1.json", - "name": "CTRE-Phoenix (v5)", - "version": "5.36.0-beta-1", - "frcYear": "2026beta", - "uuid": "ab676553-b602-441f-a38d-f1296eff6537", - "mavenUrls": [ - "https://maven.ctr-electronics.com/release/" - ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2026-beta-latest.json", - "requires": [ - { - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", - "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", - "offlineFileName": "Phoenix6-frc2026-beta-latest.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-beta-latest.json" - } - ], - "conflictsWith": [ - { - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", - "errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.", - "offlineFileName": "Phoenix6-replay-frc2026-beta-latest.json" - }, - { - "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", - "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", - "offlineFileName": "Phoenix5-replay-frc2026-beta-latest.json" - } - ], - "javaDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-java", - "version": "5.36.0-beta-1" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-java", - "version": "5.36.0-beta-1" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.36.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.36.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenix", - "artifactId": "wpiapi-cpp", - "version": "5.36.0-beta-1", - "libName": "CTRE_Phoenix_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "api-cpp", - "version": "5.36.0-beta-1", - "libName": "CTRE_Phoenix", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix", - "artifactId": "cci", - "version": "5.36.0-beta-1", - "libName": "CTRE_PhoenixCCI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "5.36.0-beta-1", - "libName": "CTRE_Phoenix_WPISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "api-cpp-sim", - "version": "5.36.0-beta-1", - "libName": "CTRE_PhoenixSim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix.sim", - "artifactId": "cci-sim", - "version": "5.36.0-beta-1", - "libName": "CTRE_PhoenixCCISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} \ No newline at end of file + "fileName": "Phoenix5-5.36.0-beta-1.json", + "name": "CTRE-Phoenix (v5)", + "version": "5.36.0-beta-1", + "frcYear": "2026beta", + "uuid": "ab676553-b602-441f-a38d-f1296eff6537", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2026-beta-latest.json", + "requires": [ + { + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", + "offlineFileName": "Phoenix6-frc2026-beta-latest.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-beta-latest.json" + } + ], + "conflictsWith": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.", + "offlineFileName": "Phoenix6-replay-frc2026-beta-latest.json" + }, + { + "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", + "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", + "offlineFileName": "Phoenix5-replay-frc2026-beta-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-java", + "version": "5.36.0-beta-1" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-java", + "version": "5.36.0-beta-1" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix", + "artifactId": "wpiapi-cpp", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "api-cpp", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix", + "artifactId": "cci", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_Phoenix_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "api-cpp-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixSim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix.sim", + "artifactId": "cci-sim", + "version": "5.36.0-beta-1", + "libName": "CTRE_PhoenixCCISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} diff --git a/vendordeps/Phoenix6-26.0.0-beta-1.json b/vendordeps/Phoenix6-26.0.0-beta-1.json index 681be31..f4686ba 100644 --- a/vendordeps/Phoenix6-26.0.0-beta-1.json +++ b/vendordeps/Phoenix6-26.0.0-beta-1.json @@ -1,449 +1,449 @@ { - "fileName": "Phoenix6-26.0.0-beta-1.json", - "name": "CTRE-Phoenix (v6)", - "version": "26.0.0-beta-1", - "frcYear": "2026beta", - "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", - "mavenUrls": [ - "https://maven.ctr-electronics.com/release/" - ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-latest.json", - "conflictsWith": [ - { - "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", - "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", - "offlineFileName": "Phoenix6-replay-frc2026-latest.json" - } - ], - "javaDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "wpiapi-java", - "version": "26.0.0-beta-1" - } - ], - "jniDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "api-cpp", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6", - "artifactId": "tools", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "api-cpp-sim", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "tools-sim", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonSRX", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simVictorSPX", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simPigeonIMU", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFX", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFXS", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANcoder", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProPigeon2", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANrange", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdi", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdle", - "version": "26.0.0-beta-1", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ], - "cppDependencies": [ - { - "groupId": "com.ctre.phoenix6", - "artifactId": "wpiapi-cpp", - "version": "26.0.0-beta-1", - "libName": "CTRE_Phoenix6_WPI", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6", - "artifactId": "tools", - "version": "26.0.0-beta-1", - "libName": "CTRE_PhoenixTools", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "linuxathena" - ], - "simMode": "hwsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "wpiapi-cpp-sim", - "version": "26.0.0-beta-1", - "libName": "CTRE_Phoenix6_WPISim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "tools-sim", - "version": "26.0.0-beta-1", - "libName": "CTRE_PhoenixTools_Sim", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simTalonSRX", - "version": "26.0.0-beta-1", - "libName": "CTRE_SimTalonSRX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simVictorSPX", - "version": "26.0.0-beta-1", - "libName": "CTRE_SimVictorSPX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simPigeonIMU", - "version": "26.0.0-beta-1", - "libName": "CTRE_SimPigeonIMU", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFX", - "version": "26.0.0-beta-1", - "libName": "CTRE_SimProTalonFX", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProTalonFXS", - "version": "26.0.0-beta-1", - "libName": "CTRE_SimProTalonFXS", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANcoder", - "version": "26.0.0-beta-1", - "libName": "CTRE_SimProCANcoder", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - 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[ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simProCANdle", - "version": "26.0.0-beta-1", - "libName": "CTRE_SimProCANdle", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - } - ] -} \ No newline at end of file + "fileName": "Phoenix6-26.0.0-beta-1.json", + "name": "CTRE-Phoenix (v6)", + "version": "26.0.0-beta-1", + "frcYear": "2026beta", + "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", + "mavenUrls": [ + "https://maven.ctr-electronics.com/release/" + ], + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-latest.json", + "conflictsWith": [ + { + "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", + "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", + "offlineFileName": "Phoenix6-replay-frc2026-latest.json" + } + ], + "javaDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-java", + "version": "26.0.0-beta-1" + } + ], + "jniDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "api-cpp", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "api-cpp-sim", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "26.0.0-beta-1", + 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}, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "26.0.0-beta-1", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ], + "cppDependencies": [ + { + "groupId": "com.ctre.phoenix6", + "artifactId": "wpiapi-cpp", + "version": "26.0.0-beta-1", + "libName": "CTRE_Phoenix6_WPI", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6", + "artifactId": "tools", + "version": "26.0.0-beta-1", + "libName": "CTRE_PhoenixTools", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "linuxathena" + ], + "simMode": "hwsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "wpiapi-cpp-sim", + "version": "26.0.0-beta-1", + "libName": "CTRE_Phoenix6_WPISim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "tools-sim", + "version": "26.0.0-beta-1", + "libName": "CTRE_PhoenixTools_Sim", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simTalonSRX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimTalonSRX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simVictorSPX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimVictorSPX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simPigeonIMU", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimPigeonIMU", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFX", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProTalonFX", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProTalonFXS", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProTalonFXS", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANcoder", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProCANcoder", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProPigeon2", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProPigeon2", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANrange", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProCANrange", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdi", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProCANdi", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "26.0.0-beta-1", + "libName": "CTRE_SimProCANdle", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + } + ] +} diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json index 0f666c9..a8f2648 100644 --- a/vendordeps/REVLib.json +++ b/vendordeps/REVLib.json @@ -1,133 +1,133 @@ { - "fileName": "REVLib.json", - "name": "REVLib", - "version": "2026.0.0-beta-1", - "frcYear": "2026beta", - "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", - "mavenUrls": [ - "https://maven.revrobotics.com/" - ], - "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json", - "javaDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-java", - "version": "2026.0.0-beta-1" - } - ], - "jniDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-driver", - "version": "2026.0.0-beta-1", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.revrobotics.frc", - "artifactId": "RevLibBackendDriver", - "version": "2026.0.0-beta-1", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.revrobotics.frc", - "artifactId": "RevLibWpiBackendDriver", - "version": "2026.0.0-beta-1", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-cpp", - "version": "2026.0.0-beta-1", - "libName": "REVLib", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.revrobotics.frc", - "artifactId": "REVLib-driver", - "version": "2026.0.0-beta-1", - "libName": "REVLibDriver", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.revrobotics.frc", - "artifactId": "RevLibBackendDriver", - "version": "2026.0.0-beta-1", - "libName": "BackendDriver", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.revrobotics.frc", - "artifactId": "RevLibWpiBackendDriver", - "version": "2026.0.0-beta-1", - "libName": "REVLibWpi", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ] -} \ No newline at end of file + "fileName": "REVLib.json", + "name": "REVLib", + "version": "2026.0.0-beta-1", + "frcYear": "2026beta", + "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", + "mavenUrls": [ + "https://maven.revrobotics.com/" + ], + "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json", + "javaDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-java", + "version": "2026.0.0-beta-1" + } + ], + "jniDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2026.0.0-beta-1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2026.0.0-beta-1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2026.0.0-beta-1", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-cpp", + "version": "2026.0.0-beta-1", + "libName": "REVLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "REVLib-driver", + "version": "2026.0.0-beta-1", + "libName": "REVLibDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibBackendDriver", + "version": "2026.0.0-beta-1", + "libName": "BackendDriver", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.revrobotics.frc", + "artifactId": "RevLibWpiBackendDriver", + "version": "2026.0.0-beta-1", + "libName": "REVLibWpi", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} diff --git a/vendordeps/Studica-2026.0.0-beta.json b/vendordeps/Studica-2026.0.0-beta.json index c5d48c7..f664501 100644 --- a/vendordeps/Studica-2026.0.0-beta.json +++ b/vendordeps/Studica-2026.0.0-beta.json @@ -1,71 +1,71 @@ { - "fileName": "Studica-2026.0.0-beta.json", - "name": "Studica", - "version": "2026.0.0-beta", - "frcYear": "2026beta", - "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "mavenUrls": [ - "https://dev.studica.com/maven/release/2026/" - ], - "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0-beta.json", - "javaDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "Studica-java", - "version": "2026.0.0-beta" - } - ], - "jniDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "Studica-driver", - "version": "2026.0.0-beta", - "skipInvalidPlatforms": true, - "isJar": false, - "validPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ], - "cppDependencies": [ - { - "groupId": "com.studica.frc", - "artifactId": "Studica-cpp", - "version": "2026.0.0-beta", - "libName": "Studica", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - }, - { - "groupId": "com.studica.frc", - "artifactId": "Studica-driver", - "version": "2026.0.0-beta", - "libName": "StudicaDriver", - "headerClassifier": "headers", - "sharedLibrary": false, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxarm64", - "linuxx86-64", - "linuxathena", - "linuxarm32", - "osxuniversal" - ] - } - ] -} \ No newline at end of file + "fileName": "Studica-2026.0.0-beta.json", + "name": "Studica", + "version": "2026.0.0-beta", + "frcYear": "2026beta", + "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", + "mavenUrls": [ + "https://dev.studica.com/maven/release/2026/" + ], + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0-beta.json", + "javaDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-java", + "version": "2026.0.0-beta" + } + ], + "jniDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0-beta", + "skipInvalidPlatforms": true, + "isJar": false, + "validPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ], + "cppDependencies": [ + { + "groupId": "com.studica.frc", + "artifactId": "Studica-cpp", + "version": "2026.0.0-beta", + "libName": "Studica", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + }, + { + "groupId": "com.studica.frc", + "artifactId": "Studica-driver", + "version": "2026.0.0-beta", + "libName": "StudicaDriver", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxarm64", + "linuxx86-64", + "linuxathena", + "linuxarm32", + "osxuniversal" + ] + } + ] +} From 2524061a7abcac9bba4a36e9ecabc74b3bc11fcb Mon Sep 17 00:00:00 2001 From: "Timothy P. Ellsworth Bowers" Date: Sat, 27 Dec 2025 10:18:19 -0700 Subject: [PATCH 06/16] Update copyright 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/RBSIIO.java modified: src/main/java/frc/robot/util/RBSIParsing.