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Merged
alex-wanger merged 2 commits into from
Jul 21, 2026
Merged

Update dependencies and configuration classes #8

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aa4901d
feat: update vendor deps, remove stuylib
Danx3mer Jul 20, 2026
1dc13a9
feat: add new TalonFXConfig methods
Danx3mer Jul 20, 2026
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7 changes: 0 additions & 7 deletions build.gradle
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Original file line number Diff line number Diff line change
Expand Up @@ -10,10 +10,6 @@ allprojects {
}
}

// Set this to the latest version of StuyLib.
// You can check here: https://github.com/StuyPulse/StuyLib/releases.
final String STUYLIB_VERSION = '2026.1.1-SNAPSHOT'

def ROBOT_MAIN_CLASS = "com.stuypulse.robot.Main"

sourceCompatibility = JavaVersion.VERSION_17
Expand Down Expand Up @@ -77,8 +73,6 @@ dependencies {
simulationRelease wpi.sim.enableRelease()

testImplementation 'junit:junit:4.13.1'

implementation "com.github.StuyPulse:StuyLib:${STUYLIB_VERSION}";
}

// Simulation configuration (e.g. environment variables).
Expand All @@ -97,7 +91,6 @@ spotless {
endWithNewline()

importOrder(
'com.stuypulse.stuylib',
'com.stuypulse.constants',
'com.stuypulse.subsystems',
'com.stuypulse.commands',
Expand Down
7 changes: 3 additions & 4 deletions src/main/java/com/stuypulse/robot/RobotContainer.java
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Expand Up @@ -7,18 +7,17 @@

import com.stuypulse.robot.commands.auton.DoNothingAuton;
import com.stuypulse.robot.constants.Ports;
import com.stuypulse.stuylib.input.Gamepad;
import com.stuypulse.stuylib.input.gamepads.AutoGamepad;

import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;

public class RobotContainer {

// Gamepads
public final Gamepad driver = new AutoGamepad(Ports.Gamepad.DRIVER);
public final Gamepad operator = new AutoGamepad(Ports.Gamepad.OPERATOR);
public final CommandXboxController driver = new CommandXboxController(Ports.Gamepad.DRIVER);
public final CommandXboxController operator = new CommandXboxController(Ports.Gamepad.OPERATOR);

// Subsystem

Expand Down
199 changes: 193 additions & 6 deletions src/main/java/com/stuypulse/robot/constants/Motors.java
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Expand Up @@ -5,6 +5,7 @@

package com.stuypulse.robot.constants;

import com.ctre.phoenix6.configs.ClosedLoopGeneralConfigs;
import com.ctre.phoenix6.configs.ClosedLoopRampsConfigs;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.configs.FeedbackConfigs;
Expand All @@ -14,12 +15,18 @@
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.configs.Slot1Configs;
import com.ctre.phoenix6.configs.Slot2Configs;
import com.ctre.phoenix6.configs.SlotConfigs;
import com.ctre.phoenix6.configs.SoftwareLimitSwitchConfigs;
import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.configs.TorqueCurrentConfigs;
import com.ctre.phoenix6.configs.VoltageConfigs;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.FeedbackSensorSourceValue;
import com.ctre.phoenix6.signals.GainSchedBehaviorValue;
import com.ctre.phoenix6.signals.GravityTypeValue;
import com.ctre.phoenix6.signals.InvertedValue;
import com.ctre.phoenix6.signals.NeutralModeValue;
import com.ctre.phoenix6.signals.StaticFeedforwardSignValue;

/*-
* File containing all of the configurations that different motors require.
Expand All @@ -31,9 +38,11 @@
* - The Open Loop Ramp Rate
*/
public interface Motors {

/** Classes to store all of the values a motor needs */

/**
* Wrapper class for configuring TalonFX motors
*/
public static class TalonFXConfig {
private final TalonFXConfiguration configuration = new TalonFXConfiguration();
private final Slot0Configs slot0Configs = new Slot0Configs();
Expand All @@ -45,12 +54,79 @@ public static class TalonFXConfig {
private final CurrentLimitsConfigs currentLimitsConfigs = new CurrentLimitsConfigs();
private final FeedbackConfigs feedbackConfigs = new FeedbackConfigs();
private final MotionMagicConfigs motionMagicConfigs = new MotionMagicConfigs();
private final SoftwareLimitSwitchConfigs softwareLimitSwitchConfigs = new SoftwareLimitSwitchConfigs();
private final ClosedLoopGeneralConfigs closedLoopGeneralConfigs = new ClosedLoopGeneralConfigs();
private final VoltageConfigs voltageConfigs = new VoltageConfigs();
private final TorqueCurrentConfigs torqueCurrentConfigs = new TorqueCurrentConfigs();

