Merge pull request #26 from REVrobotics/2025-update

jfabellera · web-flow · commit 7f7c62cc1c6c · 2024-11-15T19:42:43.000-06:00
Update for 2025
diff --git a/.gitignore b/.gitignore
@@ -169,10 +169,16 @@ out/
 .fleet
 
 # Simulation GUI and other tools window save file
+networktables.json
+simgui.json
 *-window.json
 
 # Simulation data log directory
 logs/
 
 # Folder that has CTRE Phoenix Sim device config storage
 ctre_sim/
+
+# clangd
+/.cache
+compile_commands.json
diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2024",
+    "projectYear": "2025beta",
     "teamNumber": 2714
 }
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,5 +1,11 @@
 # MAXSwerve Java Template Changelog
 
+## [2025.0] - 2024-11-07
+
+- Updates project for 2025 FRC season
+- Uses new SPARK configuration mechanism introduced in REVLib 2025
+- Removes slew rate limiter since it is no longer needed with MAXSwerve 2.0 wheels
+
 ## [2024.0] - 2024-01-08
 
 - Updates project for 2024 FRC season
diff --git a/README.md b/README.md
@@ -1,4 +1,4 @@
-# MAXSwerve Java Template v2024.0
+# MAXSwerve Java Template v2025.0
 
 See [the online changelog](https://github.com/REVrobotics/MAXSwerve-Java-Template/blob/main/CHANGELOG.md) for information about updates to the template that may have been released since you created your project.
 
@@ -12,11 +12,11 @@ To get started, make sure you have calibrated the zero offsets for the absolute
 
 ## Prerequisites
 
-* SPARK MAX Firmware v1.6.2 - Adds features that are required for swerve
-* REVLib v2023.1.2 - Includes APIs for the new firmware features
+* SPARK MAX Firmware v25.0.0
+* REVLib v2025.0.0
 
 ## Configuration
 
 It is possible that this project will not work for your robot right out of the box. Various things like the CAN IDs, PIDF gains, chassis configuration, etc. must be determined for your own robot!
 
-These values can be adjusted in the `Constants.java` file.
+These values can be adjusted in the `Configs.java` and `Constants.java` files.
diff --git a/WPILib-License.md b/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2023 FIRST and other WPILib contributors
+Copyright (c) 2009-2024 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/build.gradle b/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
 }
 
 java {
@@ -50,6 +50,7 @@ def includeDesktopSupport = false
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
 dependencies {
+    annotationProcessor wpi.java.deps.wpilibAnnotations()
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
 
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.10.2-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
diff --git a/gradlew b/gradlew
@@ -15,6 +15,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 #
+# SPDX-License-Identifier: Apache-2.0
+#
 
 ##############################################################################
 #
@@ -55,7 +57,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -84,7 +86,8 @@ done
 # shellcheck disable=SC2034
 APP_BASE_NAME=${0##*/}
 # Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
-APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
+APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
+' "$PWD" ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
diff --git a/gradlew.bat b/gradlew.bat
@@ -13,6 +13,8 @@
 @rem See the License for the specific language governing permissions and
 @rem limitations under the License.
 @rem
+@rem SPDX-License-Identifier: Apache-2.0
+@rem
 
 @if "%DEBUG%"=="" @echo off
 @rem ##########################################################################
@@ -43,11 +45,11 @@ set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
 if %ERRORLEVEL% equ 0 goto execute
 
-echo.
-echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
+echo. 1>&2
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
 
 goto fail
 
@@ -57,11 +59,11 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe
 
 if exist "%JAVA_EXE%" goto execute
 
-echo.
-echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
+echo. 1>&2
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
 