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 --- src/main/java/frc/robot/Constants.java | 2 +- src/main/java/frc/robot/Main.java | 2 +- src/main/java/frc/robot/Robot.java | 2 +- src/main/java/frc/robot/RobotContainer.java | 2 +- src/main/java/frc/robot/commands/ChoreoAutoController.java | 2 +- src/main/java/frc/robot/commands/DriveCommands.java | 2 +- .../java/frc/robot/subsystems/accelerometer/Accelerometer.java | 2 +- src/main/java/frc/robot/subsystems/drive/Drive.java | 2 +- src/main/java/frc/robot/subsystems/drive/GyroIO.java | 2 +- src/main/java/frc/robot/subsystems/drive/GyroIONavX.java | 2 +- src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java | 2 +- src/main/java/frc/robot/subsystems/drive/Module.java | 2 +- src/main/java/frc/robot/subsystems/drive/ModuleIO.java | 2 +- src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java | 2 +- src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java | 2 +- src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java | 2 +- .../java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java | 2 +- src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java | 2 +- .../java/frc/robot/subsystems/drive/PhoenixOdometryThread.java | 2 +- .../java/frc/robot/subsystems/drive/SparkOdometryThread.java | 2 +- src/main/java/frc/robot/subsystems/drive/SwerveConstants.java | 2 +- .../java/frc/robot/subsystems/flywheel_example/Flywheel.java | 2 +- .../java/frc/robot/subsystems/flywheel_example/FlywheelIO.java | 2 +- .../frc/robot/subsystems/flywheel_example/FlywheelIOSim.java | 2 +- .../frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java | 2 +- .../robot/subsystems/flywheel_example/FlywheelIOTalonFX.java | 2 +- src/main/java/frc/robot/subsystems/vision/Vision.java | 2 +- src/main/java/frc/robot/subsystems/vision/VisionIO.java | 2 +- .../java/frc/robot/subsystems/vision/VisionIOLimelight.java | 2 +- .../java/frc/robot/subsystems/vision/VisionIOPhotonVision.java | 2 +- .../frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java | 2 +- src/main/java/frc/robot/util/Alert.java | 2 +- src/main/java/frc/robot/util/GeomUtil.java | 2 +- src/main/java/frc/robot/util/GetJoystickValue.java | 2 +- src/main/java/frc/robot/util/LocalADStarAK.java | 2 +- src/main/java/frc/robot/util/LoggedTunableNumber.java | 2 +- src/main/java/frc/robot/util/OverrideSwitches.java | 2 +- src/main/java/frc/robot/util/PhoenixUtil.java | 2 +- src/main/java/frc/robot/util/PowerMonitoring.java | 2 +- src/main/java/frc/robot/util/RBSIEnum.java | 2 +- src/main/java/frc/robot/util/RBSIIO.java | 2 +- src/main/java/frc/robot/util/RBSIParsing.java | 2 +- src/main/java/frc/robot/util/RBSISubsystem.java | 2 +- src/main/java/frc/robot/util/RobotDeviceId.java | 2 +- src/main/java/frc/robot/util/SparkUtil.java | 2 +- src/main/java/frc/robot/util/VirtualSubsystem.java | 2 +- src/main/java/frc/robot/util/YagslConstants.java | 2 +- src/test/CurrentLimitTests.java | 2 +- src/test/FusedCANcoderTests.java | 2 +- src/test/LatencyCompensationTests.java | 2 +- src/test/RobotContainerTest.java | 2 +- 51 files changed, 51 insertions(+), 51 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 89b556f..c2f48d6 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // // This program is free software; you can redistribute it and/or diff --git a/src/main/java/frc/robot/Main.java b/src/main/java/frc/robot/Main.java index 3526e0a..df345ca 100644 --- a/src/main/java/frc/robot/Main.java +++ b/src/main/java/frc/robot/Main.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // // This program is free software; you can redistribute it and/or diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index e800a3c..020d4a6 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // // This program is free software; you can redistribute it and/or diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index beb2eb1..7171fa8 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2021-2025 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/commands/ChoreoAutoController.java b/src/main/java/frc/robot/commands/ChoreoAutoController.java index ebe9c71..77086a6 100644 --- a/src/main/java/frc/robot/commands/ChoreoAutoController.java +++ b/src/main/java/frc/robot/commands/ChoreoAutoController.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright 2024 SleipnirGroup // https://choreo.autos/ diff --git a/src/main/java/frc/robot/commands/DriveCommands.java b/src/main/java/frc/robot/commands/DriveCommands.java index 5421e24..dd44170 100644 --- a/src/main/java/frc/robot/commands/DriveCommands.java +++ b/src/main/java/frc/robot/commands/DriveCommands.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2021-2025 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/subsystems/accelerometer/Accelerometer.java b/src/main/java/frc/robot/subsystems/accelerometer/Accelerometer.java index b63d4ba..d3873e3 100644 --- a/src/main/java/frc/robot/subsystems/accelerometer/Accelerometer.java +++ b/src/main/java/frc/robot/subsystems/accelerometer/Accelerometer.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // // This program is free software; you can redistribute it and/or diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java index 63664b6..5cefc8f 100644 --- a/src/main/java/frc/robot/subsystems/drive/Drive.java +++ b/src/main/java/frc/robot/subsystems/drive/Drive.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2021-2025 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/subsystems/drive/GyroIO.java b/src/main/java/frc/robot/subsystems/drive/GyroIO.java index 93cf0b1..faa2341 100644 --- a/src/main/java/frc/robot/subsystems/drive/GyroIO.java +++ b/src/main/java/frc/robot/subsystems/drive/GyroIO.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2021-2025 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/subsystems/drive/GyroIONavX.java b/src/main/java/frc/robot/subsystems/drive/GyroIONavX.java index 219ee81..705de0d 100644 --- a/src/main/java/frc/robot/subsystems/drive/GyroIONavX.java +++ b/src/main/java/frc/robot/subsystems/drive/GyroIONavX.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2021-2025 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java b/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java index fe771eb..69021fe 100644 --- a/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java +++ b/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2021-2025 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/subsystems/drive/Module.java b/src/main/java/frc/robot/subsystems/drive/Module.java index 10425f1..a539855 100644 --- a/src/main/java/frc/robot/subsystems/drive/Module.java +++ b/src/main/java/frc/robot/subsystems/drive/Module.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2021-2025 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIO.java b/src/main/java/frc/robot/subsystems/drive/ModuleIO.java index 296c9f3..5c448e0 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIO.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIO.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2021-2025 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java index bdff6db..f129817 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright 2024-2025 FRC 2486 // https://github.com/Coconuts2486-FRC diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java index 52950e2..85799ce 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2021-2025 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java index 991b739..8c9b981 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2021-2025 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java index 0814682..3680e14 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2021-2025 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java index 20d5db3..c1ceada 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2021-2025 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java b/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java index 3b3a2e5..0adcc7f 100644 --- a/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java +++ b/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2021-2025 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/subsystems/drive/SparkOdometryThread.java b/src/main/java/frc/robot/subsystems/drive/SparkOdometryThread.java index 8ccb2ed..4d5dd41 100644 --- a/src/main/java/frc/robot/subsystems/drive/SparkOdometryThread.java +++ b/src/main/java/frc/robot/subsystems/drive/SparkOdometryThread.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2021-2025 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/subsystems/drive/SwerveConstants.java b/src/main/java/frc/robot/subsystems/drive/SwerveConstants.java index cffffbf..41d86e1 100644 --- a/src/main/java/frc/robot/subsystems/drive/SwerveConstants.java +++ b/src/main/java/frc/robot/subsystems/drive/SwerveConstants.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // // This program is free software; you can redistribute it and/or diff --git a/src/main/java/frc/robot/subsystems/flywheel_example/Flywheel.java b/src/main/java/frc/robot/subsystems/flywheel_example/Flywheel.java index 685d01e..ed23532 100644 --- a/src/main/java/frc/robot/subsystems/flywheel_example/Flywheel.java +++ b/src/main/java/frc/robot/subsystems/flywheel_example/Flywheel.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2021-2025 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIO.java b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIO.java index 261e1bc..817e357 100644 --- a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIO.java +++ b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIO.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2021-2025 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSim.java b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSim.java index a4a82cd..15f6633 100644 --- a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSim.java +++ b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSim.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2021-2025 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java index 5cef6dd..4e5079d 100644 --- a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java +++ b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2021-2025 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOTalonFX.java b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOTalonFX.java index 9364d32..32d88f6 100644 --- a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOTalonFX.java +++ b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOTalonFX.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2021-2025 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/subsystems/vision/Vision.java b/src/main/java/frc/robot/subsystems/vision/Vision.java index 34c676a..71826d2 100644 --- a/src/main/java/frc/robot/subsystems/vision/Vision.java +++ b/src/main/java/frc/robot/subsystems/vision/Vision.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2024-2025 FRC 2486 // http://github.com/Coconuts2486-FRC diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIO.java b/src/main/java/frc/robot/subsystems/vision/VisionIO.java index 6755c3a..f4bb0ea 100644 --- a/src/main/java/frc/robot/subsystems/vision/VisionIO.java +++ b/src/main/java/frc/robot/subsystems/vision/VisionIO.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2021-2025 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java b/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java index 14e06a8..7fb594d 100644 --- a/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java +++ b/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2021-2025 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java index df70163..568d9cc 100644 --- a/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java +++ b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2021-2025 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java index e657459..b72c377 100644 --- a/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java +++ b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2021-2025 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/util/Alert.java b/src/main/java/frc/robot/util/Alert.java index b29d4ee..916f3ba 100644 --- a/src/main/java/frc/robot/util/Alert.java +++ b/src/main/java/frc/robot/util/Alert.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2024-2025 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/util/GeomUtil.java b/src/main/java/frc/robot/util/GeomUtil.java index 3bc1578..3bbcf0d 100644 --- a/src/main/java/frc/robot/util/GeomUtil.java +++ b/src/main/java/frc/robot/util/GeomUtil.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2024 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/util/GetJoystickValue.java b/src/main/java/frc/robot/util/GetJoystickValue.java index d83b901..eeeb761 100644 --- a/src/main/java/frc/robot/util/GetJoystickValue.java +++ b/src/main/java/frc/robot/util/GetJoystickValue.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // // This program is free software; you can redistribute it and/or diff --git a/src/main/java/frc/robot/util/LocalADStarAK.java b/src/main/java/frc/robot/util/LocalADStarAK.java index e7828e5..5b02402 100644 --- a/src/main/java/frc/robot/util/LocalADStarAK.java +++ b/src/main/java/frc/robot/util/LocalADStarAK.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2024 Michael Jansen // http://gist.github.com/mjansen4857 diff --git a/src/main/java/frc/robot/util/LoggedTunableNumber.java b/src/main/java/frc/robot/util/LoggedTunableNumber.java index 9db5d1c..13ec698 100644 --- a/src/main/java/frc/robot/util/LoggedTunableNumber.java +++ b/src/main/java/frc/robot/util/LoggedTunableNumber.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2024 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/util/OverrideSwitches.java b/src/main/java/frc/robot/util/OverrideSwitches.java index 9301bab..ae0db5d 100644 --- a/src/main/java/frc/robot/util/OverrideSwitches.java +++ b/src/main/java/frc/robot/util/OverrideSwitches.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2024 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/util/PhoenixUtil.java b/src/main/java/frc/robot/util/PhoenixUtil.java index 2895118..ee93ca6 100644 --- a/src/main/java/frc/robot/util/PhoenixUtil.java +++ b/src/main/java/frc/robot/util/PhoenixUtil.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2021-2025 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/util/PowerMonitoring.java b/src/main/java/frc/robot/util/PowerMonitoring.java index 233b197..29f6434 100644 --- a/src/main/java/frc/robot/util/PowerMonitoring.java +++ b/src/main/java/frc/robot/util/PowerMonitoring.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // // This program is free software; you can redistribute it and/or diff --git a/src/main/java/frc/robot/util/RBSIEnum.java b/src/main/java/frc/robot/util/RBSIEnum.java index 00495da..68cd607 100644 --- a/src/main/java/frc/robot/util/RBSIEnum.java +++ b/src/main/java/frc/robot/util/RBSIEnum.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // // This program is free software; you can redistribute it and/or diff --git a/src/main/java/frc/robot/util/RBSIIO.java b/src/main/java/frc/robot/util/RBSIIO.java index 3c12d82..1882154 100644 --- a/src/main/java/frc/robot/util/RBSIIO.java +++ b/src/main/java/frc/robot/util/RBSIIO.java @@ -1,4 +1,4 @@ -// Copyright (c) 2025 Az-FIRST +// Copyright (c) 2026 Az-FIRST // http://github.com/AZ-First // // This program is free software; you can redistribute it and/or diff --git a/src/main/java/frc/robot/util/RBSIParsing.java b/src/main/java/frc/robot/util/RBSIParsing.java index d61c501..0215ff2 100644 --- a/src/main/java/frc/robot/util/RBSIParsing.java +++ b/src/main/java/frc/robot/util/RBSIParsing.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // // This program is free software; you can redistribute it and/or diff --git a/src/main/java/frc/robot/util/RBSISubsystem.java b/src/main/java/frc/robot/util/RBSISubsystem.java index 829300f..28abcf2 100644 --- a/src/main/java/frc/robot/util/RBSISubsystem.java +++ b/src/main/java/frc/robot/util/RBSISubsystem.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // // This program is free software; you can redistribute it and/or diff --git a/src/main/java/frc/robot/util/RobotDeviceId.java b/src/main/java/frc/robot/util/RobotDeviceId.java index 4f1c214..23dd783 100644 --- a/src/main/java/frc/robot/util/RobotDeviceId.java +++ b/src/main/java/frc/robot/util/RobotDeviceId.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2024 FRC 254 // https://github.com/team254 diff --git a/src/main/java/frc/robot/util/SparkUtil.java b/src/main/java/frc/robot/util/SparkUtil.java index df627df..f306633 100644 --- a/src/main/java/frc/robot/util/SparkUtil.java +++ b/src/main/java/frc/robot/util/SparkUtil.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2021-2025 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/util/VirtualSubsystem.java b/src/main/java/frc/robot/util/VirtualSubsystem.java index 59117db..a6fa288 100644 --- a/src/main/java/frc/robot/util/VirtualSubsystem.java +++ b/src/main/java/frc/robot/util/VirtualSubsystem.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2024 FRC 6328 // http://github.com/Mechanical-Advantage diff --git a/src/main/java/frc/robot/util/YagslConstants.java b/src/main/java/frc/robot/util/YagslConstants.java index 2b3302f..5b9b802 100644 --- a/src/main/java/frc/robot/util/YagslConstants.java +++ b/src/main/java/frc/robot/util/YagslConstants.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // // This program is free software; you can redistribute it and/or diff --git a/src/test/CurrentLimitTests.java b/src/test/CurrentLimitTests.java index 02459aa..2018ec1 100644 --- a/src/test/CurrentLimitTests.java +++ b/src/test/CurrentLimitTests.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2024-2025 Cross The Road Electronics // https://github.com/CrossTheRoadElec/Phoenix6-Examples diff --git a/src/test/FusedCANcoderTests.java b/src/test/FusedCANcoderTests.java index bda6925..417ef5c 100644 --- a/src/test/FusedCANcoderTests.java +++ b/src/test/FusedCANcoderTests.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2024-2025 Cross The Road Electronics // https://github.com/CrossTheRoadElec/Phoenix6-Examples diff --git a/src/test/LatencyCompensationTests.java b/src/test/LatencyCompensationTests.java index 4fb6b65..ed6ad07 100644 --- a/src/test/LatencyCompensationTests.java +++ b/src/test/LatencyCompensationTests.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) -2025 Cross The Road Electronics // https://github.com/CrossTheRoadElec/Phoenix6-Examples diff --git a/src/test/RobotContainerTest.java b/src/test/RobotContainerTest.java index ad125e0..23d042a 100644 --- a/src/test/RobotContainerTest.java +++ b/src/test/RobotContainerTest.java @@ -1,4 +1,4 @@ -// Copyright (c) 2024-2025 Az-FIRST +// Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // Copyright (c) 2024 FRC 6328 // http://github.com/Mechanical-Advantage From 6931b72ed8eeb96bf14f70d632cf258d3bc6df58 Mon Sep 17 00:00:00 2001 From: "Timothy P. Ellsworth Bowers" Date: Sun, 28 Dec 2025 08:38:10 -0700 Subject: [PATCH 07/16] Use kZero for WPILib geometry classes; Update AKit license notices The `kZero` constant was added to many WPILib geometry classes in 2025. It exists as a preallocated, static final field in classes like Rotation2d, Translation2d, Translation3d, and Transform3d to avoid unnecessary memory allocations for common zero-value objects. This is particularly useful for optimizing performance and garbage collection on the roboRIO. Also, AKit moved from GPL3 -> BSD 3-clause. modified: AdvantageKit-License.md 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 new file: src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFXS.