Merge branch 'wpilib-2025' into develop

.wpilib/wpilib_preferences.json

@@ -1,5 +1,5 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2024"
+    "projectYear": "2025beta"
 }

README.md

@@ -4,7 +4,6 @@
 
 Custom library for 418 Purple Haze
 
-Note: CTRE will not be as well supported as REV products as our team primarily lives in the REV Robotics ecosystem
 
 ## Features
 * Hardware wrappers with built-in AdvantageKit logging
@@ -18,8 +17,10 @@ Note: CTRE will not be as well supported as REV products as our team primarily l
     * More accurate velocity readings
   * CTRE
     * CANivore
+      * Use of CANivore is HIGHLY recommended, as adjustment of status frame rates isn't easily possible while protecting the underlying sensor getter methods.
     * Pigeon 2.0
-    * CANCoder
+    * CANcoder
+    * TalonFX
     * VictorSPX
     * TalonSRX
   * Kauai Labs
@@ -29,19 +30,32 @@ Note: CTRE will not be as well supported as REV products as our team primarily l
       * Field centric and robot centric velocity readings
   * Redux Robotics
     * Canandgyro
+  * ThriftyBot
+    * ThriftyNova
   * Generic
     * Analog sensor
     * Compressor
     * Single and double solenoid
     * Limit switch
     * Servo
-* MAXSwerve module support
-  * Supports NEO v1.0/1.1 or NEO Vortex + NEO 550 configuration only
-  * REV through bore encoder must be used
-  * Module must be calibrated using [REV MAXSwerve calibration tool](https://docs.revrobotics.com/sparkmax/software-resources/calibration-for-maxswerve)
-* Robot rotation PID
-* Traction control
-* Swerve second order kinematics correction
+* Swerve module support with both REV and CTRE motor controllers
+  * Supported modules:
+    * REV MAXSwerve (REV Spark only)
+    * SDS MK4/MK4i/MK4c
+    * WCP Swerve X/Xi/X2
+    * TTB Swerve
+    * Support for custom or other modules can be added easily!
+  * Module must be calibrated using calibration tool provided by module manufacturer
+  * Mixing motor controller vendors within a module is NOT supported (ex. TalonFX for drive, Spark Max for rotation)
+  * More info [here](src/main/java/org/lasarobotics/drive/swerve/README.md)
+* Swerve drive parent class
+  * Robot rotation PID
+  * Automatic module "locking"
+  * Traction control
+  * Swerve second order kinematics correction
+  * More info [here](src/main/java/org/lasarobotics/drive/swerve/README.md)
+* Health monitoring and automatic recovery
+  * Available in the hardware wrappers and for subsystems
 * Configurable input maps
 * LED strip support
 * JSON read/write
@@ -53,11 +67,11 @@ Note: CTRE will not be as well supported as REV products as our team primarily l
 ### Required dependencies
 * AdvantageKit - https://github.com/Mechanical-Advantage/AdvantageKit/blob/main/docs/INSTALLATION.md
 * URCL - https://raw.githubusercontent.com/Mechanical-Advantage/URCL/maven/URCL.json
-* NavX - https://dev.studica.com/releases/2024/NavX.json
-* REVLib - https://software-metadata.revrobotics.com/REVLib-2024.json
-* ReduxLib - https://frcsdk.reduxrobotics.com/ReduxLib_2024.json
-* CTRE Phoenix5 - https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json
-* CTRE Phoenix6 - https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json
+* NavX - https://dev.studica.com/releases/2025/Studica-2025.1.1-alpha-14.json
+* REVLib - https://software-metadata.revrobotics.com/REVLib-2025.json
+* ReduxLib - https://frcsdk.reduxrobotics.com/ReduxLib_2025.json
+* CTRE Phoenix5 - https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-beta-latest.json
+* CTRE Phoenix6 - https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-beta-latest.json
 * PhotonLib - https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json
 