private final double[] lastKP = new double[3];
private final double[] lastKI = new double[3];
private final double[] lastKD = new double[3];
private final double[] lastKS = new double[3];
private final double[] lastKV = new double[3];
private final double[] lastKA = new double[3];

public void configure(TalonFX motor) {
TalonFXConfiguration defaultConfig = new TalonFXConfiguration();
motor.getConfigurator().apply(defaultConfig);

motor.getConfigurator().apply(configuration);
}

// SLOT 0 CONFIGS
public TalonFXConfiguration getConfiguration() {
return this.configuration;
}

public void updateGainsConfig(TalonFX motor, int slot, double kP, double kI, double kD, double kS, double kV, double kA) {
if (slot != 0 && slot != 1 && slot != 2) {
return;
}

boolean changed =
kP != lastKP[slot] ||
kI != lastKI[slot] ||
kD != lastKD[slot] ||
kS != lastKS[slot] ||
kV != lastKV[slot] ||
kA != lastKA[slot];

if (!changed) {
return;
}

SlotConfigs gainConfig = new SlotConfigs()
.withKP(kP)
.withKI(kI)
.withKD(kD)
.withKS(kS)
.withKV(kV)
.withKA(kA);

gainConfig.SlotNumber = slot;

motor.getConfigurator().apply(gainConfig);

lastKP[slot] = kP;
lastKI[slot] = kI;
lastKD[slot] = kD;
lastKS[slot] = kS;
lastKV[slot] = kV;
lastKA[slot] = kA;

switch (slot) {
case 0:
motor.getConfigurator().refresh(this.getConfiguration().Slot0);
break;
case 1:
motor.getConfigurator().refresh(this.getConfiguration().Slot1);
break;
case 2:
motor.getConfigurator().refresh(this.getConfiguration().Slot2);
break;
}
}

// SLOT CONFIGS

public TalonFXConfig withPIDConstants(double kP, double kI, double kD, int slot) {
switch (slot) {
Expand All @@ -77,7 +153,7 @@ public TalonFXConfig withPIDConstants(double kP, double kI, double kD, int slot)
}

public TalonFXConfig withFFConstants(double kS, double kV, double kA, int slot) {
return withFFConstants(kS, kV, kA, 0, slot);
return withFFConstants(kS, kV, kA, 0.0, slot);
}

public TalonFXConfig withFFConstants(double kS, double kV, double kA, double kG, int slot) {
Expand Down Expand Up @@ -107,6 +183,25 @@ public TalonFXConfig withFFConstants(double kS, double kV, double kA, double kG,
return this;
}

public TalonFXConfig withStaticFeedforwardSign(StaticFeedforwardSignValue staticFeedforwardSign, int slot) {
switch (slot) {
case 0:
slot0Configs.StaticFeedforwardSign = staticFeedforwardSign;
configuration.withSlot0(slot0Configs);
break;
case 1:
slot1Configs.StaticFeedforwardSign = staticFeedforwardSign;
configuration.withSlot1(slot1Configs);
break;
case 2:
slot2Configs.StaticFeedforwardSign = staticFeedforwardSign;
configuration.withSlot2(slot2Configs);
break;
}

return this;
}

public TalonFXConfig withGravityType(GravityTypeValue gravityType) {
slot0Configs.GravityType = gravityType;
slot1Configs.GravityType = gravityType;
Expand All @@ -119,6 +214,31 @@ public TalonFXConfig withGravityType(GravityTypeValue gravityType) {
return this;
}

public TalonFXConfig withGainSchedBehavior(GainSchedBehaviorValue value, double threshold, int slot) {
closedLoopGeneralConfigs.GainSchedErrorThreshold = threshold;
configuration.withClosedLoopGeneral(closedLoopGeneralConfigs);

switch(slot) {
case 0: {
slot0Configs.GainSchedBehavior = value;
configuration.withSlot0(slot0Configs);
}
break;
case 1: {
slot1Configs.GainSchedBehavior = value;
configuration.withSlot1(slot1Configs);
}
break;
case 2: {
slot2Configs.GainSchedBehavior = value;
configuration.withSlot2(slot2Configs);
}
break;
}

return this;
}

// MOTOR OUTPUT CONFIGS

public TalonFXConfig withInvertedValue(InvertedValue invertedValue) {
Expand All @@ -137,6 +257,14 @@ public TalonFXConfig withNeutralMode(NeutralModeValue neutralMode) {
return this;
}

public TalonFXConfig withVelocityTimeFilter(double filterInSeconds) {
feedbackConfigs.withVelocityFilterTimeConstant(filterInSeconds);

configuration.withFeedback(feedbackConfigs);

return this;
}

// RAMP RATE CONFIGS

public TalonFXConfig withRampRate(double rampRate) {
Expand All @@ -156,9 +284,9 @@ public TalonFXConfig withRampRate(double rampRate) {