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/RBSIIO.java modified: src/main/java/frc/robot/util/RBSIParsing.java new file: src/main/java/frc/robot/util/RBSIPowerMonitor.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 --- AdvantageKit-License.md | 700 +----------------- src/main/java/frc/robot/Constants.java | 12 +- src/main/java/frc/robot/Main.java | 12 +- src/main/java/frc/robot/Robot.java | 12 +- src/main/java/frc/robot/RobotContainer.java | 16 +- .../robot/commands/ChoreoAutoController.java | 12 +- .../frc/robot/commands/DriveCommands.java | 20 +- .../accelerometer/Accelerometer.java | 18 +- .../frc/robot/subsystems/drive/Drive.java | 18 +- .../frc/robot/subsystems/drive/GyroIO.java | 16 +- .../robot/subsystems/drive/GyroIONavX.java | 14 +- .../robot/subsystems/drive/GyroIOPigeon2.java | 14 +- .../frc/robot/subsystems/drive/Module.java | 16 +- .../frc/robot/subsystems/drive/ModuleIO.java | 14 +- .../subsystems/drive/ModuleIOBlended.java | 12 +- .../robot/subsystems/drive/ModuleIOSim.java | 14 +- .../robot/subsystems/drive/ModuleIOSpark.java | 16 +- .../drive/ModuleIOSparkCANcoder.java | 16 +- .../subsystems/drive/ModuleIOTalonFX.java | 14 +- .../subsystems/drive/ModuleIOTalonFXS.java | 254 +++++++ .../drive/PhoenixOdometryThread.java | 14 +- .../subsystems/drive/SparkOdometryThread.java | 14 +- .../subsystems/drive/SwerveConstants.java | 12 +- .../subsystems/flywheel_example/Flywheel.java | 14 +- .../flywheel_example/FlywheelIO.java | 14 +- .../flywheel_example/FlywheelIOSim.java | 14 +- .../flywheel_example/FlywheelIOSpark.java | 14 +- .../flywheel_example/FlywheelIOTalonFX.java | 14 +- .../frc/robot/subsystems/vision/Vision.java | 14 +- .../frc/robot/subsystems/vision/VisionIO.java | 16 +- .../subsystems/vision/VisionIOLimelight.java | 14 +- .../vision/VisionIOPhotonVision.java | 16 +- .../vision/VisionIOPhotonVisionSim.java | 14 +- src/main/java/frc/robot/util/Alert.java | 12 +- src/main/java/frc/robot/util/GeomUtil.java | 22 +- .../java/frc/robot/util/GetJoystickValue.java | 12 +- .../java/frc/robot/util/LocalADStarAK.java | 12 +- .../frc/robot/util/LoggedTunableNumber.java | 12 +- .../java/frc/robot/util/OverrideSwitches.java | 12 +- src/main/java/frc/robot/util/PhoenixUtil.java | 14 +- .../java/frc/robot/util/PowerMonitoring.java | 12 +- src/main/java/frc/robot/util/RBSIEnum.java | 12 +- src/main/java/frc/robot/util/RBSIIO.java | 12 +- src/main/java/frc/robot/util/RBSIParsing.java | 12 +- .../java/frc/robot/util/RBSIPowerMonitor.java | 136 ++++ .../java/frc/robot/util/RBSISubsystem.java | 12 +- .../java/frc/robot/util/RobotDeviceId.java | 12 +- src/main/java/frc/robot/util/SparkUtil.java | 14 +- .../java/frc/robot/util/VirtualSubsystem.java | 12 +- .../java/frc/robot/util/YagslConstants.java | 12 +- src/test/CurrentLimitTests.java | 12 +- src/test/FusedCANcoderTests.java | 12 +- src/test/LatencyCompensationTests.java | 12 +- 53 files changed, 612 insertions(+), 1170 deletions(-) create mode 100644 src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFXS.java create mode 100644 src/main/java/frc/robot/util/RBSIPowerMonitor.java diff --git a/AdvantageKit-License.md b/AdvantageKit-License.md index f288702..01de6ac 100644 --- a/AdvantageKit-License.md +++ b/AdvantageKit-License.md @@ -1,674 +1,26 @@ - GNU GENERAL PUBLIC LICENSE - Version 3, 29 June 2007 - - Copyright (C) 2007 Free Software Foundation, Inc. - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - - Preamble - - The GNU General Public License is a free, copyleft license for -software and other kinds of works. - - The licenses for most software and 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It is safest -to attach them to the start of each source file to most effectively -state the exclusion of warranty; and each file should have at least -the "copyright" line and a pointer to where the full notice is found. - - - Copyright (C) - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . - -Also add information on how to contact you by electronic and paper mail. - - If the program does terminal interaction, make it output a short -notice like this when it starts in an interactive mode: - - Copyright (C) - This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. - This is free software, and you are welcome to redistribute it - under certain conditions; type `show c' for details. - -The hypothetical commands `show w' and `show c' should show the appropriate -parts of the General Public License. Of course, your program's commands -might be different; for a GUI interface, you would use an "about box". - - You should also get your employer (if you work as a programmer) or school, -if any, to sign a "copyright disclaimer" for the program, if necessary. -For more information on this, and how to apply and follow the GNU GPL, see -. - - The GNU General Public License does not permit incorporating your program -into proprietary programs. If your program is a subroutine library, you -may consider it more useful to permit linking proprietary applications with -the library. If this is what you want to do, use the GNU Lesser General -Public License instead of this License. But first, please read -. +Copyright (c) 2021-2025 Littleton Robotics. All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +- Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. +- Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. +- Neither the name of Littleton Robotics, FRC 6328 ("Mechanical Advantage"), + AdvantageKit, nor the names of other AdvantageKit contributors may be + used to endorse or promote products derived from this software without + specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY LITTLETON ROBOTICS AND OTHER ADVANTAGEKIT +CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT +NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT +AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL +LITTLETON ROBOTICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT +NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY +OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING +NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, +EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index c2f48d6..5b302c2 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -1,15 +1,9 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. // // Copyright (c) FIRST and other WPILib contributors. // Open Source Software; you can modify and/or share it under the terms of diff --git a/src/main/java/frc/robot/Main.java b/src/main/java/frc/robot/Main.java index df345ca..edd9383 100644 --- a/src/main/java/frc/robot/Main.java +++ b/src/main/java/frc/robot/Main.java @@ -1,15 +1,9 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot; diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 020d4a6..648ce53 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -1,15 +1,9 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot; diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 7171fa8..baf5b9e 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -1,17 +1,11 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 FRC 6328 +// Copyright (c) 2021-2025 Littleton Robotics // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. // // Copyright (c) FIRST and other WPILib contributors. // Open Source Software; you can modify and/or share it under the terms of @@ -259,7 +253,7 @@ private void configureBindings() { Commands.runOnce( () -> m_drivebase.resetPose( - new Pose2d(m_drivebase.getPose().getTranslation(), new Rotation2d())), + new Pose2d(m_drivebase.getPose().getTranslation(), Rotation2d.kZero)), m_drivebase) .ignoringDisable(true)); diff --git a/src/main/java/frc/robot/commands/ChoreoAutoController.java b/src/main/java/frc/robot/commands/ChoreoAutoController.java index 77086a6..483f9af 100644 --- a/src/main/java/frc/robot/commands/ChoreoAutoController.java +++ b/src/main/java/frc/robot/commands/ChoreoAutoController.java @@ -3,15 +3,9 @@ // Copyright 2024 SleipnirGroup // https://choreo.autos/ // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.commands; diff --git a/src/main/java/frc/robot/commands/DriveCommands.java b/src/main/java/frc/robot/commands/DriveCommands.java index dd44170..3d319af 100644 --- a/src/main/java/frc/robot/commands/DriveCommands.java +++ b/src/main/java/frc/robot/commands/DriveCommands.java @@ -1,17 +1,11 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 FRC 6328 +// Copyright (c) 2021-2025 Littleton Robotics // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.commands; @@ -181,8 +175,8 @@ private static Translation2d getLinearVelocity(double x, double y) { linearMagnitude = linearMagnitude * linearMagnitude; // Return new linear velocity - return new Pose2d(new Translation2d(), linearDirection) - .transformBy(new Transform2d(linearMagnitude, 0.0, new Rotation2d())) + return new Pose2d(Translation2d.kZero, linearDirection) + .transformBy(new Transform2d(linearMagnitude, 0.0, Rotation2d.kZero)) .getTranslation(); } @@ -332,7 +326,7 @@ public static Command wheelRadiusCharacterization(Drive drive) { private static class WheelRadiusCharacterizationState { double[] positions = new double[4]; - Rotation2d lastAngle = new Rotation2d(); + Rotation2d lastAngle = Rotation2d.kZero; double gyroDelta = 0.0; } } diff --git a/src/main/java/frc/robot/subsystems/accelerometer/Accelerometer.java b/src/main/java/frc/robot/subsystems/accelerometer/Accelerometer.java index d3873e3..0ec50d0 100644 --- a/src/main/java/frc/robot/subsystems/accelerometer/Accelerometer.java +++ b/src/main/java/frc/robot/subsystems/accelerometer/Accelerometer.java @@ -1,15 +1,9 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.subsystems.accelerometer; @@ -43,8 +37,8 @@ public class Accelerometer extends VirtualSubsystem { // Define the 3D vectors needed to hold values private Translation3d rioAccVector; private Translation3d imuAccVector; - private Translation3d prevRioAccel = new Translation3d(); - private Translation3d prevImuAccel = new Translation3d(); + private Translation3d prevRioAccel = Translation3d.kZero; + private Translation3d prevImuAccel = Translation3d.kZero; private Translation3d rioJerkVector; private Translation3d imuJerkVector; @@ -109,7 +103,7 @@ public void periodic() { navXAccelerometer.getWorldLinearAccelY(), navXAccelerometer.getWorldLinearAccelZ()); } else { - imuAccVector = new Translation3d(); + imuAccVector = Translation3d.kZero; } imuAccVector = imuAccVector.rotateBy(new Rotation3d(0., 0., kIMUOrientation.getRadians())).times(9.81); diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java index 5cefc8f..99ba510 100644 --- a/src/main/java/frc/robot/subsystems/drive/Drive.java +++ b/src/main/java/frc/robot/subsystems/drive/Drive.java @@ -1,17 +1,11 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 FRC 6328 +// Copyright (c) 2021-2025 Littleton Robotics // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.subsystems.drive; @@ -69,7 +63,7 @@ public class Drive extends SubsystemBase { new Alert("Disconnected gyro, using kinematics as fallback.", AlertType.kError); private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(getModuleTranslations()); - private Rotation2d rawGyroRotation = new Rotation2d(); + private Rotation2d rawGyroRotation = Rotation2d.kZero; private SwerveModulePosition[] lastModulePositions = // For delta tracking new SwerveModulePosition[] { new SwerveModulePosition(), @@ -78,7 +72,7 @@ public class Drive extends SubsystemBase { new SwerveModulePosition() }; private SwerveDrivePoseEstimator m_PoseEstimator = - new SwerveDrivePoseEstimator(kinematics, rawGyroRotation, lastModulePositions, new Pose2d()); + new SwerveDrivePoseEstimator(kinematics, rawGyroRotation, lastModulePositions, Pose2d.kZero); // Constructor public Drive() { diff --git a/src/main/java/frc/robot/subsystems/drive/GyroIO.java b/src/main/java/frc/robot/subsystems/drive/GyroIO.java index faa2341..51afeaa 100644 --- a/src/main/java/frc/robot/subsystems/drive/GyroIO.java +++ b/src/main/java/frc/robot/subsystems/drive/GyroIO.java @@ -1,17 +1,11 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 FRC 6328 +// Copyright (c) 2021-2025 Littleton Robotics // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.subsystems.drive; @@ -22,7 +16,7 @@ public interface GyroIO { @AutoLog public static class GyroIOInputs { public boolean connected = false; - public Rotation2d yawPosition = new Rotation2d(); + public Rotation2d yawPosition = Rotation2d.kZero; public double yawVelocityRadPerSec = 0.0; public double[] odometryYawTimestamps = new double[] {}; public Rotation2d[] odometryYawPositions = new Rotation2d[] {}; diff --git a/src/main/java/frc/robot/subsystems/drive/GyroIONavX.java b/src/main/java/frc/robot/subsystems/drive/GyroIONavX.java index 705de0d..cfd830a 100644 --- a/src/main/java/frc/robot/subsystems/drive/GyroIONavX.java +++ b/src/main/java/frc/robot/subsystems/drive/GyroIONavX.java @@ -1,17 +1,11 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 FRC 6328 +// Copyright (c) 2021-2025 Littleton Robotics // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.subsystems.drive; diff --git a/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java b/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java index 69021fe..e29a96c 100644 --- a/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java +++ b/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java @@ -1,17 +1,11 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 FRC 6328 +// Copyright (c) 2021-2025 Littleton Robotics // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.subsystems.drive; diff --git a/src/main/java/frc/robot/subsystems/drive/Module.java b/src/main/java/frc/robot/subsystems/drive/Module.java index a539855..a3e31a0 100644 --- a/src/main/java/frc/robot/subsystems/drive/Module.java +++ b/src/main/java/frc/robot/subsystems/drive/Module.java @@ -1,17 +1,11 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 FRC 6328 +// Copyright (c) 2021-2025 Littleton Robotics // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.subsystems.drive; @@ -84,7 +78,7 @@ public void runSetpoint(SwerveModuleState state) { /** Runs the module with the specified output while controlling to zero degrees. */ public void runCharacterization(double output) { io.setDriveOpenLoop(output); - io.setTurnPosition(new Rotation2d()); + io.setTurnPosition(Rotation2d.kZero); } /** Disables all outputs to motors. */ diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIO.java b/src/main/java/frc/robot/subsystems/drive/ModuleIO.java index 5c448e0..7248e59 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIO.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIO.java @@ -1,17 +1,11 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 FRC 6328 +// Copyright (c) 2021-2025 Littleton Robotics // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.subsystems.drive; diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java index f129817..07779b9 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java @@ -3,15 +3,9 @@ // Copyright 2024-2025 FRC 2486 // https://github.com/Coconuts2486-FRC // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.subsystems.drive; diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java index 85799ce..7583497 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java @@ -1,17 +1,11 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 FRC 6328 +// Copyright (c) 2021-2025 Littleton Robotics // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.subsystems.drive; diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java index 8c9b981..293d748 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java @@ -1,17 +1,11 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 FRC 6328 +// Copyright (c) 2021-2025 Littleton Robotics // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.subsystems.drive; @@ -76,7 +70,7 @@ public ModuleIOSpark(int module) { case 1 -> new Rotation2d(kFREncoderOffset); case 2 -> new Rotation2d(kBLEncoderOffset); case 3 -> new Rotation2d(kBREncoderOffset); - default -> new Rotation2d(); + default -> Rotation2d.kZero; }; driveSpark = new SparkFlex( diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java index 3680e14..3897e7e 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java @@ -1,17 +1,11 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 FRC 6328 +// Copyright (c) 2021-2025 Littleton Robotics // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.subsystems.drive; @@ -87,7 +81,7 @@ public ModuleIOSparkCANcoder(int module) { case 1 -> new Rotation2d(kFREncoderOffset); case 2 -> new Rotation2d(kBLEncoderOffset); case 3 -> new Rotation2d(kBREncoderOffset); - default -> new Rotation2d(); + default -> Rotation2d.kZero; }; driveSpark = new SparkFlex( diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java index c1ceada..9e68bf9 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java @@ -1,17 +1,11 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 FRC 6328 +// Copyright (c) 2021-2025 Littleton Robotics // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.subsystems.drive; diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFXS.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFXS.java new file mode 100644 index 0000000..d758d75 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFXS.java @@ -0,0 +1,254 @@ +// Copyright (c) 2024-2026 Az-FIRST +// http://github.com/AZ-First +// Copyright (c) 2021-2025 Littleton Robotics +// http://github.com/Mechanical-Advantage +// +// Use of this source code is governed by a BSD +// license that can be found in the LICENSE file +// at the root directory of this project. + +package frc.robot.subsystems.drive; + +import static frc.robot.util.PhoenixUtil.*; + +import com.ctre.phoenix6.BaseStatusSignal; +import com.ctre.phoenix6.StatusSignal; +import com.ctre.phoenix6.configs.CANdiConfiguration; +import com.ctre.phoenix6.configs.TalonFXSConfiguration; +import com.ctre.phoenix6.controls.PositionVoltage; +import com.ctre.phoenix6.controls.VelocityVoltage; +import com.ctre.phoenix6.controls.VoltageOut; +import com.ctre.phoenix6.hardware.CANdi; +import com.ctre.phoenix6.hardware.ParentDevice; +import com.ctre.phoenix6.hardware.TalonFXS; +import com.ctre.phoenix6.signals.BrushedMotorWiringValue; +import com.ctre.phoenix6.signals.ExternalFeedbackSensorSourceValue; +import com.ctre.phoenix6.signals.InvertedValue; +import com.ctre.phoenix6.signals.MotorArrangementValue; +import com.ctre.phoenix6.signals.NeutralModeValue; +import com.ctre.phoenix6.swerve.SwerveModuleConstants; +import edu.wpi.first.math.filter.Debouncer; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.util.Units; +import edu.wpi.first.units.measure.Angle; +import edu.wpi.first.units.measure.AngularVelocity; +import edu.wpi.first.units.measure.Current; +import edu.wpi.first.units.measure.Voltage; +import frc.robot.generated.TunerConstants; +import java.util.Queue; + +/** + * Module IO implementation for Talon FXS drive motor controller, Talon FXS turn motor controller, + * and CANdi (PWM 1). Configured using a set of module constants from Phoenix. + * + *

