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Upgrading to 2025.2.1-beta3
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@thenetworkgrinch
thenetworkgrinch committed Jan 15, 2025
1 parent 0d2bc92 commit 2e7ad1b
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Showing 52 changed files with 91 additions and 43 deletions.
4 changes: 2 additions & 2 deletions docs/swervelib/motors/SparkFlexSwerve.html
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Expand Up @@ -93,7 +93,7 @@ <h2>Field Summary</h2>
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code><a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></div>
<div class="col-first even-row-color"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&gt;</code></div>
<div class="col-second even-row-color"><code><a href="#absoluteEncoder" class="member-name-link">absoluteEncoder</a></code></div>
<div class="col-last even-row-color">
<div class="block">Absolute encoder attached to the SparkFlex (if exists)</div>
Expand Down Expand Up @@ -310,7 +310,7 @@ <h3>encoder</h3>
<li>
<section class="detail" id="absoluteEncoder">
<h3>absoluteEncoder</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></span>&nbsp;<span class="element-name">absoluteEncoder</span></div>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&gt;</span>&nbsp;<span class="element-name">absoluteEncoder</span></div>
<div class="block">Absolute encoder attached to the SparkFlex (if exists)</div>
</section>
</li>
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4 changes: 2 additions & 2 deletions docs/swervelib/motors/SparkMaxBrushedMotorSwerve.html
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Expand Up @@ -110,7 +110,7 @@ <h2>Field Summary</h2>
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code><a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></code></div>
<div class="col-first even-row-color"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&gt;</code></div>
<div class="col-second even-row-color"><code><a href="#absoluteEncoder" class="member-name-link">absoluteEncoder</a></code></div>
<div class="col-last even-row-color">
<div class="block">Absolute encoder attached to the SparkMax (if exists)</div>
Expand Down Expand Up @@ -326,7 +326,7 @@ <h2>Field Details</h2>
<li>
<section class="detail" id="absoluteEncoder">
<h3>absoluteEncoder</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a></span>&nbsp;<span class="element-name">absoluteEncoder</span></div>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;<a href="../encoders/SwerveAbsoluteEncoder.html" title="class in swervelib.encoders">SwerveAbsoluteEncoder</a>&gt;</span>&nbsp;<span class="element-name">absoluteEncoder</span></div>
<div class="block">Absolute encoder attached to the SparkMax (if exists)</div>
</section>
</li>
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2 changes: 1 addition & 1 deletion src/main/java/swervelib/SwerveDrive.java
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Expand Up @@ -273,7 +273,7 @@ public SwerveDrive(

HAL.report(kResourceType_RobotDrive, kRobotDriveSwerve_YAGSL);
// Defaulting to something reasonable for most robots
setMaximumAttainableSpeeds(12, 2 * Math.PI);
setMaximumAttainableSpeeds(maxSpeedMPS, 2 * Math.PI);
}

/**
Expand Down
19 changes: 10 additions & 9 deletions src/main/java/swervelib/motors/SparkFlexSwerve.java
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Expand Up @@ -21,6 +21,7 @@
import edu.wpi.first.wpilibj.Alert.AlertType;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Timer;
import java.util.Optional;
import java.util.function.Supplier;
import swervelib.encoders.SwerveAbsoluteEncoder;
import swervelib.parser.PIDFConfig;
Expand All @@ -36,7 +37,7 @@ public class SparkFlexSwerve extends SwerveMotor {
/** Integrated encoder. */
public RelativeEncoder encoder;
/** Absolute encoder attached to the SparkFlex (if exists) */
public SwerveAbsoluteEncoder absoluteEncoder;
public Optional<SwerveAbsoluteEncoder> absoluteEncoder = Optional.empty();
/** Closed-loop PID controller. */
public SparkClosedLoopController pid;
/** Supplier for the velocity of the motor controller. */
Expand Down Expand Up @@ -190,7 +191,7 @@ public DCMotor getSimMotor() {
*/
@Override
public boolean isAttachedAbsoluteEncoder() {
return absoluteEncoder != null;
return absoluteEncoder.isPresent();
}