 goto fail
 
diff --git a/settings.gradle b/settings.gradle
@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2024'
+        String frcYear = '2025'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')
diff --git a/src/main/java/frc/robot/Configs.java b/src/main/java/frc/robot/Configs.java
@@ -0,0 +1,56 @@
+package frc.robot;
+
+import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+
+import frc.robot.Constants.ModuleConstants;
+
+public final class Configs {
+    public static final class MAXSwerveModule {
+        public static final SparkMaxConfig drivingConfig = new SparkMaxConfig();
+        public static final SparkMaxConfig turningConfig = new SparkMaxConfig();
+
+        static {
+            // Use module constants to calculate conversion factors and feed forward gain.
+            double drivingFactor = ModuleConstants.kWheelDiameterMeters * Math.PI
+                    / ModuleConstants.kDrivingMotorReduction;
+            double turningFactor = 2 * Math.PI;
+            double drivingVelocityFeedForward = 1 / ModuleConstants.kDriveWheelFreeSpeedRps;
+
+            drivingConfig
+                    .idleMode(IdleMode.kBrake)
+                    .smartCurrentLimit(50);
+            drivingConfig.encoder
+                    .positionConversionFactor(drivingFactor) // meters
+                    .velocityConversionFactor(drivingFactor / 60.0); // meters per second
+            drivingConfig.closedLoop
+                    .feedbackSensor(FeedbackSensor.kPrimaryEncoder)
+                    // These are example gains you may need to them for your own robot!
+                    .pid(0.04, 0, 0)
+                    .velocityFF(drivingVelocityFeedForward)
+                    .outputRange(-1, 1);
+
+            turningConfig
+                    .idleMode(IdleMode.kBrake)
+                    .smartCurrentLimit(20);
+            turningConfig.absoluteEncoder
+                    // Invert the turning encoder, since the output shaft rotates in the opposite
+                    // direction of the steering motor in the MAXSwerve Module.
+                    .inverted(true)
+                    .positionConversionFactor(turningFactor) // radians
+                    .velocityConversionFactor(turningFactor / 60.0); // radians per second
+            turningConfig.closedLoop
+                    .feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
+                    // These are example gains you may need to them for your own robot!
+                    .pid(1, 0, 0)
+                    .outputRange(-1, 1)
+                    // Enable PID wrap around for the turning motor. This will allow the PID
+                    // controller to go through 0 to get to the setpoint i.e. going from 350 degrees
+                    // to 10 degrees will go through 0 rather than the other direction which is a
+                    // longer route.
+                    .positionWrappingEnabled(true)
+                    .positionWrappingInputRange(0, turningFactor);
+        }
+    }
+}
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -4,8 +4,6 @@
 
 package frc.robot;
 
-import com.revrobotics.CANSparkBase.IdleMode;
-
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
@@ -66,54 +64,20 @@ public static final class DriveConstants {
   }
 
   public static final class ModuleConstants {
-    // The MAXSwerve module can be configured with one of three pinion gears: 12T, 13T, or 14T.
-    // This changes the drive speed of the module (a pinion gear with more teeth will result in a
-    // robot that drives faster).
+    // The MAXSwerve module can be configured with one of three pinion gears: 12T,
+    // 13T, or 14T. This changes the drive speed of the module (a pinion gear with
+    // more teeth will result in a robot that drives faster).
     public static final int kDrivingMotorPinionTeeth = 14;
 
-    // Invert the turning encoder, since the output shaft rotates in the opposite direction of
-    // the steering motor in the MAXSwerve Module.
-    public static final boolean kTurningEncoderInverted = true;
-
     // Calculations required for driving motor conversion factors and feed forward
     public static final double kDrivingMotorFreeSpeedRps = NeoMotorConstants.kFreeSpeedRpm / 60;
     public static final double kWheelDiameterMeters = 0.0762;
     public static final double kWheelCircumferenceMeters = kWheelDiameterMeters * Math.PI;
-    // 45 teeth on the wheel's bevel gear, 22 teeth on the first-stage spur gear, 15 teeth on the bevel pinion
+    // 45 teeth on the wheel's bevel gear, 22 teeth on the first-stage spur gear, 15
+    // teeth on the bevel pinion
     public static final double kDrivingMotorReduction = (45.0 * 22) / (kDrivingMotorPinionTeeth * 15);
     public static final double kDriveWheelFreeSpeedRps = (kDrivingMotorFreeSpeedRps * kWheelCircumferenceMeters)
         / kDrivingMotorReduction;
-
-    public static final double kDrivingEncoderPositionFactor = (kWheelDiameterMeters * Math.PI)
-        / kDrivingMotorReduction; // meters
-    public static final double kDrivingEncoderVelocityFactor = ((kWheelDiameterMeters * Math.PI)
-        / kDrivingMotorReduction) / 60.0; // meters per second
-
-    public static final double kTurningEncoderPositionFactor = (2 * Math.PI); // radians
-    public static final double kTurningEncoderVelocityFactor = (2 * Math.PI) / 60.0; // radians per second
-
-    public static final double kTurningEncoderPositionPIDMinInput = 0; // radians
-    public static final double kTurningEncoderPositionPIDMaxInput = kTurningEncoderPositionFactor; // radians
-
-    public static final double kDrivingP = 0.04;
-    public static final double kDrivingI = 0;
-    public static final double kDrivingD = 0;
-    public static final double kDrivingFF = 1 / kDriveWheelFreeSpeedRps;
-    public static final double kDrivingMinOutput = -1;
-    public static final double kDrivingMaxOutput = 1;
-
-    public static final double kTurningP = 1;
-    public static final double kTurningI = 0;
-    public static final double kTurningD = 0;
-    public static final double kTurningFF = 0;
-    public static final double kTurningMinOutput = -1;
-    public static final double kTurningMaxOutput = 1;
-
-    public static final IdleMode kDrivingMotorIdleMode = IdleMode.kBrake;
-    public static final IdleMode kTurningMotorIdleMode = IdleMode.kBrake;
-
-    public static final int kDrivingMotorCurrentLimit = 50; // amps
-    public static final int kTurningMotorCurrentLimit = 20; // amps
   }
 