Device configuration and other behaviors not exposed by TunerConstants can be customized here. + */ +public class ModuleIOTalonFXS implements ModuleIO { + // Hardware objects + private final TalonFXS driveTalon; + private final TalonFXS turnTalon; + private final CANdi candi; + + // Voltage control requests + private final VoltageOut voltageRequest = new VoltageOut(0); + private final PositionVoltage positionVoltageRequest = new PositionVoltage(0.0); + private final VelocityVoltage velocityVoltageRequest = new VelocityVoltage(0.0); + + // Timestamp inputs from Phoenix thread + private final Queue timestampQueue; + + // Inputs from drive motor + private final StatusSignal drivePosition; + private final Queue drivePositionQueue; + private final StatusSignal driveVelocity; + private final StatusSignal driveAppliedVolts; + private final StatusSignal driveCurrent; + + // Inputs from turn motor + private final StatusSignal turnAbsolutePosition; + private final StatusSignal turnPosition; + private final Queue turnPositionQueue; + private final StatusSignal turnVelocity; + private final StatusSignal turnAppliedVolts; + private final StatusSignal turnCurrent; + + // Connection debouncers + private final Debouncer driveConnectedDebounce = + new Debouncer(0.5, Debouncer.DebounceType.kFalling); + private final Debouncer turnConnectedDebounce = + new Debouncer(0.5, Debouncer.DebounceType.kFalling); + private final Debouncer turnEncoderConnectedDebounce = + new Debouncer(0.5, Debouncer.DebounceType.kFalling); + + public ModuleIOTalonFXS( + SwerveModuleConstants + constants) { + driveTalon = + new TalonFXS(constants.DriveMotorId, TunerConstants.DrivetrainConstants.CANBusName); + turnTalon = new TalonFXS(constants.SteerMotorId, TunerConstants.DrivetrainConstants.CANBusName); + candi = new CANdi(constants.EncoderId, TunerConstants.DrivetrainConstants.CANBusName); + + // Configure drive motor + var driveConfig = constants.DriveMotorInitialConfigs; + driveConfig.Commutation.MotorArrangement = + switch (constants.DriveMotorType) { + case TalonFXS_NEO_JST -> MotorArrangementValue.NEO_JST; + case TalonFXS_VORTEX_JST -> MotorArrangementValue.VORTEX_JST; + default -> MotorArrangementValue.Disabled; + }; + driveConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake; + driveConfig.Slot0 = constants.DriveMotorGains; + driveConfig.ExternalFeedback.SensorToMechanismRatio = constants.DriveMotorGearRatio; + driveConfig.CurrentLimits.StatorCurrentLimit = constants.SlipCurrent; + driveConfig.CurrentLimits.StatorCurrentLimitEnable = true; + driveConfig.MotorOutput.Inverted = + constants.DriveMotorInverted + ? InvertedValue.Clockwise_Positive + : InvertedValue.CounterClockwise_Positive; + tryUntilOk(5, () -> driveTalon.getConfigurator().apply(driveConfig, 0.25)); + tryUntilOk(5, () -> driveTalon.setPosition(0.0, 0.25)); + + // Configure turn motor + var turnConfig = new TalonFXSConfiguration(); + turnConfig.Commutation.MotorArrangement = + switch (constants.SteerMotorType) { + case TalonFXS_Minion_JST -> MotorArrangementValue.Minion_JST; + case TalonFXS_NEO_JST -> MotorArrangementValue.NEO_JST; + case TalonFXS_VORTEX_JST -> MotorArrangementValue.VORTEX_JST; + case TalonFXS_NEO550_JST -> MotorArrangementValue.NEO550_JST; + case TalonFXS_Brushed_AB, TalonFXS_Brushed_AC, TalonFXS_Brushed_BC -> + MotorArrangementValue.Brushed_DC; + default -> MotorArrangementValue.Disabled; + }; + turnConfig.Commutation.BrushedMotorWiring = + switch (constants.SteerMotorType) { + case TalonFXS_Brushed_AC -> BrushedMotorWiringValue.Leads_A_and_C; + case TalonFXS_Brushed_BC -> BrushedMotorWiringValue.Leads_B_and_C; + default -> BrushedMotorWiringValue.Leads_A_and_B; + }; + turnConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake; + turnConfig.Slot0 = constants.SteerMotorGains; + turnConfig.ExternalFeedback.FeedbackRemoteSensorID = constants.EncoderId; + turnConfig.ExternalFeedback.ExternalFeedbackSensorSource = + switch (constants.FeedbackSource) { + case RemoteCANdiPWM1 -> ExternalFeedbackSensorSourceValue.RemoteCANdiPWM1; + case FusedCANdiPWM1 -> ExternalFeedbackSensorSourceValue.FusedCANdiPWM1; + case SyncCANdiPWM1 -> ExternalFeedbackSensorSourceValue.SyncCANdiPWM1; + default -> + throw new RuntimeException( + "You have selected a turn feedback source that is not supported by the default implementation of ModuleIOTalonFXS (CANdi PWM 1). Please check the AdvantageKit documentation for more information on alternative configurations: https://docs.advantagekit.org/getting-started/template-projects/talonfx-swerve-template#custom-module-implementations"); + }; + turnConfig.ExternalFeedback.RotorToSensorRatio = constants.SteerMotorGearRatio; + turnConfig.MotionMagic.MotionMagicCruiseVelocity = 100.0 / constants.SteerMotorGearRatio; + turnConfig.MotionMagic.MotionMagicAcceleration = + turnConfig.MotionMagic.MotionMagicCruiseVelocity / 0.100; + turnConfig.MotionMagic.MotionMagicExpo_kV = 0.12 * constants.SteerMotorGearRatio; + turnConfig.MotionMagic.MotionMagicExpo_kA = 0.1; + turnConfig.ClosedLoopGeneral.ContinuousWrap = true; + turnConfig.MotorOutput.Inverted = + constants.SteerMotorInverted + ? InvertedValue.Clockwise_Positive + : InvertedValue.CounterClockwise_Positive; + tryUntilOk(5, () -> turnTalon.getConfigurator().apply(turnConfig, 0.25)); + + // Configure CANdi + CANdiConfiguration candiConfig = constants.EncoderInitialConfigs; + candiConfig.PWM1.AbsoluteSensorOffset = constants.EncoderOffset; + candiConfig.PWM1.SensorDirection = constants.EncoderInverted; + candi.getConfigurator().apply(candiConfig); + + // Create timestamp queue + timestampQueue = PhoenixOdometryThread.getInstance().makeTimestampQueue(); + + // Create drive status signals + drivePosition = driveTalon.getPosition(); + drivePositionQueue = PhoenixOdometryThread.getInstance().registerSignal(drivePosition.clone()); + driveVelocity = driveTalon.getVelocity(); + driveAppliedVolts = driveTalon.getMotorVoltage(); + driveCurrent = driveTalon.getStatorCurrent(); + + // Create turn status signals + turnAbsolutePosition = candi.getPWM1Position(); + turnPosition = turnTalon.getPosition(); + turnPositionQueue = PhoenixOdometryThread.getInstance().registerSignal(turnPosition.clone()); + turnVelocity = turnTalon.getVelocity(); + turnAppliedVolts = turnTalon.getMotorVoltage(); + turnCurrent = turnTalon.getStatorCurrent(); + + // Configure periodic frames + BaseStatusSignal.setUpdateFrequencyForAll( + SwerveConstants.kOdometryFrequency, drivePosition, turnPosition); + BaseStatusSignal.setUpdateFrequencyForAll( + 50.0, + driveVelocity, + driveAppliedVolts, + driveCurrent, + turnAbsolutePosition, + turnVelocity, + turnAppliedVolts, + turnCurrent); + ParentDevice.optimizeBusUtilizationForAll(driveTalon, turnTalon); + } + + @Override + public void updateInputs(ModuleIOInputs inputs) { + // Refresh all signals + var driveStatus = + BaseStatusSignal.refreshAll(drivePosition, driveVelocity, driveAppliedVolts, driveCurrent); + var turnStatus = + BaseStatusSignal.refreshAll(turnPosition, turnVelocity, turnAppliedVolts, turnCurrent); + var turnEncoderStatus = BaseStatusSignal.refreshAll(turnAbsolutePosition); + + // Update drive inputs + inputs.driveConnected = driveConnectedDebounce.calculate(driveStatus.isOK()); + inputs.drivePositionRad = Units.rotationsToRadians(drivePosition.getValueAsDouble()); + inputs.driveVelocityRadPerSec = Units.rotationsToRadians(driveVelocity.getValueAsDouble()); + inputs.driveAppliedVolts = driveAppliedVolts.getValueAsDouble(); + inputs.driveCurrentAmps = driveCurrent.getValueAsDouble(); + + // Update turn inputs + inputs.turnConnected = turnConnectedDebounce.calculate(turnStatus.isOK()); + inputs.turnEncoderConnected = turnEncoderConnectedDebounce.calculate(turnEncoderStatus.isOK()); + inputs.turnAbsolutePosition = Rotation2d.fromRotations(turnAbsolutePosition.getValueAsDouble()); + inputs.turnPosition = Rotation2d.fromRotations(turnPosition.getValueAsDouble()); + inputs.turnVelocityRadPerSec = Units.rotationsToRadians(turnVelocity.getValueAsDouble()); + inputs.turnAppliedVolts = turnAppliedVolts.getValueAsDouble(); + inputs.turnCurrentAmps = turnCurrent.getValueAsDouble(); + + // Update odometry inputs + inputs.odometryTimestamps = + timestampQueue.stream().mapToDouble((Double value) -> value).toArray(); + inputs.odometryDrivePositionsRad = + drivePositionQueue.stream() + .mapToDouble((Double value) -> Units.rotationsToRadians(value)) + .toArray(); + inputs.odometryTurnPositions = + turnPositionQueue.stream() + .map((Double value) -> Rotation2d.fromRotations(value)) + .toArray(Rotation2d[]::new); + timestampQueue.clear(); + drivePositionQueue.clear(); + turnPositionQueue.clear(); + } + + @Override + public void setDriveOpenLoop(double output) { + driveTalon.setControl(voltageRequest.withOutput(output)); + } + + @Override + public void setTurnOpenLoop(double output) { + turnTalon.setControl(voltageRequest.withOutput(output)); + } + + @Override + public void setDriveVelocity(double velocityRadPerSec) { + double velocityRotPerSec = Units.radiansToRotations(velocityRadPerSec); + driveTalon.setControl(velocityVoltageRequest.withVelocity(velocityRotPerSec)); + } + + @Override + public void setTurnPosition(Rotation2d rotation) { + turnTalon.setControl(positionVoltageRequest.withPosition(rotation.getRotations())); + } +} diff --git a/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java b/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java index 0adcc7f..333421b 100644 --- a/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java +++ b/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java @@ -1,17 +1,11 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 FRC 6328 +// Copyright (c) 2021-2025 Littleton Robotics // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.subsystems.drive; diff --git a/src/main/java/frc/robot/subsystems/drive/SparkOdometryThread.java b/src/main/java/frc/robot/subsystems/drive/SparkOdometryThread.java index 4d5dd41..3cbffe2 100644 --- a/src/main/java/frc/robot/subsystems/drive/SparkOdometryThread.java +++ b/src/main/java/frc/robot/subsystems/drive/SparkOdometryThread.java @@ -1,17 +1,11 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 FRC 6328 +// Copyright (c) 2021-2025 Littleton Robotics // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.subsystems.drive; diff --git a/src/main/java/frc/robot/subsystems/drive/SwerveConstants.java b/src/main/java/frc/robot/subsystems/drive/SwerveConstants.java index 41d86e1..9b6126f 100644 --- a/src/main/java/frc/robot/subsystems/drive/SwerveConstants.java +++ b/src/main/java/frc/robot/subsystems/drive/SwerveConstants.java @@ -1,15 +1,9 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.subsystems.drive; diff --git a/src/main/java/frc/robot/subsystems/flywheel_example/Flywheel.java b/src/main/java/frc/robot/subsystems/flywheel_example/Flywheel.java index ed23532..3a93360 100644 --- a/src/main/java/frc/robot/subsystems/flywheel_example/Flywheel.java +++ b/src/main/java/frc/robot/subsystems/flywheel_example/Flywheel.java @@ -1,17 +1,11 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 FRC 6328 +// Copyright (c) 2021-2025 Littleton Robotics // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.subsystems.flywheel_example; diff --git a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIO.java b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIO.java index 817e357..123033c 100644 --- a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIO.java +++ b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIO.java @@ -1,17 +1,11 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 FRC 6328 +// Copyright (c) 2021-2025 Littleton Robotics // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.subsystems.flywheel_example; diff --git a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSim.java b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSim.java index 15f6633..63a71c6 100644 --- a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSim.java +++ b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSim.java @@ -1,17 +1,11 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 FRC 6328 +// Copyright (c) 2021-2025 Littleton Robotics // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.subsystems.flywheel_example; diff --git a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java index 4e5079d..df9c6a1 100644 --- a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java +++ b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java @@ -1,17 +1,11 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 FRC 6328 +// Copyright (c) 2021-2025 Littleton Robotics // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.subsystems.flywheel_example; diff --git a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOTalonFX.java b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOTalonFX.java index 32d88f6..d126e67 100644 --- a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOTalonFX.java +++ b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOTalonFX.java @@ -1,17 +1,11 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 FRC 6328 +// Copyright (c) 2021-2025 Littleton Robotics // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.subsystems.flywheel_example; diff --git a/src/main/java/frc/robot/subsystems/vision/Vision.java b/src/main/java/frc/robot/subsystems/vision/Vision.java index 71826d2..118cc72 100644 --- a/src/main/java/frc/robot/subsystems/vision/Vision.java +++ b/src/main/java/frc/robot/subsystems/vision/Vision.java @@ -2,18 +2,12 @@ // http://github.com/AZ-First // Copyright (c) 2024-2025 FRC 2486 // http://github.com/Coconuts2486-FRC -// Copyright (c) 2021-2025 FRC 6328 +// Copyright (c) 2021-2025 Littleton Robotics // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.subsystems.vision; diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIO.java b/src/main/java/frc/robot/subsystems/vision/VisionIO.java index f4bb0ea..8582e30 100644 --- a/src/main/java/frc/robot/subsystems/vision/VisionIO.java +++ b/src/main/java/frc/robot/subsystems/vision/VisionIO.java @@ -1,17 +1,11 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 FRC 6328 +// Copyright (c) 2021-2025 Littleton Robotics // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.subsystems.vision; @@ -24,7 +18,7 @@ public interface VisionIO { public static class VisionIOInputs { public boolean connected = false; public TargetObservation latestTargetObservation = - new TargetObservation(new Rotation2d(), new Rotation2d()); + new TargetObservation(Rotation2d.kZero, Rotation2d.kZero); public PoseObservation[] poseObservations = new PoseObservation[0]; public int[] tagIds = new int[0]; } diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java b/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java index 7fb594d..9ceed7d 100644 --- a/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java +++ b/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java @@ -1,17 +1,11 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 FRC 6328 +// Copyright (c) 2021-2025 Littleton Robotics // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.subsystems.vision; diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java index 568d9cc..ccdb028 100644 --- a/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java +++ b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java @@ -1,17 +1,11 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 FRC 6328 +// Copyright (c) 2021-2025 Littleton Robotics // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.subsystems.vision; @@ -57,7 +51,7 @@ public void updateInputs(VisionIOInputs