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Upgrading to 2025.2.0-beta2
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@thenetworkgrinch
thenetworkgrinch committed Jan 12, 2025
1 parent cf5fd34 commit 63d3b72
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4 changes: 4 additions & 0 deletions docs/index-all.html
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Expand Up @@ -1362,6 +1362,10 @@ <h2 class="title" id="I:G">G</h2>
<div class="block">Get the maximum module angular velocity as a <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/units/measure/AngularVelocity.html" title="class or interface in edu.wpi.first.units.measure" class="external-link"><code>AngularVelocity</code></a> based on the RPM and gear
ratio.</div>
</dd>
<dt><a href="swervelib/SwerveModule.html#getMaxDriveVelocityMetersPerSecond()" class="member-name-link">getMaxDriveVelocityMetersPerSecond()</a> - Method in class swervelib.<a href="swervelib/SwerveModule.html" title="class in swervelib">SwerveModule</a></dt>
<dd>
<div class="block">Get the maximum drive velocity of the module in Meters Per Second.</div>
</dd>
<dt><a href="swervelib/SwerveDrive.html#getMaximumChassisAngularVelocity()" class="member-name-link">getMaximumChassisAngularVelocity()</a> - Method in class swervelib.<a href="swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Get the maximum angular velocity, either <code>SwerveDrive.attainableMaxRotationalVelocityRadiansPerSecond</code> or <a href="swervelib/parser/SwerveControllerConfiguration.html#maxAngularVelocity"><code>SwerveControllerConfiguration.maxAngularVelocity</code></a>, whichever is the lower limit on the robot's
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4 changes: 2 additions & 2 deletions docs/swervelib/SwerveDrive.html
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Expand Up @@ -307,7 +307,7 @@ <h2>Method Summary</h2>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the maximum angular velocity of an azimuth/angle motor in the swerve module.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/units/measure/LinearVelocity.html" title="class or interface in edu.wpi.first.units.measure" class="external-link">LinearVelocity</a></code></div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getMaximumModuleDriveVelocity()" class="member-name-link">getMaximumModuleDriveVelocity</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the maximum drive velocity of a module as a <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/units/measure/LinearVelocity.html" title="class or interface in edu.wpi.first.units.measure" class="external-link"><code>LinearVelocity</code></a>.</div>
Expand Down Expand Up @@ -979,7 +979,7 @@ <h3>getMaximumChassisVelocity</h3>
<li>
<section class="detail" id="getMaximumModuleDriveVelocity()">
<h3>getMaximumModuleDriveVelocity</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/units/measure/LinearVelocity.html" title="class or interface in edu.wpi.first.units.measure" class="external-link">LinearVelocity</a></span>&nbsp;<span class="element-name">getMaximumModuleDriveVelocity</span>()</div>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">getMaximumModuleDriveVelocity</span>()</div>
<div class="block">Get the maximum drive velocity of a module as a <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/units/measure/LinearVelocity.html" title="class or interface in edu.wpi.first.units.measure" class="external-link"><code>LinearVelocity</code></a>.</div>
<dl class="notes">
<dt>Returns:</dt>
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9 changes: 4 additions & 5 deletions src/main/java/swervelib/SwerveDrive.java
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Expand Up @@ -6,7 +6,6 @@
import static edu.wpi.first.units.Units.KilogramSquareMeters;
import static edu.wpi.first.units.Units.Kilograms;
import static edu.wpi.first.units.Units.Meters;
import static edu.wpi.first.units.Units.MetersPerSecond;
import static edu.wpi.first.units.Units.Newtons;
import static edu.wpi.first.units.Units.RadiansPerSecond;
import static edu.wpi.first.units.Units.Seconds;
Expand Down Expand Up @@ -597,8 +596,8 @@ public double getMaximumChassisVelocity() {
*
* @return {@link LinearVelocity} representing the maximum drive speed of a module.
*/
public LinearVelocity getMaximumModuleDriveVelocity() {
return swerveModules[0].getMaxVelocity();
public double getMaximumModuleDriveVelocity() {
return swerveModules[0].getMaxDriveVelocityMetersPerSecond();
}

