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Update Libraries to 2025 #22

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merged 8 commits into from
Dec 13, 2024
Merged

Update Libraries to 2025 #22

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8811e2d
Update REVLib to 2025
CoffeeCoder1 Nov 19, 2024
cacc431
Update YAGSL and dependencies to 2025 betas
CoffeeCoder1 Nov 21, 2024
8db46ea
Update PathPlanner
CoffeeCoder1 Nov 21, 2024
44938cc
Add config values from the old pathplanner settings file
CoffeeCoder1 Nov 21, 2024
2798d0b
Add a SignalsConfig that slows down CAN frames
CoffeeCoder1 Nov 22, 2024
37d89d6
Use vendordep for YAGSL
CoffeeCoder1 Dec 4, 2024
f917eab
Update REVLib to beta-3
CoffeeCoder1 Dec 4, 2024
d8eb62b
Update Pheonix to beta-3
CoffeeCoder1 Dec 4, 2024
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16 changes: 0 additions & 16 deletions .pathplanner/settings.json
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This file was deleted.

9 changes: 9 additions & 0 deletions build.gradle
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,13 @@ plugins {
id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
}

// Needed for YAGSL beta
repositories {
flatDir {
dirs './libs'
}
}

java {
sourceCompatibility = JavaVersion.VERSION_17
targetCompatibility = JavaVersion.VERSION_17
Expand Down Expand Up @@ -69,6 +76,8 @@ dependencies {

testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
testRuntimeOnly 'org.junit.platform:junit-platform-launcher'

implementation name: 'YAGSL'
}

test {
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Binary file added libs/YAGSL.jar
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25 changes: 25 additions & 0 deletions src/main/deploy/pathplanner/settings.json
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Original file line number Diff line number Diff line change
@@ -0,0 +1,25 @@
{
"robotWidth": 0.89,
"robotLength": 0.89,
"holonomicMode": true,
"pathFolders": [
"path test"
],
"autoFolders": [
"auto test"
],
"defaultMaxVel": 2.5,
"defaultMaxAccel": 2.0,
"defaultMaxAngVel": 360.0,
"defaultMaxAngAccel": 120.0,
"robotMass": 74.088,
"robotMOI": 6.883,
"robotWheelbase": 0.546,
"robotTrackwidth": 0.546,
"driveWheelRadius": 0.048,
"driveGearing": 5.143,
"maxDriveSpeed": 15.0,
"driveMotorType": "NEO",
"driveCurrentLimit": 60.0,
"wheelCOF": 1.2
}
12 changes: 6 additions & 6 deletions src/main/deploy/swerve/controllerproperties.json
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Original file line number Diff line number Diff line change
@@ -1,8 +1,8 @@
{
"angleJoystickRadiusDeadband": 0.05,
"heading": {
"p": 0.8,
"i": 0,
"d": 0.01
}
"angleJoystickRadiusDeadband": 0.05,
"heading": {
"p": 0.8,
"i": 0,
"d": 0.01
}
}
51 changes: 25 additions & 26 deletions src/main/deploy/swerve/modules/backleft.json
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Original file line number Diff line number Diff line change
@@ -1,28 +1,27 @@
{
"drive": {
"type": "sparkmax",
"id": 13,
"canbus": null
},
"angle": {
"type": "sparkmax",
"id": 3,
"canbus": null
},
"encoder": {
"type": "canandcoder",
"id": 12,
"canbus": null
},
"absoluteEncoderInverted": true,
"inverted": {
"drive": true,
"angle": true
},
"absoluteEncoderOffset": 0.0,