inputs) { Rotation2d.fromDegrees(result.getBestTarget().getYaw()), Rotation2d.fromDegrees(result.getBestTarget().getPitch())); } else { - inputs.latestTargetObservation = new TargetObservation(new Rotation2d(), new Rotation2d()); + inputs.latestTargetObservation = new TargetObservation(Rotation2d.kZero, Rotation2d.kZero); } // Add pose observation diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java index b72c377..0c9171c 100644 --- a/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java +++ b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java @@ -1,17 +1,11 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 FRC 6328 +// Copyright (c) 2021-2025 Littleton Robotics // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.subsystems.vision; diff --git a/src/main/java/frc/robot/util/Alert.java b/src/main/java/frc/robot/util/Alert.java index 916f3ba..7ffb896 100644 --- a/src/main/java/frc/robot/util/Alert.java +++ b/src/main/java/frc/robot/util/Alert.java @@ -3,15 +3,9 @@ // Copyright (c) 2024-2025 FRC 6328 // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.util; diff --git a/src/main/java/frc/robot/util/GeomUtil.java b/src/main/java/frc/robot/util/GeomUtil.java index 3bbcf0d..7d1eb18 100644 --- a/src/main/java/frc/robot/util/GeomUtil.java +++ b/src/main/java/frc/robot/util/GeomUtil.java @@ -3,15 +3,9 @@ // Copyright (c) 2024 FRC 6328 // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.util; @@ -33,7 +27,7 @@ public class GeomUtil { * @return The resulting transform */ public static Transform2d toTransform2d(Translation2d translation) { - return new Transform2d(translation, new Rotation2d()); + return new Transform2d(translation, Rotation2d.kZero); } /** @@ -44,7 +38,7 @@ public static Transform2d toTransform2d(Translation2d translation) { * @return The resulting transform */ public static Transform2d toTransform2d(double x, double y) { - return new Transform2d(x, y, new Rotation2d()); + return new Transform2d(x, y, Rotation2d.kZero); } /** @@ -54,7 +48,7 @@ public static Transform2d toTransform2d(double x, double y) { * @return The resulting transform */ public static Transform2d toTransform2d(Rotation2d rotation) { - return new Transform2d(new Translation2d(), rotation); + return new Transform2d(Translation2d.kZero, rotation); } /** @@ -91,7 +85,7 @@ public static Pose2d toPose2d(Transform2d transform) { * @return The resulting pose */ public static Pose2d toPose2d(Translation2d translation) { - return new Pose2d(translation, new Rotation2d()); + return new Pose2d(translation, Rotation2d.kZero); } /** @@ -101,7 +95,7 @@ public static Pose2d toPose2d(Translation2d translation) { * @return The resulting pose */ public static Pose2d toPose2d(Rotation2d rotation) { - return new Pose2d(new Translation2d(), rotation); + return new Pose2d(Translation2d.kZero, rotation); } /** diff --git a/src/main/java/frc/robot/util/GetJoystickValue.java b/src/main/java/frc/robot/util/GetJoystickValue.java index eeeb761..c149845 100644 --- a/src/main/java/frc/robot/util/GetJoystickValue.java +++ b/src/main/java/frc/robot/util/GetJoystickValue.java @@ -1,15 +1,9 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.util; diff --git a/src/main/java/frc/robot/util/LocalADStarAK.java b/src/main/java/frc/robot/util/LocalADStarAK.java index 5b02402..214b2c2 100644 --- a/src/main/java/frc/robot/util/LocalADStarAK.java +++ b/src/main/java/frc/robot/util/LocalADStarAK.java @@ -3,15 +3,9 @@ // Copyright (c) 2024 Michael Jansen // http://gist.github.com/mjansen4857 // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.util; diff --git a/src/main/java/frc/robot/util/LoggedTunableNumber.java b/src/main/java/frc/robot/util/LoggedTunableNumber.java index 13ec698..7debee0 100644 --- a/src/main/java/frc/robot/util/LoggedTunableNumber.java +++ b/src/main/java/frc/robot/util/LoggedTunableNumber.java @@ -3,15 +3,9 @@ // Copyright (c) 2024 FRC 6328 // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.util; diff --git a/src/main/java/frc/robot/util/OverrideSwitches.java b/src/main/java/frc/robot/util/OverrideSwitches.java index ae0db5d..6d9fddc 100644 --- a/src/main/java/frc/robot/util/OverrideSwitches.java +++ b/src/main/java/frc/robot/util/OverrideSwitches.java @@ -3,15 +3,9 @@ // Copyright (c) 2024 FRC 6328 // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. // NOTE: This module assumes the design described in FRC6328's 2024 Chief // Delphi build thread: diff --git a/src/main/java/frc/robot/util/PhoenixUtil.java b/src/main/java/frc/robot/util/PhoenixUtil.java index ee93ca6..8fe819e 100644 --- a/src/main/java/frc/robot/util/PhoenixUtil.java +++ b/src/main/java/frc/robot/util/PhoenixUtil.java @@ -1,17 +1,11 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 FRC 6328 +// Copyright (c) 2021-2025 Littleton Robotics // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.util; diff --git a/src/main/java/frc/robot/util/PowerMonitoring.java b/src/main/java/frc/robot/util/PowerMonitoring.java index 29f6434..1df353c 100644 --- a/src/main/java/frc/robot/util/PowerMonitoring.java +++ b/src/main/java/frc/robot/util/PowerMonitoring.java @@ -1,15 +1,9 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.util; diff --git a/src/main/java/frc/robot/util/RBSIEnum.java b/src/main/java/frc/robot/util/RBSIEnum.java index 68cd607..1b5fca0 100644 --- a/src/main/java/frc/robot/util/RBSIEnum.java +++ b/src/main/java/frc/robot/util/RBSIEnum.java @@ -1,15 +1,9 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.util; diff --git a/src/main/java/frc/robot/util/RBSIIO.java b/src/main/java/frc/robot/util/RBSIIO.java index 1882154..ed5ef71 100644 --- a/src/main/java/frc/robot/util/RBSIIO.java +++ b/src/main/java/frc/robot/util/RBSIIO.java @@ -1,15 +1,9 @@ // Copyright (c) 2026 Az-FIRST // http://github.com/AZ-First // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.util; diff --git a/src/main/java/frc/robot/util/RBSIParsing.java b/src/main/java/frc/robot/util/RBSIParsing.java index 0215ff2..68a7104 100644 --- a/src/main/java/frc/robot/util/RBSIParsing.java +++ b/src/main/java/frc/robot/util/RBSIParsing.java @@ -1,15 +1,9 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.util; diff --git a/src/main/java/frc/robot/util/RBSIPowerMonitor.java b/src/main/java/frc/robot/util/RBSIPowerMonitor.java new file mode 100644 index 0000000..7aaa636 --- /dev/null +++ b/src/main/java/frc/robot/util/RBSIPowerMonitor.java @@ -0,0 +1,136 @@ +// Copyright (c) 2024-2026 Az-FIRST +// http://github.com/AZ-First +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// version 3 as published by the Free Software Foundation or +// available in the root directory of this project. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. + +package frc.robot.util; + +import edu.wpi.first.wpilibj.RobotController; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import frc.robot.Constants.CANandPowerPorts; +import frc.robot.Constants.PowerConstants; +import frc.robot.util.Alert.AlertType; +import org.littletonrobotics.conduit.ConduitApi; +import org.littletonrobotics.junction.LoggedPowerDistribution; +import org.littletonrobotics.junction.Logger; + +/** + * Power monitoring virtual subsystem that periodically polls the Power Distribution Module. Each + * port and the sum total currents are compared with limits defined in the ``Constants.java`` file, + * and subsystem total currents are also computed based on the power ports listed in + * ``RobotContainer.java``. + */ +public class RBSIPowerMonitor extends VirtualSubsystem { + + private final RBSISubsystem[] subsystems; + + // Get the AdvantageKit conduit for pulling PDM information + @SuppressWarnings("unused") + private LoggedPowerDistribution loggedPowerDistribution = LoggedPowerDistribution.getInstance(); + + private ConduitApi conduit = ConduitApi.getInstance(); + + // Define local variables + private int NUM_PDH_CHANNELS = conduit.getPDPChannelCount(); + private double[] channelCurrents = new double[NUM_PDH_CHANNELS]; + private double totalAmpHours = 0.0; + private long lastTimestamp = RobotController.getFPGATime(); // In microseconds + private double deltaTime = 0.0; // In seconds + private double batteryVoltage; + private double totalCurrent; + private double driveCurrent; + private double steerCurrent; + private double subsystemCurrent; + private LoggedTunableNumber batteryCapacity; + private double batteryPercent; + + // DRIVE and STEER motor power ports + private final int[] m_drivePowerPorts = { + CANandPowerPorts.FL_DRIVE.getPowerPort(), + CANandPowerPorts.FR_DRIVE.getPowerPort(), + CANandPowerPorts.BL_DRIVE.getPowerPort(), + CANandPowerPorts.BR_DRIVE.getPowerPort() + }; + private final int[] m_steerPowerPorts = { + CANandPowerPorts.FL_ROTATION.getPowerPort(), + CANandPowerPorts.FR_ROTATION.getPowerPort(), + CANandPowerPorts.BL_ROTATION.getPowerPort(), + CANandPowerPorts.BR_ROTATION.getPowerPort() + }; + + // Class method definition, including inputs of optional subsystems + public RBSIPowerMonitor(LoggedTunableNumber batteryCapacity, RBSISubsystem... subsystems) { + this.batteryCapacity = batteryCapacity; + this.subsystems = subsystems; + } + + /** Periodic Method */ + public void periodic() { + + // Check the total robot current and individual port currents against Constants + batteryVoltage = conduit.getPDPVoltage(); + totalCurrent = conduit.getPDPTotalCurrent(); + if (totalCurrent > PowerConstants.kTotalMaxCurrent) { + new Alert("Total current draw exceeds limit!", AlertType.WARNING).set(true); + } + for (int i = 0; i < NUM_PDH_CHANNELS; i++) { + channelCurrents[i] = conduit.getPDPChannelCurrent(i); + if (channelCurrents[i] > PowerConstants.kMotorPortMaxCurrent) { + new Alert("Port " + i + " current draw exceeds limit!", AlertType.WARNING).set(true); + } + } + // Compute the total energy (charge) used in this loop + deltaTime = + (RobotController.getFPGATime() - lastTimestamp) / 1.0e6; // Time in seconds since last loop + lastTimestamp = RobotController.getFPGATime(); // Update timestamp + totalAmpHours += (totalCurrent * deltaTime / 3600.); + + // Compute estimated battery life left as a percent + batteryPercent = + (batteryCapacity.getAsDouble() - totalAmpHours) / batteryCapacity.getAsDouble() * 100; + + // Compute DRIVE and STEER summed currents + driveCurrent = 0.0; + steerCurrent = 0.0; + for (int port : m_drivePowerPorts) { + driveCurrent += channelCurrents[port]; + } + for (int port : m_steerPowerPorts) { + steerCurrent += channelCurrents[port]; + } + // Log values to AdvantageKit and to SmartDashboard + Logger.recordOutput("PowerMonitor/Voltage", batteryVoltage); + Logger.recordOutput("PowerMonitor/EstimatedBatteryPercent", batteryPercent); + Logger.recordOutput("PowerMonitor/AmpHoursUsed", totalAmpHours); + Logger.recordOutput("PowerMonitor/TotalCurrent", totalCurrent); + Logger.recordOutput("PowerMonitor/DriveCurrent", driveCurrent); + Logger.recordOutput("PowerMonitor/SteerCurrent", steerCurrent); + SmartDashboard.putNumber("BatteryVoltage", batteryVoltage); + SmartDashboard.putNumber("EstimatedBatteryPercent", batteryPercent); + SmartDashboard.putNumber("AmpHoursUsed", totalAmpHours); + SmartDashboard.putNumber("TotalCurrent", totalCurrent); + SmartDashboard.putNumber("DriveCurrent", driveCurrent); + SmartDashboard.putNumber("SteerCurrent", steerCurrent); + + // Compute and log any passed-in subsystems + for (RBSISubsystem subsystem : subsystems) { + subsystemCurrent = 0.0; + for (int port : subsystem.getPowerPorts()) { + subsystemCurrent += channelCurrents[port]; + } + Logger.recordOutput("PowerMonitor/" + subsystem.getName() + "Current", subsystemCurrent); + SmartDashboard.putNumber(subsystem.getName() + "Current", subsystemCurrent); + } + + // TODO: Do something about setting priorities if drawing too much current + + } +} diff --git a/src/main/java/frc/robot/util/RBSISubsystem.java b/src/main/java/frc/robot/util/RBSISubsystem.java index 28abcf2..eebe1c3 100644 --- a/src/main/java/frc/robot/util/RBSISubsystem.java +++ b/src/main/java/frc/robot/util/RBSISubsystem.java @@ -1,15 +1,9 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.util; diff --git a/src/main/java/frc/robot/util/RobotDeviceId.java b/src/main/java/frc/robot/util/RobotDeviceId.java index 23dd783..266dcb2 100644 --- a/src/main/java/frc/robot/util/RobotDeviceId.java +++ b/src/main/java/frc/robot/util/RobotDeviceId.java @@ -3,15 +3,9 @@ // Copyright (c) 2024 FRC 254 // https://github.com/team254 // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.util; diff --git a/src/main/java/frc/robot/util/SparkUtil.java b/src/main/java/frc/robot/util/SparkUtil.java index f306633..a0d2170 100644 --- a/src/main/java/frc/robot/util/SparkUtil.java +++ b/src/main/java/frc/robot/util/SparkUtil.java @@ -1,17 +1,11 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 FRC 6328 +// Copyright (c) 2021-2025 Littleton Robotics // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.util; diff --git a/src/main/java/frc/robot/util/VirtualSubsystem.java b/src/main/java/frc/robot/util/VirtualSubsystem.java index a6fa288..de7f847 100644 --- a/src/main/java/frc/robot/util/VirtualSubsystem.java +++ b/src/main/java/frc/robot/util/VirtualSubsystem.java @@ -3,15 +3,9 @@ // Copyright (c) 2024 FRC 6328 // http://github.com/Mechanical-Advantage // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. package frc.robot.util; diff --git a/src/main/java/frc/robot/util/YagslConstants.java b/src/main/java/frc/robot/util/YagslConstants.java index 5b9b802..9a79f9f 100644 --- a/src/main/java/frc/robot/util/YagslConstants.java +++ b/src/main/java/frc/robot/util/YagslConstants.java @@ -1,15 +1,9 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. // // Copyright (c) FIRST and other WPILib contributors. // Open Source Software; you can modify and/or share it under the terms of diff --git a/src/test/CurrentLimitTests.java b/src/test/CurrentLimitTests.java index 2018ec1..079ec0e 100644 --- a/src/test/CurrentLimitTests.java +++ b/src/test/CurrentLimitTests.java @@ -3,15 +3,9 @@ // Copyright (c) 2024-2025 Cross The Road Electronics // https://github.com/CrossTheRoadElec/Phoenix6-Examples // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. // // Copyright (c) FIRST and other WPILib contributors. // Open Source Software; you can modify and/or share it under the terms of diff --git a/src/test/FusedCANcoderTests.java b/src/test/FusedCANcoderTests.java index 417ef5c..c77f4c0 100644 --- a/src/test/FusedCANcoderTests.java +++ b/src/test/FusedCANcoderTests.java @@ -3,15 +3,9 @@ // Copyright (c) 2024-2025 Cross The Road Electronics // https://github.com/CrossTheRoadElec/Phoenix6-Examples // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. // // Copyright (c) FIRST and other WPILib contributors. // Open Source Software; you can modify and/or share it under the terms of diff --git a/src/test/LatencyCompensationTests.java b/src/test/LatencyCompensationTests.java index ed6ad07..24f748b 100644 --- a/src/test/LatencyCompensationTests.java +++ b/src/test/LatencyCompensationTests.java @@ -3,15 +3,9 @@ // Copyright (c) -2025 Cross The Road Electronics // https://github.com/CrossTheRoadElec/Phoenix6-Examples // -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. +// Use of this source code is governed by a BSD +// license that can be found in the AdvantageKit-License.md file +// at the root directory of this project. // // Copyright (c) FIRST and other WPILib contributors. // Open Source Software; you can modify and/or share it under the terms of From 51aee91fee11959dd4916ef26089abb4eadbf7e6 Mon Sep 17 00:00:00 2001 From: "Timothy P. Ellsworth Bowers" Date: Sun, 28 Dec 2025 17:07:46 -0700 Subject: [PATCH 08/16] Fix breaking changes in CTRE / RevLib 2026 There were various breaking changes in the 2026 versions of the motor control libraries. This commit deals with all of them (as of right now). modified: src/main/java/frc/robot/Robot.java modified: src/main/java/frc/robot/RobotContainer.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/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/ModuleIOTalonFXS.java modified: src/main/java/frc/robot/subsystems/drive/SwerveConstants.