/**
Expand Down Expand Up @@ -636,7 +635,7 @@ public double getMaximumChassisAngularVelocity() {
private void setRawModuleStates(
SwerveModuleState[] desiredStates, ChassisSpeeds desiredChassisSpeed, boolean isOpenLoop) {
// Desaturates wheel speeds
double maxModuleSpeedMPS = getMaximumModuleDriveVelocity().in(MetersPerSecond);
double maxModuleSpeedMPS = getMaximumModuleDriveVelocity();
if (attainableMaxTranslationalSpeedMetersPerSecond != 0
|| attainableMaxRotationalVelocityRadiansPerSecond != 0) {
SwerveDriveKinematics.desaturateWheelSpeeds(
Expand Down Expand Up @@ -668,7 +667,7 @@ private void setRawModuleStates(
*/
public void setModuleStates(SwerveModuleState[] desiredStates, boolean isOpenLoop) {
SwerveDriveTelemetry.startCtrlCycle();
double maxModuleSpeedMPS = getMaximumModuleDriveVelocity().in(MetersPerSecond);
double maxModuleSpeedMPS = getMaximumModuleDriveVelocity();
desiredStates = kinematics.toSwerveModuleStates(kinematics.toChassisSpeeds(desiredStates));
SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, maxModuleSpeedMPS);

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20 changes: 16 additions & 4 deletions src/main/java/swervelib/SwerveModule.java
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Expand Up @@ -73,6 +73,8 @@ public class SwerveModule {
private final DoublePublisher angleSetpointPublisher;
/** Maximum {@link LinearVelocity} for the drive motor of the swerve module. */
private LinearVelocity maxDriveVelocity;
/** Maximum velocity for the drive motor of the swerve module. */
private double maxDriveVelocityMetersPerSecond;
/** Maximum {@link AngularVelocity} for the azimuth/angle motor of the swerve module. */
private AngularVelocity maxAngularVelocity;
/** Feedforward for the drive motor during closed loop control. */
Expand Down Expand Up @@ -361,13 +363,12 @@ public void setAnglePIDF(PIDFConfig config) {
*/
public void setDesiredState(SwerveModuleState desiredState, boolean isOpenLoop, boolean force) {

desiredState.optimize(Rotation2d.fromDegrees(getAbsolutePosition()));
desiredState.optimize(Rotation2d.fromDegrees(getRelativePosition()));

// If we are forcing the angle
if (!force && antiJitterEnabled) {
// Prevents module rotation if speed is less than 1%
SwerveMath.antiJitter(
desiredState, lastState, Math.min(maxDriveVelocity.in(MetersPerSecond), 4));
SwerveMath.antiJitter(desiredState, lastState, Math.min(maxDriveVelocityMetersPerSecond, 4));
}

// Cosine compensation.
Expand Down Expand Up @@ -678,15 +679,26 @@ public boolean getAbsoluteEncoderReadIssue() {
* @return {@link LinearVelocity} max velocity of the drive wheel.
*/
public LinearVelocity getMaxVelocity() {
getMaxDriveVelocityMetersPerSecond();
return maxDriveVelocity;
}

/**
* Get the maximum drive velocity of the module in Meters Per Second.
*
* @return Maximum drive motor velocity in Meters Per Second.
*/
public double getMaxDriveVelocityMetersPerSecond() {
if (maxDriveVelocity == null) {
maxDriveVelocity =
InchesPerSecond.of(
(driveMotor.getSimMotor().freeSpeedRadPerSec
/ configuration.conversionFactors.drive.gearRatio)
* configuration.conversionFactors.drive.diameter
/ 2.0);
maxDriveVelocityMetersPerSecond = maxDriveVelocity.in(MetersPerSecond);
}
return maxDriveVelocity;
return maxDriveVelocityMetersPerSecond;
}

/**
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<?xml version="1.0" encoding="UTF-8"?>
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<groupId>swervelib</groupId>
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<release>2025.2.0-beta2</release>
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<version>2024.6.1.0</version>
<version>2024.7.0</version>
Expand All @@ -31,7 +31,8 @@
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<lastUpdated>20250111192301</lastUpdated>
<lastUpdated>20250112020113</lastUpdated>
</versioning>
</metadata>
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<version>2024.7.0</version>
<version>2025.0.0</version>
Expand All @@ -21,7 +21,8 @@
<version>2025.1.3-1</version>
<version>2025.1.3.jwt151</version>
<version>2025.2.0-beta</version>
<version>2025.2.0-beta2</version>
</versions>
<lastUpdated>20250111192305</lastUpdated>
<lastUpdated>20250112020118</lastUpdated>
</versioning>
</metadata>
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2 changes: 1 addition & 1 deletion yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha512
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6 changes: 3 additions & 3 deletions yagsl/yagsl.json
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{
"fileName": "yagsl-2025.2.0-beta.json",
"fileName": "yagsl-2025.2.0-beta2.json",
"name": "YAGSL",
"version": "2025.2.0-beta",
"version": "2025.2.0-beta2",
"frcYear": "2025",
"uuid": "1ccce5a4-acd2-4d18-bca3-4b8047188400",
"mavenUrls": [
Expand All @@ -12,7 +12,7 @@
{
"groupId": "swervelib",
"artifactId": "YAGSL-java",
"version": "2025.2.0-beta"
"version": "2025.2.0-beta2"
}
],
"requires": [
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