/** Configure the factory defaults. */
Expand All @@ -214,17 +215,17 @@ public void clearStickyFaults() {
@Override
public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder) {
if (encoder == null) {
absoluteEncoder = null;
this.absoluteEncoder = Optional.empty();
cfg.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder);

velocity = this.encoder::getVelocity;
position = this.encoder::getPosition;
} else if (encoder.getAbsoluteEncoder() instanceof AbsoluteEncoder) {
cfg.closedLoop.feedbackSensor(FeedbackSensor.kAbsoluteEncoder);
absoluteEncoder = encoder;
this.absoluteEncoder = Optional.of(encoder);

velocity = absoluteEncoder::getVelocity;
position = absoluteEncoder::getAbsolutePosition;
velocity = this.absoluteEncoder.get()::getVelocity;
position = this.absoluteEncoder.get()::getAbsolutePosition;
}
return this;
}
Expand All @@ -250,7 +251,7 @@ public void configureIntegratedEncoder(double positionConversionFactor) {
.iAccumulationAlwaysOn(false)
.appliedOutputPeriodMs(10)
.faultsPeriodMs(20);
if (absoluteEncoder == null) {
if (absoluteEncoder.isEmpty()) {
cfg.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder);

cfg.encoder
Expand Down Expand Up @@ -290,7 +291,7 @@ public void configureIntegratedEncoder(double positionConversionFactor) {
// the azimuth but 8ms may be overkill,
// with limited testing 19ms did not return the same value while the module was constatntly
// rotating.
if (absoluteEncoder.getAbsoluteEncoder() instanceof AbsoluteEncoder) {
if (absoluteEncoder.get().getAbsoluteEncoder() instanceof AbsoluteEncoder) {
cfg.closedLoop.feedbackSensor(FeedbackSensor.kAbsoluteEncoder);

cfg.signals.absoluteEncoderPositionAlwaysOn(true).absoluteEncoderPositionPeriodMs(20);
Expand Down Expand Up @@ -463,7 +464,7 @@ public double getPosition() {
*/
@Override
public void setPosition(double position) {
if (absoluteEncoder == null) {
if (absoluteEncoder.isEmpty()) {
configureSparkFlex(() -> encoder.setPosition(position));
}
}
Expand Down
20 changes: 10 additions & 10 deletions src/main/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java
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Expand Up @@ -37,7 +37,7 @@ public class SparkMaxBrushedMotorSwerve extends SwerveMotor {
/** SparkMAX Instance. */
private final SparkMax motor;
/** Absolute encoder attached to the SparkMax (if exists) */
public SwerveAbsoluteEncoder absoluteEncoder;
public Optional<SwerveAbsoluteEncoder> absoluteEncoder;
/** Integrated encoder. */
public Optional<RelativeEncoder> encoder = Optional.empty();
/** Closed-loop PID controller. */
Expand Down Expand Up @@ -264,7 +264,7 @@ public DCMotor getSimMotor() {
*/
@Override
public boolean isAttachedAbsoluteEncoder() {
return absoluteEncoder != null;
return absoluteEncoder.isPresent();
}

/** Configure the factory defaults. */
Expand All @@ -288,7 +288,7 @@ public void clearStickyFaults() {
@Override
public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder) {
if (encoder == null) {
absoluteEncoder = null;
this.absoluteEncoder = Optional.empty();
cfg.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder);

this.encoder.ifPresentOrElse(
Expand All @@ -307,12 +307,12 @@ public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder) {
? FeedbackSensor.kAnalogSensor
: FeedbackSensor.kAbsoluteEncoder);