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/util/PowerMonitoring.java modified: src/main/java/frc/robot/util/RBSIPowerMonitor.java modified: src/main/java/frc/robot/util/RobotDeviceId.java --- src/main/java/frc/robot/Robot.java | 2 +- src/main/java/frc/robot/RobotContainer.java | 14 +- .../robot/subsystems/drive/GyroIOPigeon2.java | 2 +- .../subsystems/drive/ModuleIOBlended.java | 13 +- .../robot/subsystems/drive/ModuleIOSpark.java | 18 +-- .../drive/ModuleIOSparkCANcoder.java | 20 +-- .../subsystems/drive/ModuleIOTalonFX.java | 7 +- .../subsystems/drive/ModuleIOTalonFXS.java | 9 +- .../subsystems/drive/SwerveConstants.java | 3 + .../flywheel_example/FlywheelIOSpark.java | 8 +- .../flywheel_example/FlywheelIOTalonFX.java | 9 +- .../java/frc/robot/util/PowerMonitoring.java | 130 ------------------ .../java/frc/robot/util/RBSIPowerMonitor.java | 6 +- .../java/frc/robot/util/RobotDeviceId.java | 7 + 14 files changed, 68 insertions(+), 180 deletions(-) delete mode 100644 src/main/java/frc/robot/util/PowerMonitoring.java diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 648ce53..35f7760 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -143,7 +143,7 @@ public void autonomousInit() { m_autoCommandPathPlanner = m_robotContainer.getAutonomousCommandPathPlanner(); // schedule the autonomous command if (m_autoCommandPathPlanner != null) { - m_autoCommandPathPlanner.schedule(); + CommandScheduler.getInstance().schedule(m_autoCommandPathPlanner); } break; case CHOREO: diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index baf5b9e..8f0c64a 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -48,8 +48,8 @@ import frc.robot.util.GetJoystickValue; import frc.robot.util.LoggedTunableNumber; import frc.robot.util.OverrideSwitches; -import frc.robot.util.PowerMonitoring; import frc.robot.util.RBSIEnum; +import frc.robot.util.RBSIPowerMonitor; import org.littletonrobotics.junction.networktables.LoggedDashboardChooser; /** This is the location for defining robot hardware, commands, and controller button bindings. */ @@ -67,10 +67,12 @@ public class RobotContainer { private final Drive m_drivebase; private final Flywheel m_flywheel; + // ... Add additional subsystems here (e.g., elevator, arm, etc.) + // These are "Virtual Subsystems" that report information but have no motors private final Accelerometer m_accel; + private final RBSIPowerMonitor m_power; private final Vision m_vision; - private final PowerMonitoring m_power; /** Dashboard inputs ***************************************************** */ // AutoChoosers for both supported path planning types @@ -143,10 +145,10 @@ public RobotContainer() { break; } - // In addition to the initial battery capacity from the Dashbaord, ``PowerMonitoring`` takes all - // the non-drivebase subsystems for which you wish to have power monitoring; DO NOT include - // ``m_drivebase``, as that is automatically monitored. - m_power = new PowerMonitoring(batteryCapacity, m_flywheel); + // In addition to the initial battery capacity from the Dashbaord, ``RBSIPowerMonitor`` takes + // all the non-drivebase subsystems for which you wish to have power monitoring; DO NOT + // include ``m_drivebase``, as that is automatically monitored. + m_power = new RBSIPowerMonitor(batteryCapacity, m_flywheel); // Set up the SmartDashboard Auto Chooser based on auto type switch (Constants.getAutoType()) { diff --git a/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java b/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java index e29a96c..0d3030a 100644 --- a/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java +++ b/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java @@ -24,7 +24,7 @@ /** IO implementation for Pigeon2 */ public class GyroIOPigeon2 implements GyroIO { - private final Pigeon2 pigeon = new Pigeon2(kPigeonId, kCANbusName); + private final Pigeon2 pigeon = new Pigeon2(kPigeonId, kCANBus); private final StatusSignal yaw = pigeon.getYaw(); private final Queue yawPositionQueue; private final Queue yawTimestampQueue; diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java index 07779b9..b8d66f1 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java @@ -160,9 +160,9 @@ public ModuleIOBlended(int module) { default -> throw new IllegalArgumentException("Invalid module index"); }; - driveTalon = new TalonFX(constants.DriveMotorId, SwerveConstants.kCANbusName); + driveTalon = new TalonFX(constants.DriveMotorId, kCANBus); turnSpark = new SparkMax(constants.SteerMotorId, MotorType.kBrushless); - cancoder = new CANcoder(constants.EncoderId, SwerveConstants.kCANbusName); + cancoder = new CANcoder(constants.EncoderId, kCANBus); turnController = turnSpark.getClosedLoopController(); @@ -198,11 +198,12 @@ public ModuleIOBlended(int module) { .feedbackSensor(FeedbackSensor.kAbsoluteEncoder) .positionWrappingEnabled(true) .positionWrappingInputRange(turnPIDMinInput, turnPIDMaxInput) - .pidf( + .pid( AutoConstants.kPPsteerPID.kP, AutoConstants.kPPsteerPID.kI, - AutoConstants.kPPsteerPID.kD, - 0.0); + AutoConstants.kPPsteerPID.kD) + .feedForward + .kV(0.0); turnConfig .signals .absoluteEncoderPositionAlwaysOn(true) @@ -333,7 +334,7 @@ public void setTurnPosition(Rotation2d rotation) { rotation.plus(Rotation2d.fromRotations(constants.EncoderOffset)).getRadians(), turnPIDMinInput, turnPIDMaxInput); - turnController.setReference(setpoint, ControlType.kPosition); + turnController.setSetpoint(setpoint, ControlType.kPosition); } private SwerveModuleConstantsFactory< diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java index 293d748..d74325e 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java @@ -128,11 +128,12 @@ public ModuleIOSpark(int module) { driveConfig .closedLoop .feedbackSensor(FeedbackSensor.kPrimaryEncoder) - .pidf( + .pid( AutoConstants.kPPdrivePID.kP, AutoConstants.kPPdrivePID.kI, - AutoConstants.kPPdrivePID.kD, - 0.0); + AutoConstants.kPPdrivePID.kD) + .feedForward + .kV(0.0); driveConfig .signals .primaryEncoderPositionAlwaysOn(true) @@ -168,11 +169,12 @@ public ModuleIOSpark(int module) { .feedbackSensor(FeedbackSensor.kAbsoluteEncoder) .positionWrappingEnabled(true) .positionWrappingInputRange(turnPIDMinInput, turnPIDMaxInput) - .pidf( + .pid( AutoConstants.kPPsteerPID.kP, AutoConstants.kPPsteerPID.kI, - AutoConstants.kPPsteerPID.kD, - 0.0); + AutoConstants.kPPsteerPID.kD) + .feedForward + .kV(0.0); turnConfig .signals .absoluteEncoderPositionAlwaysOn(true) @@ -253,7 +255,7 @@ public void setDriveVelocity(double velocityRadPerSec) { double ffVolts = SwerveConstants.kDriveFrictionVoltage * Math.signum(velocityRadPerSec) + driveKv * velocityRadPerSec; - driveController.setReference( + driveController.setSetpoint( velocityRadPerSec, ControlType.kVelocity, ClosedLoopSlot.kSlot0, @@ -266,6 +268,6 @@ public void setTurnPosition(Rotation2d rotation) { double setpoint = MathUtil.inputModulus( rotation.plus(zeroRotation).getRadians(), turnPIDMinInput, turnPIDMaxInput); - turnController.setReference(setpoint, ControlType.kPosition); + turnController.setSetpoint(setpoint, ControlType.kPosition); } } diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java index 3897e7e..75972d2 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java @@ -129,7 +129,7 @@ public ModuleIOSparkCANcoder(int module) { case 3 -> kBREncoderId; default -> 0; }, - kCANbusName); + kCANBus); driveController = driveSpark.getClosedLoopController(); turnController = turnSpark.getClosedLoopController(); @@ -148,11 +148,12 @@ public ModuleIOSparkCANcoder(int module) { driveConfig .closedLoop .feedbackSensor(FeedbackSensor.kPrimaryEncoder) - .pidf( + .pid( AutoConstants.kPPdrivePID.kP, AutoConstants.kPPdrivePID.kI, - AutoConstants.kPPdrivePID.kD, - 0.0); + AutoConstants.kPPdrivePID.kD) + .feedForward + .kV(0.0); driveConfig .signals .primaryEncoderPositionAlwaysOn(true) @@ -188,11 +189,12 @@ public ModuleIOSparkCANcoder(int module) { .feedbackSensor(FeedbackSensor.kAbsoluteEncoder) .positionWrappingEnabled(true) .positionWrappingInputRange(turnPIDMinInput, turnPIDMaxInput) - .pidf( + .pid( AutoConstants.kPPsteerPID.kP, AutoConstants.kPPsteerPID.kI, - AutoConstants.kPPsteerPID.kD, - 0.0); + AutoConstants.kPPsteerPID.kD) + .feedForward + .kV(0.0); turnConfig .signals .absoluteEncoderPositionAlwaysOn(true) @@ -280,7 +282,7 @@ public void setDriveVelocity(double velocityRadPerSec) { double ffVolts = SwerveConstants.kDriveFrictionVoltage * Math.signum(velocityRadPerSec) + driveKv * velocityRadPerSec; - driveController.setReference( + driveController.setSetpoint( velocityRadPerSec, ControlType.kVelocity, ClosedLoopSlot.kSlot0, @@ -293,6 +295,6 @@ public void setTurnPosition(Rotation2d rotation) { double setpoint = MathUtil.inputModulus( rotation.plus(zeroRotation).getRadians(), turnPIDMinInput, turnPIDMaxInput); - turnController.setReference(setpoint, ControlType.kPosition); + turnController.setSetpoint(setpoint, ControlType.kPosition); } } diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java index 9e68bf9..83482b7 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java @@ -9,6 +9,7 @@ package frc.robot.subsystems.drive; +import static frc.robot.subsystems.drive.SwerveConstants.*; import static frc.robot.util.PhoenixUtil.*; import com.ctre.phoenix6.BaseStatusSignal; @@ -105,9 +106,9 @@ public ModuleIOTalonFX(int module) { default -> throw new IllegalArgumentException("Invalid module index"); }; - driveTalon = new TalonFX(constants.DriveMotorId, SwerveConstants.kCANbusName); - turnTalon = new TalonFX(constants.SteerMotorId, SwerveConstants.kCANbusName); - cancoder = new CANcoder(constants.EncoderId, SwerveConstants.kCANbusName); + driveTalon = new TalonFX(constants.DriveMotorId, kCANBus); + turnTalon = new TalonFX(constants.SteerMotorId, kCANBus); + cancoder = new CANcoder(constants.EncoderId, kCANBus); // Configure drive motor var driveConfig = constants.DriveMotorInitialConfigs; diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFXS.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFXS.java index d758d75..f30ccb5 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFXS.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFXS.java @@ -9,6 +9,7 @@ package frc.robot.subsystems.drive; +import static frc.robot.subsystems.drive.SwerveConstants.*; import static frc.robot.util.PhoenixUtil.*; import com.ctre.phoenix6.BaseStatusSignal; @@ -34,7 +35,6 @@ import edu.wpi.first.units.measure.AngularVelocity; import edu.wpi.first.units.measure.Current; import edu.wpi.first.units.measure.Voltage; -import frc.robot.generated.TunerConstants; import java.util.Queue; /** @@ -83,10 +83,9 @@ public class ModuleIOTalonFXS implements ModuleIO { public ModuleIOTalonFXS( SwerveModuleConstants constants) { - driveTalon = - new TalonFXS(constants.DriveMotorId, TunerConstants.DrivetrainConstants.CANBusName); - turnTalon = new TalonFXS(constants.SteerMotorId, TunerConstants.DrivetrainConstants.CANBusName); - candi = new CANdi(constants.EncoderId, TunerConstants.DrivetrainConstants.CANBusName); + driveTalon = new TalonFXS(constants.DriveMotorId, kCANBus); + turnTalon = new TalonFXS(constants.SteerMotorId, kCANBus); + candi = new CANdi(constants.EncoderId, kCANBus); // Configure drive motor var driveConfig = constants.DriveMotorInitialConfigs; diff --git a/src/main/java/frc/robot/subsystems/drive/SwerveConstants.java b/src/main/java/frc/robot/subsystems/drive/SwerveConstants.java index 9b6126f..975083c 100644 --- a/src/main/java/frc/robot/subsystems/drive/SwerveConstants.java +++ b/src/main/java/frc/robot/subsystems/drive/SwerveConstants.java @@ -29,6 +29,7 @@ public class SwerveConstants { public static final double kWheelRadiusInches; public static final double kWheelRadiusMeters; public static final String kCANbusName; + public static final CANBus kCANBus; public static final int kPigeonId; public static final double kSteerInertia; public static final double kDriveInertia; @@ -110,6 +111,7 @@ public class SwerveConstants { kWheelRadiusMeters = TunerConstants.FrontLeft.WheelRadius; kWheelRadiusInches = Units.metersToInches(kWheelRadiusMeters); kCANbusName = TunerConstants.DrivetrainConstants.CANBusName; + kCANBus = new CANBus(TunerConstants.DrivetrainConstants.CANBusName); kPigeonId = TunerConstants.DrivetrainConstants.Pigeon2Id; kSteerInertia = TunerConstants.FrontLeft.SteerInertia; kDriveInertia = TunerConstants.FrontLeft.DriveInertia; @@ -195,6 +197,7 @@ public class SwerveConstants { kWheelRadiusInches = YagslConstants.kWheelRadiusInches; kWheelRadiusMeters = Units.inchesToMeters(kWheelRadiusInches); kCANbusName = YagslConstants.kCANbusName; + kCANBus = new CANBus(YagslConstants.kCANbusName); kPigeonId = YagslConstants.kPigeonId; kSteerInertia = YagslConstants.kSteerInertia; kDriveInertia = YagslConstants.kDriveInertia; diff --git a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java index df9c6a1..6749a56 100644 --- a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java +++ b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java @@ -64,9 +64,9 @@ public FlywheelIOSpark() { leaderConfig .closedLoop .feedbackSensor(FeedbackSensor.kPrimaryEncoder) - .pidf( - 0.0, 0.0, - 0.0, 0.0); + .pid(0.0, 0.0, 0.0) + .feedForward + .kV(0.0); leaderConfig .signals .primaryEncoderPositionAlwaysOn(true) @@ -101,7 +101,7 @@ public void setVoltage(double volts) { @Override public void setVelocity(double velocityRadPerSec, double ffVolts) { - pid.setReference( + pid.setSetpoint( Units.radiansPerSecondToRotationsPerMinute(velocityRadPerSec) * kFlywheelGearRatio, ControlType.kVelocity, ClosedLoopSlot.kSlot0, diff --git a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOTalonFX.java b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOTalonFX.java index d126e67..81ecaaa 100644 --- a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOTalonFX.java +++ b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOTalonFX.java @@ -19,6 +19,7 @@ import com.ctre.phoenix6.controls.VelocityVoltage; import com.ctre.phoenix6.controls.VoltageOut; import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.signals.MotorAlignmentValue; import com.ctre.phoenix6.signals.NeutralModeValue; import edu.wpi.first.math.util.Units; import edu.wpi.first.units.measure.Angle; @@ -33,11 +34,11 @@ public class FlywheelIOTalonFX implements FlywheelIO { private final TalonFX leader = new TalonFX( CANandPowerPorts.FLYWHEEL_LEADER.getDeviceNumber(), - CANandPowerPorts.FLYWHEEL_LEADER.getBus()); + CANandPowerPorts.FLYWHEEL_LEADER.getCANBus()); private final TalonFX follower = new TalonFX( CANandPowerPorts.FLYWHEEL_FOLLOWER.getDeviceNumber(), - CANandPowerPorts.FLYWHEEL_FOLLOWER.getBus()); + CANandPowerPorts.FLYWHEEL_FOLLOWER.getCANBus()); // IMPORTANT: Include here all devices listed above that are part of this mechanism! public final int[] powerPorts = { CANandPowerPorts.FLYWHEEL_LEADER.getPowerPort(), @@ -61,8 +62,8 @@ public FlywheelIOTalonFX() { }; leader.getConfigurator().apply(config); follower.getConfigurator().apply(config); - // If follower rotates in the opposite direction, set "OpposeMasterDirection" to true - follower.setControl(new Follower(leader.getDeviceID(), false)); + // If follower rotates in the opposite direction, set "MotorAlignmentValue" to Opposed + follower.setControl(new Follower(leader.getDeviceID(), MotorAlignmentValue.Aligned)); BaseStatusSignal.setUpdateFrequencyForAll( 50.0, leaderPosition, leaderVelocity, leaderAppliedVolts, leaderCurrent, followerCurrent); diff --git a/src/main/java/frc/robot/util/PowerMonitoring.java b/src/main/java/frc/robot/util/PowerMonitoring.java deleted file mode 100644 index 1df353c..0000000 --- a/src/main/java/frc/robot/util/PowerMonitoring.java +++ /dev/null @@ -1,130 +0,0 @@ -// Copyright (c) 2024-2026 Az-FIRST -// http://github.com/AZ-First -// -// Use of this source code is governed by a BSD -// license that can be found in the AdvantageKit-License.md file -// at the root directory of this project. - -package frc.robot.util; - -import edu.wpi.first.wpilibj.RobotController; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import frc.robot.Constants.CANandPowerPorts; -import frc.robot.Constants.PowerConstants; -import frc.robot.util.Alert.AlertType; -import org.littletonrobotics.conduit.ConduitApi; -import org.littletonrobotics.junction.LoggedPowerDistribution; -import org.littletonrobotics.junction.Logger; - -/** - * Power monitoring virtual subsystem that periodically polls the Power Distribution Module. Each - * port and the sum total currents are compared with limits defined in the ``Constants.java`` file, - * and subsystem total currents are also computed based on the power ports listed in - * ``RobotContainer.java``. - */ -public class PowerMonitoring extends VirtualSubsystem { - - private final RBSISubsystem[] subsystems; - - // Get the AdvantageKit conduit for pulling PDM information - @SuppressWarnings("unused") - private LoggedPowerDistribution loggedPowerDistribution = LoggedPowerDistribution.getInstance(); - - private ConduitApi conduit = ConduitApi.getInstance(); - - // Define local variables - private int NUM_PDH_CHANNELS = conduit.getPDPChannelCount(); - private double[] channelCurrents = new double[NUM_PDH_CHANNELS]; - private double totalAmpHours = 0.0; - private long lastTimestamp = RobotController.getFPGATime(); // In microseconds - private double deltaTime = 0.0; // In seconds - private double batteryVoltage; - private double totalCurrent; - private double driveCurrent; - private double steerCurrent; - private double subsystemCurrent; - private LoggedTunableNumber batteryCapacity; - private double batteryPercent; - - // DRIVE and STEER motor power ports - private final int[] m_drivePowerPorts = { - CANandPowerPorts.FL_DRIVE.getPowerPort(), - CANandPowerPorts.FR_DRIVE.getPowerPort(), - CANandPowerPorts.BL_DRIVE.getPowerPort(), - CANandPowerPorts.BR_DRIVE.getPowerPort() - }; - private final int[] m_steerPowerPorts = { - CANandPowerPorts.FL_ROTATION.getPowerPort(), - CANandPowerPorts.FR_ROTATION.getPowerPort(), - CANandPowerPorts.BL_ROTATION.getPowerPort(), - CANandPowerPorts.BR_ROTATION.getPowerPort() - }; - - // Class method definition, including inputs of optional subsystems - public PowerMonitoring(LoggedTunableNumber batteryCapacity, RBSISubsystem... subsystems) { - this.batteryCapacity = batteryCapacity; - this.subsystems = subsystems; - } - - /** Periodic Method */ - public void periodic() { - - // Check the total robot current and individual port currents against Constants - batteryVoltage = conduit.getPDPVoltage(); - totalCurrent = conduit.getPDPTotalCurrent(); - if (totalCurrent > PowerConstants.kTotalMaxCurrent) { - new Alert("Total current draw exceeds limit!", AlertType.WARNING).set(true); - } - for (int i = 0; i < NUM_PDH_CHANNELS; i++) { - channelCurrents[i] = conduit.getPDPChannelCurrent(i); - if (channelCurrents[i] > PowerConstants.kMotorPortMaxCurrent) { - new Alert("Port " + i + " current draw exceeds limit!", AlertType.WARNING).set(true); - } - } - // Compute the total energy (charge) used in this loop - deltaTime = - (RobotController.getFPGATime() - lastTimestamp) / 1.0e6; // Time in seconds since last loop - lastTimestamp = RobotController.getFPGATime(); // Update timestamp - totalAmpHours += (totalCurrent * deltaTime / 3600.); - - // Compute estimated battery life left as a percent - batteryPercent = - (batteryCapacity.getAsDouble() - totalAmpHours) / batteryCapacity.getAsDouble() * 100; - - // Compute DRIVE and STEER summed currents - driveCurrent = 0.0; - steerCurrent = 0.0; - for (int port : m_drivePowerPorts) { - driveCurrent += channelCurrents[port]; - } - for (int port : m_steerPowerPorts) { - steerCurrent += channelCurrents[port]; - } - // Log values to AdvantageKit and to SmartDashboard - Logger.recordOutput("PowerMonitor/Voltage", batteryVoltage); - Logger.recordOutput("PowerMonitor/EstimatedBatteryPercent", batteryPercent); - Logger.recordOutput("PowerMonitor/AmpHoursUsed", totalAmpHours); - Logger.recordOutput("PowerMonitor/TotalCurrent", totalCurrent); - Logger.recordOutput("PowerMonitor/DriveCurrent", driveCurrent); - Logger.recordOutput("PowerMonitor/SteerCurrent", steerCurrent); - SmartDashboard.putNumber("BatteryVoltage", batteryVoltage); - SmartDashboard.putNumber("EstimatedBatteryPercent", batteryPercent); - SmartDashboard.putNumber("AmpHoursUsed", totalAmpHours); - SmartDashboard.putNumber("TotalCurrent", totalCurrent); - SmartDashboard.putNumber("DriveCurrent", driveCurrent); - SmartDashboard.putNumber("SteerCurrent", steerCurrent); - - // Compute and log any passed-in subsystems - for (RBSISubsystem subsystem : subsystems) { - subsystemCurrent = 0.0; - for (int port : subsystem.getPowerPorts()) { - subsystemCurrent += channelCurrents[port]; - } - Logger.recordOutput("PowerMonitor/" + subsystem.getName() + "Current", subsystemCurrent); - SmartDashboard.putNumber(subsystem.getName() + "Current", subsystemCurrent); - } - - // TODO: Do something about setting priorities if drawing too much current - - } -} diff --git a/src/main/java/frc/robot/util/RBSIPowerMonitor.java b/src/main/java/frc/robot/util/RBSIPowerMonitor.java index 7aaa636..a4d2973 100644 --- a/src/main/java/frc/robot/util/RBSIPowerMonitor.java +++ b/src/main/java/frc/robot/util/RBSIPowerMonitor.java @@ -19,7 +19,6 @@ import frc.robot.Constants.PowerConstants; import frc.robot.util.Alert.AlertType; import org.littletonrobotics.conduit.ConduitApi; -import org.littletonrobotics.junction.LoggedPowerDistribution; import org.littletonrobotics.junction.Logger; /** @@ -33,8 +32,9 @@ public class RBSIPowerMonitor extends VirtualSubsystem { private final RBSISubsystem[] subsystems; // Get the AdvantageKit conduit for pulling PDM information - @SuppressWarnings("unused") - private LoggedPowerDistribution loggedPowerDistribution = LoggedPowerDistribution.getInstance(); + // @SuppressWarnings("unused") + // private LoggedPowerDistribution loggedPowerDistribution = + // LoggedPowerDistribution.getInstance(); private ConduitApi conduit = ConduitApi.getInstance(); diff --git a/src/main/java/frc/robot/util/RobotDeviceId.java b/src/main/java/frc/robot/util/RobotDeviceId.java index 266dcb2..ca7db3f 100644 --- a/src/main/java/frc/robot/util/RobotDeviceId.java +++ b/src/main/java/frc/robot/util/RobotDeviceId.java @@ -9,6 +9,8 @@ package frc.robot.util; +import com.ctre.phoenix6.CANBus; + /** * Class for wrapping Robot / CAN devices with a name and functionality. Included here are both the * CAN ID for devices and the port on the Power Distribution Module for power monitoring and @@ -40,6 +42,11 @@ public String getBus() { return m_CANBus; } + /** Get the CTRE CANBus object for a named device */ + public CANBus getCANBus() { + return new CANBus(m_CANBus); + } + /** Get the Power Port for a named device */ public int getPowerPort() { return m_PowerPort; From 4ad02ddd89d5609b25c1bc4354afd20a886963a8 Mon Sep 17 00:00:00 2001 From: "Timothy P. Ellsworth Bowers" Date: Sun, 28 Dec 2025 17:39:20 -0700 Subject: [PATCH 09/16] Clean up CI with caching and directed jobs new file: gradle.properties --- gradle.properties | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) create mode 100644 gradle.properties diff --git a/gradle.properties b/gradle.properties new file mode 100644 index 0000000..cd9de7c --- /dev/null +++ b/gradle.properties @@ -0,0 +1,18 @@ +# ------------------------------------------------------------ +# Gradle performance & CI tuning +# ------------------------------------------------------------ + +# CI should not use the Gradle daemon +org.gradle.daemon=false + +# Enable parallel task execution +org.gradle.parallel=true + +# Enable build cache +org.gradle.caching=true + +# Reduce configuration time for multi-project builds +org.gradle.configureondemand=true + +# Keep console output readable in CI +org.gradle.console=plain From 3f2f63d8090063d402d9064fc38d951738196efc Mon Sep 17 00:00:00 2001 From: "Timothy P. Ellsworth Bowers" Date: Sun, 28 Dec 2025 18:04:10 -0700 Subject: [PATCH 10/16] Starting to update install docs. modified: INSTALL.md --- INSTALL.md | 22 +++++++++++----------- 1 file changed, 11 insertions(+), 11 deletions(-) diff --git a/INSTALL.md b/INSTALL.md index 97a0784..a57ac6f 100644 --- a/INSTALL.md +++ b/INSTALL.md @@ -2,19 +2,19 @@ The Az-RBSI is available as a [Template Repository]( https://docs.github.com/en/repositories/creating-and-managing-repositories/creating-a-repository-from-a-template#creating-a-repository-from-a-template) -for teams to use for creating their own 2025 FRC robot code. These instructions +for teams to use for creating their own 2026 FRC robot code. These instructions assume that [you]( https://docs.github.com/en/get-started/start-your-journey/creating-an-account-on-github) and/or [your team]( https://docs.github.com/en/get-started/learning-about-github/types-of-github-accounts#organization-accounts) -already have a GitHub account where you will store your 2025 FRC robot code. +already have a GitHub account where you will store your 2026 FRC robot code. -### Creating a 2025 FRC project from the Az-RBSI Template +### Creating a 2026 FRC project from the Az-RBSI Template From the [Az-RBSI GiuHub page](https://github.com/AZ-First/Az-RBSI/), click the "Use this template" button in the upper right corner of the page. In the page that opens, select the Owner (most likely your team's account) and -Repository name (*e.g.*, "FRC-2025" or "Reefscape Robot Code" or whatever your team's naming convention +Repository name (*e.g.*, "FRC-2026" or "REBUILT Robot Code" or whatever your team's naming convention is) into which the create the new robot project. Optionally, include a description of the repository for your reference. Select "public" or "private" repository based on the usual practices of your team. @@ -26,20 +26,20 @@ recommended to **not** select the "Include all branches" checkbox. ### Software Requirements -The Az-RBSI requires the [2025 WPILib Installer]( +The Az-RBSI requires the [2026 WPILib Installer]( https://github.com/wpilibsuite/allwpilib/releases) (VSCode and associated -tools), 2025 firmware installed on all hardware (motors, encoders, power -distribution, etc.), the [2025 NI FRC Game Tools]( +tools), 2026 firmware installed on all hardware (motors, encoders, power +distribution, etc.), the [2026 NI FRC Game Tools]( https://www.ni.com/en/support/downloads/drivers/download.frc-game-tools.html) -(Driver Station and associated tools), and the [2025 CTRE Phoenix Tuner X]( +(Driver Station and associated tools), and the [2026 CTRE Phoenix Tuner X]( https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/index.html). Take a moment to update all software and firmware before attempting to load your new robot project. Please note that you need these _minimum_ versions of the following components: -* WPILib `2025.1.1` -* RoboRIO image `FRC_roboRIO_2025_v2.0` +* WPILib ` v2026.1.1-beta-1` +* RoboRIO image `FRC_roboRIO_2026_v2.0` -------- @@ -123,7 +123,7 @@ repository](https://github.com/AZ-First/Az-RBSI). ### Robot Development -As you program your robot for the 2025 (Reefscape) game, you will likely be +As you program your robot for the 2026 (REBUILT) game, you will likely be adding new subsystems and mechanisms to control and the commands to go with them. Add new subsystems in the `subsystems` directory within `src/main/java/frc/robot` -- you will find an example flywheel already included From 041392723098a0ba22b873395c9aed5a163533c3 Mon Sep 17 00:00:00 2001 From: "Timothy P. Ellsworth Bowers" Date: Sun, 28 Dec 2025 20:26:08 -0700 Subject: [PATCH 11/16] Revert "New template-syncing Action" This reverts commit c1b309e0a5d93fdb548c7051ce363739e7571449. --- .../workflows/create-dependabot-labels.yaml | 47 +++++++++++++++++++ 1 file changed, 47 insertions(+) diff --git a/.github/workflows/create-dependabot-labels.yaml b/.github/workflows/create-dependabot-labels.yaml index e69de29..d2795e5 100644 --- a/.github/workflows/create-dependabot-labels.yaml +++ b/.github/workflows/create-dependabot-labels.yaml @@ -0,0 +1,47 @@ +name: "Ensure Dependabot Labels Exist" + +on: + push: + branches: [main] + paths: + - '.github/dependabot.yml' + workflow_dispatch: + +jobs: + create-labels: + runs-on: ubuntu-latest + permissions: + issues: write # Needed to create labels via API + steps: + - name: Create labels for Dependabot PRs + uses: actions/github-script@v8 + with: + script: | + const labels = [ + { name: "github_actions", color: "BFFFD1", description: "Updates to GitHub Actions workflows" }, + { name: "gradle dependencies", color: "02303A", description: "Gradle dependency updates" }, + ]; + + for (const label of labels) { + try { + await github.rest.issues.getLabel({ + owner: context.repo.owner, + repo: context.repo.repo, + name: label.name, + }); + core.info(`✅ Label '${label.name}' already exists.`); + } catch (error) { + if (error.status === 404) { + await github.rest.issues.createLabel({ + owner: context.repo.owner, + repo: context.repo.repo, + name: label.name, + color: label.color, + description: label.description, + }); + core.info(`🎨 Created label '${label.name}'.`); + } else { + throw error; + } + } + } From 1d023cda497bb5321492cd06f075ebb04bd7f70d Mon Sep 17 00:00:00 2001 From: "Timothy P. Ellsworth Bowers" Date: Mon, 29 Dec 2025 21:32:52 -0700 Subject: [PATCH 12/16] Add pointer to where to place LoggedPower when available modified: src/main/java/frc/robot/Robot.java --- src/main/java/frc/robot/Robot.java | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 35f7760..41ba817 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -78,6 +78,9 @@ public Robot() { break; } + // Add pointer to LoggedPowerDitrubution here!!! + // LoggedPowerDistribution.getInstance(50, ModuleType.kRev); // Example: PDH on CAN ID 50 + // Start AdvantageKit logger Logger.start(); From ff7e0a6e7338f3f807e88647cfa3b58ba05c404c Mon Sep 17 00:00:00 2001 From: "Timothy P. Ellsworth Bowers" Date: Wed, 31 Dec 2025 08:54:07 -0700 Subject: [PATCH 13/16] Align with AK26 deleted: gradle.properties modified: src/main/java/frc/robot/Robot.java modified: src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java --- gradle.properties | 18 ------------------ src/main/java/frc/robot/Robot.java | 2 +- .../drive/PhoenixOdometryThread.java | 4 +--- 3 files changed, 2 insertions(+), 22 deletions(-) delete mode 100644 gradle.properties diff --git a/gradle.properties b/gradle.properties deleted file mode 100644 index cd9de7c..0000000 --- a/gradle.properties +++ /dev/null @@ -1,18 +0,0 @@ -# ------------------------------------------------------------ -# Gradle performance & CI tuning -# ------------------------------------------------------------ - -# CI should not use the Gradle daemon -org.gradle.daemon=false - -# Enable parallel task execution -org.gradle.parallel=true - -# Enable build cache -org.gradle.caching=true - -# Reduce configuration time for multi-project builds -org.gradle.configureondemand=true - -# Keep console output readable in CI -org.gradle.console=plain diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 41ba817..06883a0 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -49,7 +49,7 @@ public Robot() { Logger.recordMetadata("GitDirty", "All changes committed"); break; case 1: - Logger.recordMetadata("GitDirty", "Uncomitted changes"); + Logger.recordMetadata("GitDirty", "Uncommitted changes"); break; default: Logger.recordMetadata("GitDirty", "Unknown"); diff --git a/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java b/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java index 333421b..badbb5b 100644 --- a/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java +++ b/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java @@ -10,7 +10,6 @@ package frc.robot.subsystems.drive; import com.ctre.phoenix6.BaseStatusSignal; -import com.ctre.phoenix6.CANBus; import com.ctre.phoenix6.StatusSignal; import edu.wpi.first.units.measure.Angle; import edu.wpi.first.wpilibj.RobotController; @@ -40,8 +39,7 @@ public class PhoenixOdometryThread extends Thread { private final List> genericQueues = new ArrayList<>(); private final List> timestampQueues = new ArrayList<>(); - private static boolean isCANFD = - new CANBus(TunerConstants.DrivetrainConstants.CANBusName).isNetworkFD(); + private static boolean isCANFD = TunerConstants.kCANBus.isNetworkFD(); private static PhoenixOdometryThread instance = null; public static PhoenixOdometryThread getInstance() { From 3de4208d6b1a7d88bc182c488f35aa390dac7aa0 Mon Sep 17 00:00:00 2001 From: "Timothy P. Ellsworth Bowers" Date: Fri, 2 Jan 2026 10:06:52 -0700 Subject: [PATCH 14/16] Update AKit copyright notices modified: AdvantageKit-License.md 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 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/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/ModuleIOTalonFXS.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/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/PhoenixUtil.java modified: src/main/java/frc/robot/util/RBSIEnum.java modified: src/main/java/frc/robot/util/SparkUtil.java --- AdvantageKit-License.md | 2 +- src/main/java/frc/robot/Constants.java | 15 ++++++++++----- src/main/java/frc/robot/RobotContainer.java | 2 +- .../java/frc/robot/commands/DriveCommands.java | 2 +- .../java/frc/robot/subsystems/drive/Drive.java | 2 +- .../java/frc/robot/subsystems/drive/GyroIO.java | 2 +- .../frc/robot/subsystems/drive/GyroIONavX.java | 2 +- .../frc/robot/subsystems/drive/GyroIOPigeon2.java | 2 +- .../java/frc/robot/subsystems/drive/Module.java | 2 +- .../java/frc/robot/subsystems/drive/ModuleIO.java | 2 +- .../frc/robot/subsystems/drive/ModuleIOSim.java | 2 +- .../frc/robot/subsystems/drive/ModuleIOSpark.java | 2 +- .../subsystems/drive/ModuleIOSparkCANcoder.java | 2 +- .../robot/subsystems/drive/ModuleIOTalonFX.java | 2 +- .../robot/subsystems/drive/ModuleIOTalonFXS.java | 2 +- .../subsystems/drive/PhoenixOdometryThread.java | 2 +- .../subsystems/drive/SparkOdometryThread.java | 2 +- .../subsystems/flywheel_example/Flywheel.java | 2 +- .../subsystems/flywheel_example/FlywheelIO.java | 2 +- .../flywheel_example/FlywheelIOSim.java | 2 +- .../flywheel_example/FlywheelIOSpark.java | 2 +- .../flywheel_example/FlywheelIOTalonFX.java | 2 +- .../java/frc/robot/subsystems/vision/Vision.java | 2 +- .../frc/robot/subsystems/vision/VisionIO.java | 2 +- .../subsystems/vision/VisionIOLimelight.java | 2 +- .../subsystems/vision/VisionIOPhotonVision.java | 2 +- .../vision/VisionIOPhotonVisionSim.java | 2 +- src/main/java/frc/robot/util/PhoenixUtil.java | 2 +- src/main/java/frc/robot/util/RBSIEnum.java | 1 + src/main/java/frc/robot/util/SparkUtil.java | 2 +- 30 files changed, 39 insertions(+), 33 deletions(-) diff --git a/AdvantageKit-License.md b/AdvantageKit-License.md index 01de6ac..b1867bc 100644 --- a/AdvantageKit-License.md +++ b/AdvantageKit-License.md @@ -1,4 +1,4 @@ -Copyright (c) 2021-2025 Littleton Robotics. All rights reserved. +Copyright (c) 2021-2026 Littleton Robotics. All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 5b302c2..8f45fd8 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -25,6 +25,7 @@ import edu.wpi.first.math.system.plant.DCMotor; import edu.wpi.first.math.util.Units; import edu.wpi.first.wpilibj.Filesystem; +import edu.wpi.first.wpilibj.PowerDistribution; import edu.wpi.first.wpilibj.RobotBase; import frc.robot.Constants.AprilTagConstants.AprilTagLayoutType; import frc.robot.subsystems.drive.Drive; @@ -67,7 +68,7 @@ public final class Constants { // via GitHub issues. private static SwerveType swerveType = SwerveType.PHOENIX6; // PHOENIX6, YAGSL private static CTREPro phoenixPro = CTREPro.UNLICENSED; // LICENSED, UNLICENSED - private static AutoType autoType = AutoType.PATHPLANNER; // PATHPLANNER, CHOREO + private static AutoType autoType = AutoType.MANUAL; // MANUAL, PATHPLANNER, CHOREO private static VisionType visionType = VisionType.NONE; // PHOTON, LIMELIGHT, NONE /** Enumerate the robot types (name your robots here) */ @@ -101,7 +102,7 @@ public static void disableHAL() { public static final boolean tuningMode = false; /** Physical Constants for Robot Operation ******************************* */ - public static final class PhysicalConstants { + public static final class RobotPhysicalConstants { public static final double kRobotMassKg = Units.lbsToKilograms(100.); public static final Matter kChassis = @@ -117,6 +118,10 @@ public static final class PhysicalConstants { /** Power Distribution Constants ********************************** */ public static final class PowerConstants { + // Power Distribution Module Configuration + public static final PowerDistribution.ModuleType kPDMType = PowerDistribution.ModuleType.kRev; + public static final int kPDMCANid = 0; + // Current Limits public static final double kTotalMaxCurrent = 120.; public static final double