3061 Lib v2023.1.0

[gcschmit]

This release is a back port of Huskie Robotics' code for the 2023 season. The changes are categorized by topic in rough order of significance.

Vision

• add support for multiple cameras
• add support for transforming coordinate system based on alliance color
• add support for disabling vision subsystem
• calculate standard deviation based on distance to target when adding vision measurement to pose estimator
• add support to check if pose estimator has converged to vision-determined pose
• add support to only add vision measurement to pose estimator if within distance threshold to tag
• use getTimestampSeconds method instead of getLatencyMillis method to timestamp results per recommendation
• add support to reset pose estimator based on pose derived from visible tag

Drivetrain

• add slow-mode feature (robot velocities are scaled down when enabled)
• add pitch and roll to gyro io inputs
• add support to enable coast mode only after disabled for specified period of time
• change default to field-relative mode
• add accessors for yaw, pitch, and roll from gryo
• add support to force field-relative driving
• add accessor for average swerve module drive current

Move to Pose

• add move-to-pose command to generate autonomous paths on-the-fly
• add Field2d and Region2d classes to model field as a collection of regions with transition points between regions
• add support for generating a path between two poses using Field2d

Commands

• add drive-to-pose command (closed loop straight-line motion to pose)
• add rotate-to-angle command (closed loop rotational setpoint with optional driver-controlled translational motion)
• add configurable acceleration limiting to TeleopSwerve command

Swerve

• add accessor for drive motor current

Subsystem

• add generic subsystem as an example

Autonomous

• add support for transforming paths based on alliance color
• add "auto" path for empirically determining wheel diameter
• add "auto" path for setting initial pose to facilitate testing
• add "auto" path for tuning auto PID controllers

Operator Interface

• add operator interface consisting of 2 joysticks, xBox controller, and custom operator button panel

SparkMAXFactory

• initial release

TalonFXFactory

• add support to configure forward and backward peak output
• add support to configure brushless current status frame period
• add support to configure remote sensors
• add support to configure motion magic and motion profiling

Robot

• add support to check alliance color and trigger updates

Misc

• improve and add Javadoc comments
• incorporate 6328's field constants
• remove 2022 robot; add 2023 robot
• add words to spelling dictionary
• update to latest wpilib and vendor dependencies
• remove 2022 AprilTag field layout
• remove CANDeviceFinder and associated classes (incompatible with CANivore)

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This discussion was created from the release 3061 Lib v2023.1.0.