Upgrading to 2025.1.3.jwt151

docs/index-all.html

@@ -2004,6 +2004,10 @@ <h2 class="title" id="I:M">M</h2>
 <dd>
 <div class="block">Only send the machine readable data related to swerve drive.</div>
 </dd>
+<dt><a href="swervelib/simulation/SwerveModuleSimulation.html#mapleSimModule" class="member-name-link">mapleSimModule</a> - Variable in class swervelib.simulation.<a href="swervelib/simulation/SwerveModuleSimulation.html" title="class in swervelib.simulation">SwerveModuleSimulation</a></dt>
+<dd>
+<div class="block">MapleSim module.</div>
+</dd>
 <dt><a href="swervelib/math/Matter.html#mass" class="member-name-link">mass</a> - Variable in class swervelib.math.<a href="swervelib/math/Matter.html" title="class in swervelib.math">Matter</a></dt>
 <dd>
 <div class="block">Mass in kg of object.</div>

docs/swervelib/simulation/SwerveModuleSimulation.html

@@ -45,13 +45,13 @@
 <ul class="sub-nav-list">
 <li>Summary:&nbsp;</li>
 <li>Nested&nbsp;|&nbsp;</li>
-<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#field-summary">Field</a>&nbsp;|&nbsp;</li>
 <li><a href="#constructor-summary">Constr</a>&nbsp;|&nbsp;</li>
 <li><a href="#method-summary">Method</a></li>
 </ul>
 <ul class="sub-nav-list">
 <li>Detail:&nbsp;</li>
-<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#field-detail">Field</a>&nbsp;|&nbsp;</li>
 <li><a href="#constructor-detail">Constr</a>&nbsp;|&nbsp;</li>
 <li><a href="#method-detail">Method</a></li>
 </ul>
@@ -82,6 +82,23 @@ <h1 title="Class SwerveModuleSimulation" class="title">Class SwerveModuleSimulat
 </section>
 <section class="summary">
 <ul class="summary-list">
+<!-- =========== FIELD SUMMARY =========== -->
+<li>
+<section class="field-summary" id="field-summary">
+<h2>Field Summary</h2>
+<div class="caption"><span>Fields</span></div>
+<div class="summary-table three-column-summary">
+<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="https://shenzhen-robotics-alliance.github.io/maple-sim/javadocs/org/ironmaple/simulation/drivesims/SelfControlledSwerveDriveSimulation.SelfControlledModuleSimulation.html" title="class or interface in org.ironmaple.simulation.drivesims" class="external-link">SelfControlledSwerveDriveSimulation.SelfControlledModuleSimulation</a></code></div>
+<div class="col-second even-row-color"><code><a href="#mapleSimModule" class="member-name-link">mapleSimModule</a></code></div>
+<div class="col-last even-row-color">
+<div class="block">MapleSim module.</div>
+</div>
+</div>
+</section>
+</li>
 <!-- ======== CONSTRUCTOR SUMMARY ======== -->
 <li>
 <section class="constructor-summary" id="constructor-summary">
@@ -150,6 +167,21 @@ <h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from cl
 </section>
 <section class="details">
 <ul class="details-list">
+<!-- ============ FIELD DETAIL =========== -->
+<li>
+<section class="field-details" id="field-detail">
+<h2>Field Details</h2>
+<ul class="member-list">
+<li>
+<section class="detail" id="mapleSimModule">
+<h3>mapleSimModule</h3>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="https://shenzhen-robotics-alliance.github.io/maple-sim/javadocs/org/ironmaple/simulation/drivesims/SelfControlledSwerveDriveSimulation.SelfControlledModuleSimulation.html" title="class or interface in org.ironmaple.simulation.drivesims" class="external-link">SelfControlledSwerveDriveSimulation.SelfControlledModuleSimulation</a></span>&nbsp;<span class="element-name">mapleSimModule</span></div>
+<div class="block">MapleSim module.</div>
+</section>
+</li>
+</ul>
+</section>
+</li>
 <!-- ========= CONSTRUCTOR DETAIL ======== -->
 <li>
 <section class="constructor-details" id="constructor-detail">

src/main/java/swervelib/SwerveModule.java

@@ -371,18 +371,18 @@ public void setDesiredState(SwerveModuleState desiredState, boolean isOpenLoop,
     }
 