kMotorPortMaxCurrent = 40.; @@ -242,12 +247,12 @@ public static final class AutoConstants { // PathPlanner Config constants public static final RobotConfig kPathPlannerConfig = new RobotConfig( - PhysicalConstants.kRobotMassKg, - PhysicalConstants.kRobotMOI, + RobotPhysicalConstants.kRobotMassKg, + RobotPhysicalConstants.kRobotMOI, new ModuleConfig( SwerveConstants.kWheelRadiusMeters, DrivebaseConstants.kMaxLinearSpeed, - PhysicalConstants.kWheelCOF, + RobotPhysicalConstants.kWheelCOF, DCMotor.getKrakenX60Foc(1).withReduction(SwerveConstants.kDriveGearRatio), SwerveConstants.kDriveSlipCurrent, 1), diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 8f0c64a..43cdee9 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -1,6 +1,6 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 Littleton Robotics +// Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // // Use of this source code is governed by a BSD diff --git a/src/main/java/frc/robot/commands/DriveCommands.java b/src/main/java/frc/robot/commands/DriveCommands.java index 3d319af..1cda31e 100644 --- a/src/main/java/frc/robot/commands/DriveCommands.java +++ b/src/main/java/frc/robot/commands/DriveCommands.java @@ -1,6 +1,6 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 Littleton Robotics +// Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // // Use of this source code is governed by a BSD diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java index 99ba510..542fc90 100644 --- a/src/main/java/frc/robot/subsystems/drive/Drive.java +++ b/src/main/java/frc/robot/subsystems/drive/Drive.java @@ -1,6 +1,6 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 Littleton Robotics +// Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // // Use of this source code is governed by a BSD diff --git a/src/main/java/frc/robot/subsystems/drive/GyroIO.java b/src/main/java/frc/robot/subsystems/drive/GyroIO.java index 51afeaa..0db8e12 100644 --- a/src/main/java/frc/robot/subsystems/drive/GyroIO.java +++ b/src/main/java/frc/robot/subsystems/drive/GyroIO.java @@ -1,6 +1,6 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 Littleton Robotics +// Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // // Use of this source code is governed by a BSD diff --git a/src/main/java/frc/robot/subsystems/drive/GyroIONavX.java b/src/main/java/frc/robot/subsystems/drive/GyroIONavX.java index cfd830a..2341cf3 100644 --- a/src/main/java/frc/robot/subsystems/drive/GyroIONavX.java +++ b/src/main/java/frc/robot/subsystems/drive/GyroIONavX.java @@ -1,6 +1,6 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 Littleton Robotics +// Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // // Use of this source code is governed by a BSD diff --git a/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java b/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java index 0d3030a..9de4cf3 100644 --- a/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java +++ b/src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java @@ -1,6 +1,6 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 Littleton Robotics +// Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // // Use of this source code is governed by a BSD diff --git a/src/main/java/frc/robot/subsystems/drive/Module.java b/src/main/java/frc/robot/subsystems/drive/Module.java index a3e31a0..8b647bb 100644 --- a/src/main/java/frc/robot/subsystems/drive/Module.java +++ b/src/main/java/frc/robot/subsystems/drive/Module.java @@ -1,6 +1,6 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 Littleton Robotics +// Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // // Use of this source code is governed by a BSD diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIO.java b/src/main/java/frc/robot/subsystems/drive/ModuleIO.java index 7248e59..51c8dc6 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIO.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIO.java @@ -1,6 +1,6 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 Littleton Robotics +// Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // // Use of this source code is governed by a BSD diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java index 7583497..5dfa59b 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java @@ -1,6 +1,6 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 Littleton Robotics +// Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // // Use of this source code is governed by a BSD diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java index d74325e..f915abc 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java @@ -1,6 +1,6 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 Littleton Robotics +// Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // // Use of this source code is governed by a BSD diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java index 75972d2..31f4cf7 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java @@ -1,6 +1,6 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 Littleton Robotics +// Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // // Use of this source code is governed by a BSD diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java index 83482b7..5dbcc06 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java @@ -1,6 +1,6 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 Littleton Robotics +// Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // // Use of this source code is governed by a BSD diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFXS.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFXS.java index f30ccb5..79a2109 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFXS.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFXS.java @@ -1,6 +1,6 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 Littleton Robotics +// Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // // Use of this source code is governed by a BSD diff --git a/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java b/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java index badbb5b..188f987 100644 --- a/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java +++ b/src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java @@ -1,6 +1,6 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 Littleton Robotics +// Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // // Use of this source code is governed by a BSD diff --git a/src/main/java/frc/robot/subsystems/drive/SparkOdometryThread.java b/src/main/java/frc/robot/subsystems/drive/SparkOdometryThread.java index 3cbffe2..c97fc50 100644 --- a/src/main/java/frc/robot/subsystems/drive/SparkOdometryThread.java +++ b/src/main/java/frc/robot/subsystems/drive/SparkOdometryThread.java @@ -1,6 +1,6 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 Littleton Robotics +// Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // // Use of this source code is governed by a BSD diff --git a/src/main/java/frc/robot/subsystems/flywheel_example/Flywheel.java b/src/main/java/frc/robot/subsystems/flywheel_example/Flywheel.java index 3a93360..071231d 100644 --- a/src/main/java/frc/robot/subsystems/flywheel_example/Flywheel.java +++ b/src/main/java/frc/robot/subsystems/flywheel_example/Flywheel.java @@ -1,6 +1,6 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 Littleton Robotics +// Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // // Use of this source code is governed by a BSD diff --git a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIO.java b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIO.java index 123033c..5dc4953 100644 --- a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIO.java +++ b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIO.java @@ -1,6 +1,6 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 Littleton Robotics +// Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // // Use of this source code is governed by a BSD diff --git a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSim.java b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSim.java index 63a71c6..d65eade 100644 --- a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSim.java +++ b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSim.java @@ -1,6 +1,6 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 Littleton Robotics +// Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // // Use of this source code is governed by a BSD diff --git a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java index 6749a56..98c122b 100644 --- a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java +++ b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java @@ -1,6 +1,6 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 Littleton Robotics +// Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // // Use of this source code is governed by a BSD diff --git a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOTalonFX.java b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOTalonFX.java index 81ecaaa..571b596 100644 --- a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOTalonFX.java +++ b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOTalonFX.java @@ -1,6 +1,6 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 Littleton Robotics +// Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // // Use of this source code is governed by a BSD diff --git a/src/main/java/frc/robot/subsystems/vision/Vision.java b/src/main/java/frc/robot/subsystems/vision/Vision.java index 118cc72..621cbf7 100644 --- a/src/main/java/frc/robot/subsystems/vision/Vision.java +++ b/src/main/java/frc/robot/subsystems/vision/Vision.java @@ -2,7 +2,7 @@ // http://github.com/AZ-First // Copyright (c) 2024-2025 FRC 2486 // http://github.com/Coconuts2486-FRC -// Copyright (c) 2021-2025 Littleton Robotics +// Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // // Use of this source code is governed by a BSD diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIO.java b/src/main/java/frc/robot/subsystems/vision/VisionIO.java index 8582e30..c9ed834 100644 --- a/src/main/java/frc/robot/subsystems/vision/VisionIO.java +++ b/src/main/java/frc/robot/subsystems/vision/VisionIO.java @@ -1,6 +1,6 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 Littleton Robotics +// Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // // Use of this source code is governed by a BSD diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java b/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java index 9ceed7d..a4b1eaf 100644 --- a/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java +++ b/src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java @@ -1,6 +1,6 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 Littleton Robotics +// Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // // Use of this source code is governed by a BSD diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java index ccdb028..5ed068e 100644 --- a/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java +++ b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java @@ -1,6 +1,6 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 Littleton Robotics +// Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // // Use of this source code is governed by a BSD diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java index 0c9171c..97d01d3 100644 --- a/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java +++ b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java @@ -1,6 +1,6 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 Littleton Robotics +// Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // // Use of this source code is governed by a BSD diff --git a/src/main/java/frc/robot/util/PhoenixUtil.java b/src/main/java/frc/robot/util/PhoenixUtil.java index 8fe819e..fd7d10b 100644 --- a/src/main/java/frc/robot/util/PhoenixUtil.java +++ b/src/main/java/frc/robot/util/PhoenixUtil.java @@ -1,6 +1,6 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 Littleton Robotics +// Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // // Use of this source code is governed by a BSD diff --git a/src/main/java/frc/robot/util/RBSIEnum.java b/src/main/java/frc/robot/util/RBSIEnum.java index 1b5fca0..93f9622 100644 --- a/src/main/java/frc/robot/util/RBSIEnum.java +++ b/src/main/java/frc/robot/util/RBSIEnum.java @@ -28,6 +28,7 @@ public static enum SwerveType { /** Enumerate the supported autonomous path planning types */ public static enum AutoType { + MANUAL, // Manual commands only PATHPLANNER, // PathPlanner (https://pathplanner.dev/home.html) CHOREO // Choreo (https://sleipnirgroup.github.io/Choreo/) } diff --git a/src/main/java/frc/robot/util/SparkUtil.java b/src/main/java/frc/robot/util/SparkUtil.java index a0d2170..c4c8cdf 100644 --- a/src/main/java/frc/robot/util/SparkUtil.java +++ b/src/main/java/frc/robot/util/SparkUtil.java @@ -1,6 +1,6 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First -// Copyright (c) 2021-2025 Littleton Robotics +// Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // // Use of this source code is governed by a BSD From 606d71acce0d41992170b8b27e37c7cb82cfd8fb Mon Sep 17 00:00:00 2001 From: "Timothy P. Ellsworth Bowers" Date: Fri, 2 Jan 2026 10:24:45 -0700 Subject: [PATCH 15/16] Pull in AK26 updates modified: AdvantageScope Swerve Calibration.json modified: src/main/java/frc/robot/Robot.java --- AdvantageScope Swerve Calibration.json | 55 +++++++++++++------------- src/main/java/frc/robot/Robot.java | 6 +++ 2 files changed, 33 insertions(+), 28 deletions(-) diff --git a/AdvantageScope Swerve Calibration.json b/AdvantageScope Swerve Calibration.json index f412ed2..a84f77f 100644 --- a/AdvantageScope Swerve Calibration.json +++ b/AdvantageScope Swerve Calibration.json @@ -24,7 +24,7 @@ "title": "", "controller": null, "controllerUUID": "grimvlgu9aluj8btvwotco2wpj0pto2h", - "renderer": "#/", + "renderer": "", "controlsHeight": 0 }, { @@ -122,8 +122,7 @@ } } ], - "game": "2025 Field", - "origin": "blue" + "game": "" }, "controllerUUID": "psf0y633oclnjyocus23hcnq1d4tpyte", "renderer": { @@ -193,12 +192,12 @@ "leftLockedRange": null, "rightLockedRange": null, "leftUnitConversion": { - "type": null, - "factor": 1 + "autoTarget": null, + "preset": null }, "rightUnitConversion": { - "type": null, - "factor": 1 + "autoTarget": null, + "preset": null }, "leftFilter": 0, "rightFilter": 0 @@ -258,12 +257,12 @@ "leftLockedRange": null, "rightLockedRange": null, "leftUnitConversion": { - "type": null, - "factor": 1 + "autoTarget": null, + "preset": null }, "rightUnitConversion": { - "type": null, - "factor": 1 + "autoTarget": null, + "preset": null }, "leftFilter": 0, "rightFilter": 0 @@ -303,12 +302,12 @@ "leftLockedRange": null, "rightLockedRange": null, "leftUnitConversion": { - "type": null, - "factor": 1 + "autoTarget": null, + "preset": null }, "rightUnitConversion": { - "type": null, - "factor": 1 + "autoTarget": null, + "preset": null }, "leftFilter": 0, "rightFilter": 0 @@ -348,12 +347,12 @@ "leftLockedRange": null, "rightLockedRange": null, "leftUnitConversion": { - "type": null, - "factor": 1 + "autoTarget": null, + "preset": null }, "rightUnitConversion": { - "type": null, - "factor": 1 + "autoTarget": null, + "preset": null }, "leftFilter": 0, "rightFilter": 0 @@ -393,12 +392,12 @@ "leftLockedRange": null, "rightLockedRange": null, "leftUnitConversion": { - "type": null, - "factor": 1 + "autoTarget": null, + "preset": null }, "rightUnitConversion": { - "type": null, - "factor": 1 + "autoTarget": null, + "preset": null }, "leftFilter": 0, "rightFilter": 0 @@ -439,12 +438,12 @@ "leftLockedRange": null, "rightLockedRange": null, "leftUnitConversion": { - "type": null, - "factor": 1 + "autoTarget": null, + "preset": null }, "rightUnitConversion": { - "type": null, - "factor": 1 + "autoTarget": null, + "preset": null }, "leftFilter": 0, "rightFilter": 0 @@ -459,5 +458,5 @@ } ], "satellites": [], - "version": "4.0.0-beta-3" + "version": "26.0.0" } diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 06883a0..0f8ecf9 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -7,6 +7,7 @@ package frc.robot; +import com.revrobotics.util.StatusLogger; import edu.wpi.first.wpilibj.Threads; import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.Command; @@ -18,6 +19,7 @@ import org.littletonrobotics.junction.networktables.NT4Publisher; import org.littletonrobotics.junction.wpilog.WPILOGReader; import org.littletonrobotics.junction.wpilog.WPILOGWriter; +import org.littletonrobotics.urcl.URCL; /** * The VM is configured to automatically run this class, and to call the functions corresponding to @@ -78,6 +80,10 @@ public Robot() { break; } + // Initialize URCL + Logger.registerURCL(URCL.startExternal()); + StatusLogger.disableAutoLogging(); // Disable REVLib's built-in logging + // Add pointer to LoggedPowerDitrubution here!!! // LoggedPowerDistribution.getInstance(50, ModuleType.kRev); // Example: PDH on CAN ID 50 From 26ed3500ef7c6b290fdc96f7f083f7c610b54f0e Mon Sep 17 00:00:00 2001 From: "Timothy P. Ellsworth Bowers" Date: Sun, 4 Jan 2026 17:46:26 -0700 Subject: [PATCH 16/16] Update CI pointer in README.md modified: README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index e923c7f..b573f05 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -[![CI](https://github.com/AZ-First/Az-RBSI/actions/workflows/main.yml/badge.svg)](https://github.com/AZ-First/Az-RBSI/actions/workflows/main.yml) +[![CI](https://github.com/AZ-First/Az-RBSI/actions/workflows/ci.yaml/badge.svg)](https://github.com/AZ-First/Az-RBSI/actions/workflows/ci.yaml) ![AzFIRST Logo](https://github.com/AZ-First/Az-RBSI/blob/main/AZ-First-logo.png?raw=true)