   public static final class OIConstants {
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -54,7 +54,7 @@ public RobotContainer() {
                 -MathUtil.applyDeadband(m_driverController.getLeftY(), OIConstants.kDriveDeadband),
                 -MathUtil.applyDeadband(m_driverController.getLeftX(), OIConstants.kDriveDeadband),
                 -MathUtil.applyDeadband(m_driverController.getRightX(), OIConstants.kDriveDeadband),
-                true, true),
+                true),
             m_robotDrive));
   }
 
@@ -117,6 +117,6 @@ public Command getAutonomousCommand() {
     m_robotDrive.resetOdometry(exampleTrajectory.getInitialPose());
 
     // Run path following command, then stop at the end.
-    return swerveControllerCommand.andThen(() -> m_robotDrive.drive(0, 0, 0, false, false));
+    return swerveControllerCommand.andThen(() -> m_robotDrive.drive(0, 0, 0, false));
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
diff --git a/src/main/java/frc/robot/subsystems/MAXSwerveModule.java b/src/main/java/frc/robot/subsystems/MAXSwerveModule.java
diff --git a/src/main/java/frc/utils/SwerveUtils.java b/src/main/java/frc/utils/SwerveUtils.java
diff --git a/vendordeps/REVLib-2025.0.0-beta-2.json b/vendordeps/REVLib-2025.0.0-beta-2.json
diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json

Original file line number	Diff line number	Diff line change
`@@ -1,6 +1,6 @@`
`1`	`1`	`{`
`2`	`2`	`"enableCppIntellisense": false,`
`3`	`3`	`"currentLanguage": "java",`
`4`		`- "projectYear": "2024",`
	`4`	`+ "projectYear": "2025beta",`
`5`	`5`	`"teamNumber": 2714`
`6`	`6`	`}`
Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-Copyright (c) 2009-2023 FIRST and other WPILib contributors`
	`1`	`+Copyright (c) 2009-2024 FIRST and other WPILib contributors`
`2`	`2`	`All rights reserved.`
`3`	`3`
`4`	`4`	`Redistribution and use in source and binary forms, with or without`
Original file line number	Diff line number	Diff line change
`@@ -15,6 +15,8 @@`
`15`	`15`	`# See the License for the specific language governing permissions and`
`16`	`16`	`# limitations under the License.`
`17`	`17`	`#`
	`18`	`+# SPDX-License-Identifier: Apache-2.0`
	`19`	`+#`
`18`	`20`
`19`	`21`	`##############################################################################`
`20`	`22`	`#`
`@@ -55,7 +57,7 @@`
`55`	`57`	`# Darwin, MinGW, and NonStop.`
`56`	`58`	`#`
`57`	`59`	`# (3) This script is generated from the Groovy template`
`58`		`-# https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt`
	`60`	`+# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt`
`59`	`61`	`# within the Gradle project.`
`60`	`62`	`#`
`61`	`63`	`# You can find Gradle at https://github.com/gradle/gradle/.`
`@@ -84,7 +86,8 @@ done`
`84`	`86`	`# shellcheck disable=SC2034`
`85`	`87`	`APP_BASE_NAME=${0##*/}`
`86`	`88`	`# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)`
`87`		`-APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) \|\| exit`
	`89`	`+APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s`
	`90`	`+' "$PWD" ) \|\| exit`
`88`	`91`
`89`	`92`	`# Use the maximum available, or set MAX_FD != -1 to use that value.`
`90`	`93`	`MAX_FD=maximum`