 ### Online installation
@@ -85,6 +99,38 @@ dependencies {
 ```
 Change the file path as needed.
 
+## Robot project integration
+
+1. Follow AdvantageKit setup instructions, and make your main `Robot.java` class extend `LoggedRobot`.
+2. In your `build.gradle` add the following:
+  * To the `plugins` section: `id "com.peterabeles.gversion" version "1.10"`
+  * Paste this before the `deploy` section:
+  ```
+  project.compileJava.dependsOn(createVersionFile)
+  gversion {
+    srcDir       = "src/main/java/"
+    classPackage = "frc.robot"
+    className    = "BuildConstants"
+    dateFormat   = "yyyy-MM-dd HH:mm:ss z"
+    timeZone     = "America/Chicago" // Use preferred time zone
+    indent       = "  "
+  }
+  ```
+
+3. In your `Robot.java` constructor, initialize the `PurpleManager`.
+```
+PurpleManager.initialize(
+  this,
+  AprilTagFieldLayout.loadField(AprilTagFields.k2024Crescendo),
+  Path.of("/media/sda1"),
+  BuildConstants.MAVEN_NAME,
+  BuildConstants.GIT_SHA,
+  BuildConstants.BUILD_DATE,
+  true
+);
+```
+4. Call `PurpleManager.update()` in the beginning of the `robotPeriodic()` method of `Robot.java`.
+
 ## Releasing
 Create a release in GitHub. JitPack does the rest.
 

build.gradle

@@ -1,7 +1,7 @@
 plugins {
   id "java-library"
   id "maven-publish"
-  id "edu.wpi.first.GradleRIO" version "2024.3.2"
+  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
   id "edu.wpi.first.WpilibTools" version "1.3.0"
 }
 

src/main/java/com/revrobotics/spark/SparkHelpers.java

@@ -0,0 +1,56 @@
+// Copyright (c) LASA Robotics and other contributors
+// Open Source Software; you can modify and/or share it under the terms of
+// the MIT license file in the root directory of this project.
+
+package com.revrobotics.spark;
+
+/** Spark helpers */
+public class SparkHelpers {
+
+  public enum SparkModel {
+    SparkMax(0),
+    SparkFlex(1),
+    Unknown(255);
+
+    final int id;
+
+    SparkModel(int id) {
+      this.id = id;
+    }
+
+    static SparkModel fromId(int id) {
+      for (SparkModel model : values()) {
+        if (model.id == id) return model;
+      }
+      return Unknown;
+    }
+  }
+  /**
+   * Enable mode which sets the output of the PID controllers to be voltage instead of duty cycle.
+   *
+   * <p>To disable, change or disable voltage compensation. Those settings will overwrite this one
+   */
+  // public static REVLibError enablePIDVoltageOutput(CANSparkBase spark) {
+  //   return REVLibError.fromInt(CANSparkMaxJNI.c_SparkMax_SetParameterUint32(spark.sparkMaxHandle, 74, 1));
+  // }
+
+  /**
+   * Get model of Spark
+   * @param spark Spark to get model of
+   * @return Model of Spark
+   */
+  public static SparkModel getSparkModel(SparkBase spark) {
+    switch (spark.getSparkModel()) {
+      case SparkFlex:
+        return SparkModel.SparkFlex;
+      case SparkMax:
+        return SparkModel.SparkMax;
+      default:
+        return SparkModel.Unknown;
+    }
+  }
+
+  public static long getSparkHandle(SparkBase spark) {
+    return spark.sparkHandle;
+  }
+}

src/main/java/org/lasarobotics/drive/RotatePIDController.java

@@ -7,26 +7,27 @@
 import java.util.HashMap;
 
 import org.apache.commons.math3.analysis.polynomials.PolynomialSplineFunction;
-import org.lasarobotics.utils.GlobalConstants;
 import org.lasarobotics.utils.PIDConstants;
 
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.controller.PIDController;
-import edu.wpi.first.units.Angle;
-import edu.wpi.first.units.Measure;
 import edu.wpi.first.units.Units;
-import edu.wpi.first.units.Velocity;
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Dimensionless;
+import edu.wpi.first.units.measure.Time;
 
 /** Rotate PID controller */
 public class RotatePIDController {
   private final double MIN_DEADBAND = 0.001;
   private final double MAX_DEADBAND = 0.2;
   private final double FILTER_FACTOR = 1.0 / 3.0;
+  private final Time MAX_LOOKAHEAD = Units.Seconds.of(2);
 
   private HashMap<Double, Double> m_rotateInputMap = new HashMap<Double, Double>();
   private PIDController m_pidController;
-  private double m_rotateScalar;
-  private double m_lookAhead;