"location": {
"front": -10.5,
"left": 10.5
}
"drive": {
"type": "sparkmax",
"id": 13,
"canbus": null
},
"angle": {
"type": "sparkmax",
"id": 3,
"canbus": null
},
"encoder": {
"type": "canandcoder",
"id": 12,
"canbus": null
},
"absoluteEncoderInverted": true,
"inverted": {
"drive": true,
"angle": true
},
"absoluteEncoderOffset": 0.0,
"location": {
"front": -10.5,
"left": 10.5
}
}
50 changes: 25 additions & 25 deletions src/main/deploy/swerve/modules/backright.json
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Original file line number Diff line number Diff line change
@@ -1,27 +1,27 @@
{
"drive": {
"type": "sparkmax",
"id": 12,
"canbus": null
},
"angle": {
"type": "sparkmax",
"id": 2,
"canbus": null
},
"encoder": {
"type": "canandcoder",
"id": 11,
"canbus": null
},
"inverted": {
"drive": true,
"angle": true
},
"absoluteEncoderOffset": 0,
"absoluteEncoderInverted": true,
"location": {
"front": -10.5,
"left": -10.5
}
"drive": {
"type": "sparkmax",
"id": 12,
"canbus": null
},
"angle": {
"type": "sparkmax",
"id": 2,
"canbus": null
},
"encoder": {
"type": "canandcoder",
"id": 11,
"canbus": null
},
"inverted": {
"drive": true,
"angle": true
},
"absoluteEncoderOffset": 0,
"absoluteEncoderInverted": true,
"location": {
"front": -10.5,
"left": -10.5
}
}
50 changes: 25 additions & 25 deletions src/main/deploy/swerve/modules/frontleft.json
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Original file line number Diff line number Diff line change
@@ -1,27 +1,27 @@
{
"drive": {
"type": "sparkmax",
"id": 14,
"canbus": null
},
"angle": {
"type": "sparkmax",
"id": 4,
"canbus": null
},
"encoder": {
"type": "canandcoder",
"id": 9,
"canbus": null
},
"inverted": {
"drive": true,
"angle": true
},
"absoluteEncoderOffset": 0,
"absoluteEncoderInverted": true,
"location": {
"front": 10.5,
"left": 10.5
}
"drive": {
"type": "sparkmax",
"id": 14,
"canbus": null
},
"angle": {
"type": "sparkmax",
"id": 4,
"canbus": null
},
"encoder": {
"type": "canandcoder",
"id": 9,
"canbus": null
},
"inverted": {
"drive": true,
"angle": true
},
"absoluteEncoderOffset": 0,
"absoluteEncoderInverted": true,
"location": {
"front": 10.5,
"left": 10.5
}
}
50 changes: 25 additions & 25 deletions src/main/deploy/swerve/modules/frontright.json
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Original file line number Diff line number Diff line change
@@ -1,27 +1,27 @@
{
"drive": {
"type": "sparkmax",
"id": 11,
"canbus": null
},
"angle": {
"type": "sparkmax",
"id": 1,
"canbus": null
},
"encoder": {
"type": "canandcoder",
"id": 10,
"canbus": null
},
"inverted": {
"drive": true,
"angle": true
},
"absoluteEncoderOffset": 0,
"absoluteEncoderInverted": true,
"location": {
"front": 10.5,
"left": -10.5
}
"drive": {
"type": "sparkmax",
"id": 11,
"canbus": null
},
"angle": {
"type": "sparkmax",
"id": 1,
"canbus": null
},
"encoder": {
"type": "canandcoder",
"id": 10,
"canbus": null
},
"inverted": {
"drive": true,
"angle": true
},
"absoluteEncoderOffset": 0,
"absoluteEncoderInverted": true,
"location": {
"front": 10.5,
"left": -10.5
}
}
35 changes: 21 additions & 14 deletions src/main/deploy/swerve/modules/physicalproperties.json
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Original file line number Diff line number Diff line change
@@ -1,16 +1,23 @@
{
"conversionFactor": {
"drive": 0.04808969374,
"angle": 360
},
"currentLimit": {
"drive": 40,
"angle": 20
},
"rampRate": {
"drive": 0.25,
"angle": 0.25
},
"wheelGripCoefficientOfFriction": 1.19,
"optimalVoltage": 12
"conversionFactors": {
"angle": {
"gearRatio": 1,
"factor": 0
},
"drive": {
"gearRatio": 1,
"diameter": 1,
"factor": 0.04808969374
}
},
"currentLimit": {
"drive": 40,
"angle": 20
},
"rampRate": {
"drive": 0.25,
"angle": 0.25
},
"wheelGripCoefficientOfFriction": 1.19,
"optimalVoltage": 12
}
28 changes: 14 additions & 14 deletions src/main/deploy/swerve/modules/pidfproperties.json
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Original file line number Diff line number Diff line change
@@ -1,16 +1,16 @@
{
"drive": {
"p": 0.0011261,
"i": 0,
"d": 0,
"f": 0,
"iz": 0
},
"angle": {
"p": 0.01,
"i": 0,
"d": 0,
"f": 0,
"iz": 0
}
"drive": {
"p": 0.0011261,
"i": 0,
"d": 0,
"f": 0,
"iz": 0
},
"angle": {
"p": 0.01,
"i": 0,
"d": 0,
"f": 0,
"iz": 0
}
}
24 changes: 12 additions & 12 deletions src/main/deploy/swerve/swervedrive.json
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Original file line number Diff line number Diff line change
@@ -1,14 +1,14 @@
{
"imu": {
"type": "pigeon2",
"id": 1,
"canbus": ""
},
"invertedIMU": false,
"modules": [
"frontleft.json",
"frontright.json",
"backleft.json",
"backright.json"
]
"imu": {
"type": "pigeon2",
"id": 1,
"canbus": ""
},
"invertedIMU": false,
"modules": [
"frontleft.json",
"frontright.json",
"backleft.json",
"backright.json"
]
}
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