// CURRENT LIMIT CONFIGS

public TalonFXConfig withCurrentLimitAmps(double currentLimitAmps) {
currentLimitsConfigs.StatorCurrentLimit = currentLimitAmps;
currentLimitsConfigs.StatorCurrentLimitEnable = true;
public TalonFXConfig withLowerLimitSupplyCurrent(double currentLowerLimitAmps, double time) {
currentLimitsConfigs.SupplyCurrentLowerLimit = currentLowerLimitAmps;
currentLimitsConfigs.SupplyCurrentLowerTime = time;

configuration.withCurrentLimits(currentLimitsConfigs);

Expand All @@ -174,6 +302,65 @@ public TalonFXConfig withSupplyCurrentLimitAmps(double currentLimitAmps) {
return this;
}

public TalonFXConfig withSupplyCurrentLimitEnabled(boolean enabled) {
currentLimitsConfigs.SupplyCurrentLimitEnable = enabled;

configuration.withCurrentLimits(currentLimitsConfigs);

return this;
}

public TalonFXConfig withStatorCurrentLimitAmps(double currentLimitAmps) {
currentLimitsConfigs.StatorCurrentLimit = currentLimitAmps;
currentLimitsConfigs.StatorCurrentLimitEnable = true;

configuration.withCurrentLimits(currentLimitsConfigs);

return this;
}

public TalonFXConfig withStatorCurrentLimitEnabled(boolean enabled) {
currentLimitsConfigs.StatorCurrentLimitEnable = enabled;

configuration.withCurrentLimits(currentLimitsConfigs);

return this;
}

public TalonFXConfig withTorqueCurrentLimits(double peakForwardTorqueCurrent, double peakReverseTorqueCurrent, double neutralTolerance) {
torqueCurrentConfigs.PeakForwardTorqueCurrent = peakForwardTorqueCurrent;
torqueCurrentConfigs.PeakReverseTorqueCurrent = peakReverseTorqueCurrent;
torqueCurrentConfigs.TorqueNeutralDeadband = neutralTolerance;

configuration.withTorqueCurrent(torqueCurrentConfigs);

return this;
}

// VOLTAGE LIMIT CONFIGS

public TalonFXConfig withVoltageLimits(double peakForwardVoltage, double peakReverseVoltage) {
voltageConfigs.PeakForwardVoltage = peakForwardVoltage;
voltageConfigs.PeakReverseVoltage = peakReverseVoltage;

configuration.withVoltage(voltageConfigs);

return this;
}

// SOFTWARE LIMIT CONFIGS

public TalonFXConfig withSoftLimits(boolean forwardEnable, boolean reverseEnable, double forwardThreshold, double reverseThreshold) {
softwareLimitSwitchConfigs.ForwardSoftLimitEnable = forwardEnable;
softwareLimitSwitchConfigs.ReverseSoftLimitEnable = reverseEnable;
softwareLimitSwitchConfigs.ForwardSoftLimitThreshold = forwardThreshold;
softwareLimitSwitchConfigs.ReverseSoftLimitThreshold = reverseThreshold;

configuration.withSoftwareLimitSwitch(softwareLimitSwitchConfigs);

return this;
}

// MOTION MAGIC CONFIGS

public TalonFXConfig withMotionProfile(double maxVelocity, double maxAcceleration) {
Expand Down
4 changes: 1 addition & 3 deletions src/main/java/com/stuypulse/robot/constants/Settings.java
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Expand Up @@ -5,13 +5,11 @@

package com.stuypulse.robot.constants;

import com.stuypulse.stuylib.network.SmartBoolean;
import com.stuypulse.stuylib.network.SmartNumber;

/*-
* File containing tunable settings for every subsystem on the robot.
*
* We use StuyLib's SmartNumber / SmartBoolean in order to have tunable
* We use DogLog's tunables in order to have tunable
* values that we can edit on Shuffleboard.
*/
public interface Settings {}
20 changes: 20 additions & 0 deletions vendordeps/DogLog.json
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@@ -0,0 +1,20 @@
{
"javaDependencies": [
{
"groupId": "com.github.jonahsnider",
"artifactId": "doglog",
"version": "2026.5.0"
}
],
"fileName": "DogLog.json",
"frcYear": "2026",
"jsonUrl": "https://doglog.dev/vendordep.json",
"name": "DogLog",
"jniDependencies": [],
"mavenUrls": [
"https://jitpack.io"
],
"cppDependencies": [],
"version": "2026.5.0",
"uuid": "65592ce1-2251-4a31-8e4b-2df20dacebe4"
}
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