     // Cosine compensation.
-    LinearVelocity nextVelocity =
+    double nextVelocityMetersPerSecond =
         configuration.useCosineCompensator
             ? getCosineCompensatedVelocity(desiredState)
-            : MetersPerSecond.of(desiredState.speedMetersPerSecond);
-    LinearVelocity curVelocity = MetersPerSecond.of(lastState.speedMetersPerSecond);
-    desiredState.speedMetersPerSecond = nextVelocity.magnitude();
+            : desiredState.speedMetersPerSecond;
+    double curVelocityMetersPerSecond = lastState.speedMetersPerSecond;
+    desiredState.speedMetersPerSecond = nextVelocityMetersPerSecond;
 
     setDesiredState(
         desiredState,
         isOpenLoop,
         driveMotorFeedforward.calculateWithVelocities(
-            curVelocity.in(MetersPerSecond), nextVelocity.in(MetersPerSecond)));
+            curVelocityMetersPerSecond, nextVelocityMetersPerSecond));
   }
 
   /**
@@ -447,7 +447,7 @@ public void setDesiredState(
    * @param desiredState Desired {@link SwerveModuleState} to use.
    * @return Cosine compensated velocity in meters/second.
    */
-  private LinearVelocity getCosineCompensatedVelocity(SwerveModuleState desiredState) {
+  private double getCosineCompensatedVelocity(SwerveModuleState desiredState) {
     double cosineScalar = 1.0;
     // Taken from the CTRE SwerveModule class.
     // https://api.ctr-electronics.com/phoenix6/release/java/src-html/com/ctre/phoenix6/mechanisms/swerve/SwerveModule.html#line.46
@@ -464,7 +464,7 @@ private LinearVelocity getCosineCompensatedVelocity(SwerveModuleState desiredSta
       cosineScalar = 1;
     }
 
-    return MetersPerSecond.of(desiredState.speedMetersPerSecond).times(cosineScalar);
+    return desiredState.speedMetersPerSecond * cosineScalar;
   }
 
   /**

src/main/java/swervelib/encoders/SparkMaxAnalogEncoderSwerve.java

@@ -89,11 +89,11 @@ public void clearStickyFaults() {
   public void configure(boolean inverted) {
     if (sparkMax instanceof SparkMaxSwerve) {
       SparkMaxConfig cfg = ((SparkMaxSwerve) sparkMax).getConfig();
-      cfg.analogSensor.inverted(true);
+      cfg.analogSensor.inverted(inverted);
       ((SparkMaxSwerve) sparkMax).updateConfig(cfg);
     } else if (sparkMax instanceof SparkMaxBrushedMotorSwerve) {
       SparkMaxConfig cfg = ((SparkMaxBrushedMotorSwerve) sparkMax).getConfig();
-      cfg.analogSensor.inverted(true);
+      cfg.analogSensor.inverted(inverted);
       ((SparkMaxBrushedMotorSwerve) sparkMax).updateConfig(cfg);
     }
   }

src/main/java/swervelib/encoders/SparkMaxEncoderSwerve.java

@@ -33,7 +33,7 @@ public class SparkMaxEncoderSwerve extends SwerveAbsoluteEncoder {
    */
   public SparkMaxEncoderSwerve(SwerveMotor motor, int conversionFactor) {
     failureConfiguring =
-        new Alert("Encoders", "Failure configuring SparkMax Analog Encoder", AlertType.kWarning);
+        new Alert("Encoders", "Failure configuring SparkMax Absolute Encoder", AlertType.kWarning);
     offsetFailure =
         new Alert("Encoders", "Failure to set Absolute Encoder Offset", AlertType.kWarning);
     if (motor.getMotor() instanceof SparkMax) {
@@ -81,11 +81,11 @@ public void clearStickyFaults() {
   public void configure(boolean inverted) {
     if (sparkMax instanceof SparkMaxSwerve) {
       SparkMaxConfig cfg = ((SparkMaxSwerve) sparkMax).getConfig();
-      cfg.analogSensor.inverted(true);
+      cfg.absoluteEncoder.inverted(inverted);
       ((SparkMaxSwerve) sparkMax).updateConfig(cfg);
     } else if (sparkMax instanceof SparkMaxBrushedMotorSwerve) {
       SparkMaxConfig cfg = ((SparkMaxBrushedMotorSwerve) sparkMax).getConfig();
-      cfg.analogSensor.inverted(true);
+      cfg.absoluteEncoder.inverted(inverted);
       ((SparkMaxBrushedMotorSwerve) sparkMax).updateConfig(cfg);
     }
   }

src/main/java/swervelib/motors/SparkFlexSwerve.java

@@ -29,6 +29,8 @@
 /** An implementation of {@link SparkFlex} as a {@link SwerveMotor}. */
 public class SparkFlexSwerve extends SwerveMotor {
 