+  private Angle m_rotateScalar;
+  private Time m_lookAhead;
   private double m_deadband;
   private double m_rotateRequest;
   private boolean m_isRotating;
@@ -35,17 +36,24 @@ public class RotatePIDController {
    * Create an instance of RotatePIDController
    * @param rotateInputCurve Rotate input curve
    * @param pidf PID constants
-   * @param rotateScalar Value to turn input by (degrees)
+   * @param rotateScalar Value to scale rotate input by
    * @param deadband Controller deadband
    * @param lookAhead Number of loops to look ahead by
    */
-  public RotatePIDController(PolynomialSplineFunction rotateInputCurve, PIDConstants pidf, double rotateScalar, double deadband, double lookAhead) {
-    this.m_pidController = new PIDController(pidf.kP, 0.0, pidf.kD, pidf.period);
+  public RotatePIDController(PolynomialSplineFunction rotateInputCurve,
+                             PIDConstants pidf,
+                             Angle rotateScalar,
+                             Dimensionless deadband,
+                             Time lookAhead) {
+    this.m_pidController = new PIDController(pidf.kP, 0.0, pidf.kD, pidf.period.in(Units.Seconds));
     this.m_rotateScalar = rotateScalar;
-    this.m_deadband = MathUtil.clamp(deadband, MIN_DEADBAND, MAX_DEADBAND);
-    this.m_lookAhead = lookAhead;
+    this.m_deadband = MathUtil.clamp(deadband.in(Units.Percent), MIN_DEADBAND, MAX_DEADBAND);
+    this.m_lookAhead = Units.Seconds.of(MathUtil.clamp(lookAhead.in(Units.Seconds), 0.0, MAX_LOOKAHEAD.in(Units.Seconds)));
     this.m_isRotating = false;
 
+    // Enable PID position wrapping
+    m_pidController.enableContinuousInput(0.0, 360.0);
+
     // Fill turn input hashmap
     for (int i = 0; i <= 1000; i++) {
       double key = (double)i / 1000;
@@ -66,7 +74,7 @@ public RotatePIDController(PolynomialSplineFunction rotateInputCurve, PIDConstan
    *
    * @return Optimal rotate output
    */
-  public Measure<Velocity<Angle>> calculate(Measure<Angle> currentAngle, Measure<Velocity<Angle>> rotateRate, double rotateRequest) {
+  public AngularVelocity calculate(Angle currentAngle, AngularVelocity rotateRate, double rotateRequest) {
     // Filter rotate request
     m_rotateRequest -= (m_rotateRequest - rotateRequest) * FILTER_FACTOR;
 
@@ -76,12 +84,12 @@ public Measure<Velocity<Angle>> calculate(Measure<Angle> currentAngle, Measure<V
       m_rotateRequest = Math.copySign(Math.floor(Math.abs(m_rotateRequest) * 1000) / 1000, m_rotateRequest) + 0.0;
       double scaledTurnRequest = m_rotateInputMap.get(m_rotateRequest);
       // Add delta to setpoint scaled by factor
-      m_pidController.setSetpoint(currentAngle.in(Units.Degrees) + (scaledTurnRequest * m_rotateScalar));
+      m_pidController.setSetpoint(currentAngle.in(Units.Degrees) + m_rotateScalar.times(scaledTurnRequest).in(Units.Degrees));
       m_isRotating = true;
     } else {
       // When rotation is complete, set setpoint to current angle
       if (m_isRotating) {
-        m_pidController.setSetpoint(currentAngle.in(Units.Degrees) + (rotateRate.in(Units.DegreesPerSecond) * m_lookAhead * GlobalConstants.ROBOT_LOOP_PERIOD));
+        m_pidController.setSetpoint(currentAngle.in(Units.Degrees) + (rotateRate.in(Units.DegreesPerSecond) * m_lookAhead.in(Units.Seconds)));
         m_isRotating = false;
       }
     }
@@ -94,15 +102,15 @@ public Measure<Velocity<Angle>> calculate(Measure<Angle> currentAngle, Measure<V
    * @param positionTolerance Position error that is tolerable
    * @param velocityTolerance Velocity error that is tolerable
    */
-  public void setTolerance(Measure<Angle> positionTolerance, Measure<Velocity<Angle>> velocityTolerance) {
+  public void setTolerance(Angle positionTolerance, AngularVelocity velocityTolerance) {
     m_pidController.setTolerance(positionTolerance.in(Units.Degrees), velocityTolerance.in(Units.DegreesPerSecond));
   }
 
   /**
    * Set setpoint of rotation PID controller
    * @param angle
    */
-  public void setSetpoint(Measure<Angle> angle) {
+  public void setSetpoint(Angle angle) {
     m_pidController.setSetpoint(angle.in(Units.Degrees));
   }