absoluteEncoder = encoder;
velocity = absoluteEncoder::getVelocity;
position = absoluteEncoder::getAbsolutePosition;
this.absoluteEncoder = Optional.of(encoder);
velocity = this.absoluteEncoder.get()::getVelocity;
position = this.absoluteEncoder.get()::getAbsolutePosition;
noEncoderDefinedAlert.set(false);
}
if (absoluteEncoder == null && this.encoder.isEmpty()) {
if (absoluteEncoder.isEmpty() && this.encoder.isEmpty()) {
noEncoderDefinedAlert.set(true);
throw new RuntimeException("An encoder MUST be defined to work with a SparkMAX");
}
Expand Down Expand Up @@ -340,7 +340,7 @@ public void configureIntegratedEncoder(double positionConversionFactor) {
.iAccumulationAlwaysOn(false)
.appliedOutputPeriodMs(10)
.faultsPeriodMs(20);
if (absoluteEncoder == null) {
if (absoluteEncoder.isEmpty()) {
cfg.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder);
cfg.encoder
.positionConversionFactor(positionConversionFactor)
Expand Down Expand Up @@ -378,7 +378,7 @@ public void configureIntegratedEncoder(double positionConversionFactor) {
// the azimuth but 8ms may be overkill,
// with limited testing 19ms did not return the same value while the module was constatntly
// rotating.
if (absoluteEncoder.getAbsoluteEncoder() instanceof AbsoluteEncoder) {
if (absoluteEncoder.get().getAbsoluteEncoder() instanceof AbsoluteEncoder) {
cfg.closedLoop.feedbackSensor(FeedbackSensor.kAbsoluteEncoder);

cfg.signals.absoluteEncoderPositionAlwaysOn(true).absoluteEncoderPositionPeriodMs(20);
Expand Down Expand Up @@ -567,7 +567,7 @@ public double getPosition() {
*/
@Override
public void setPosition(double position) {
if (absoluteEncoder == null) {
if (absoluteEncoder.isEmpty()) {
encoder.ifPresent(
(RelativeEncoder enc) -> {
configureSparkMax(() -> enc.setPosition(position));
Expand Down
4 changes: 2 additions & 2 deletions src/main/java/swervelib/motors/SparkMaxSwerve.java
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Expand Up @@ -228,8 +228,8 @@ public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder) {
: FeedbackSensor.kAbsoluteEncoder);

this.absoluteEncoder = Optional.of(encoder);
velocity = encoder::getVelocity;
position = encoder::getAbsolutePosition;
velocity = this.absoluteEncoder.get()::getVelocity;
position = this.absoluteEncoder.get()::getAbsolutePosition;
}
return this;
}
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<?xml version="1.0" encoding="UTF-8"?>
<project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 https://maven.apache.org/xsd/maven-4.0.0.xsd" xmlns="http://maven.apache.org/POM/4.0.0"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<modelVersion>4.0.0</modelVersion>
<groupId>swervelib</groupId>
<artifactId>YAGSL-cpp</artifactId>
<version>2025.2.1-beta3</version>
<packaging>pom</packaging>
</project>
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Expand Up @@ -3,8 +3,8 @@
<groupId>swervelib</groupId>
<artifactId>YAGSL-cpp</artifactId>
<versioning>
<latest>2025.2.1-beta2</latest>
<release>2025.2.1-beta2</release>
<latest>2025.2.1-beta3</latest>
<release>2025.2.1-beta3</release>
<versions>
<version>2024.6.1.0</version>
<version>2024.7.0</version>
Expand Down Expand Up @@ -35,7 +35,8 @@
<version>2025.2.0</version>
<version>2025.2.1-beta</version>
<version>2025.2.1-beta2</version>
<version>2025.2.1-beta3</version>
</versions>
<lastUpdated>20250115060659</lastUpdated>
<lastUpdated>20250115150810</lastUpdated>
</versioning>
</metadata>
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<?xml version="1.0" encoding="UTF-8"?>
<project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 https://maven.apache.org/xsd/maven-4.0.0.xsd" xmlns="http://maven.apache.org/POM/4.0.0"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<modelVersion>4.0.0</modelVersion>
<groupId>swervelib</groupId>
<artifactId>YAGSL-java</artifactId>
<version>2025.2.1-beta3</version>
</project>
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<groupId>swervelib</groupId>
<artifactId>YAGSL-java</artifactId>
<versioning>
<latest>2025.2.1-beta2</latest>
<release>2025.2.1-beta2</release>
<latest>2025.2.1-beta3</latest>
<release>2025.2.1-beta3</release>
<versions>
<version>2024.7.0</version>
<version>2025.0.0</version>
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<version>2025.2.0</version>
<version>2025.2.1-beta</version>
<version>2025.2.1-beta2</version>
<version>2025.2.1-beta3</version>
</versions>
<lastUpdated>20250115060703</lastUpdated>
<lastUpdated>20250115150815</lastUpdated>
</versioning>
</metadata>
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