+  /** Config retry delay. */
+  private final double configDelay = Milliseconds.of(5).in(Seconds);
   /** {@link SparkFlex} Instance. */
   private final SparkFlex motor;
   /** Integrated encoder. */
@@ -96,7 +98,7 @@ private void configureSparkFlex(Supplier<REVLibError> config) {
       if (config.get() == REVLibError.kOk) {
         return;
       }
-      Timer.delay(Milliseconds.of(5).in(Seconds));
+      Timer.delay(configDelay);
     }
     failureConfiguring.set(true);
   }

src/main/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java

@@ -32,6 +32,8 @@
 /** Brushed motor control with {@link SparkMax}. */
 public class SparkMaxBrushedMotorSwerve extends SwerveMotor {
 
+  /** Config retry delay. */
+  private final double configDelay = Milliseconds.of(5).in(Seconds);
   /** SparkMAX Instance. */
   private final SparkMax motor;
   /** Absolute encoder attached to the SparkMax (if exists) */
@@ -171,7 +173,7 @@ private void configureSparkMax(Supplier<REVLibError> config) {
       if (config.get() == REVLibError.kOk) {
         return;
       }
-      Timer.delay(Milliseconds.of(5).in(Seconds));
+      Timer.delay(configDelay);
     }
     failureConfiguringAlert.set(true);
   }

src/main/java/swervelib/motors/SparkMaxSwerve.java

@@ -30,6 +30,8 @@
 /** An implementation of {@link com.revrobotics.spark.SparkMax} as a {@link SwerveMotor}. */
 public class SparkMaxSwerve extends SwerveMotor {
 
+  /** Config retry delay. */
+  private final double configDelay = Milliseconds.of(5).in(Seconds);
   /** {@link SparkMax} Instance. */
   private final SparkMax motor;
   /** Integrated encoder. */
@@ -97,7 +99,7 @@ private void configureSparkMax(Supplier<REVLibError> config) {
       if (config.get() == REVLibError.kOk) {
         return;
       }
-      Timer.delay(Milliseconds.of(5).in(Seconds));
+      Timer.delay(configDelay);
     }
     DriverStation.reportWarning("Failure configuring motor " + motor.getDeviceId(), true);
   }

src/main/java/swervelib/simulation/SwerveModuleSimulation.java

@@ -12,7 +12,8 @@
 /** Class that wraps around {@link org.ironmaple.simulation.drivesims.SwerveModuleSimulation} */
 public class SwerveModuleSimulation {
 
-  private SelfControlledSwerveDriveSimulation.SelfControlledModuleSimulation mapleSimModule = null;
+  /** MapleSim module. */
+  public SelfControlledSwerveDriveSimulation.SelfControlledModuleSimulation mapleSimModule = null;
 
   /**
    * Configure the maple sim module

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+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <modelVersion>4.0.0</modelVersion>
+  <groupId>swervelib</groupId>
+  <artifactId>YAGSL-cpp</artifactId>
+  <version>2025.1.3.jwt151</version>
+  <packaging>pom</packaging>
+</project>

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@@ -3,8 +3,8 @@
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   <artifactId>YAGSL-cpp</artifactId>
   <versioning>
-    <latest>2025.1.3-1</latest>
-    <release>2025.1.3-1</release>
+    <latest>2025.1.3.jwt151</latest>
+    <release>2025.1.3.jwt151</release>
     <versions>
       <version>2024.6.1.0</version>
       <version>2024.7.0</version>
@@ -29,7 +29,8 @@
       <version>2025.1.2.1</version>
       <version>2025.1.3</version>
       <version>2025.1.3-1</version>
+      <version>2025.1.3.jwt151</version>
     </versions>
-    <lastUpdated>20250109213234</lastUpdated>
+    <lastUpdated>20250110224739</lastUpdated>
   </versioning>
 </metadata>

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+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <modelVersion>4.0.0</modelVersion>
+  <groupId>swervelib</groupId>
+  <artifactId>YAGSL-java</artifactId>
+  <version>2025.1.3.jwt151</version>
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