There is no need to edit this file, and it should not be edited unless you know what you are
+ * doing.
+ */
public final class Main {
private Main() {}
+ /**
+ * The main method that starts the robot code. This should not be edited unless you know what
+ * you are doing.
+ */
public static void main(String... args) {
- RobotBase.startRobot(Robot::new);
+ RobotBase.startRobot(Robot.class);
}
}
diff --git a/src/main/java/com/stuypulse/robot/Robot.java b/src/main/java/com/stuypulse/robot/Robot.java
index e0f788d..979da16 100644
--- a/src/main/java/com/stuypulse/robot/Robot.java
+++ b/src/main/java/com/stuypulse/robot/Robot.java
@@ -2,30 +2,56 @@
/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved.*/
/* This work is licensed under the terms of the MIT license. */
/**************************************************************/
-
package com.stuypulse.robot;
-import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.CommandScheduler;
-
+import org.wpilib.command3.Command;
+import org.wpilib.command3.Scheduler;
+import org.wpilib.driverstation.Alliance;
+import org.wpilib.driverstation.MatchState;
+import org.wpilib.framework.TimedRobot;
+
+import java.util.Optional;
+
+/**
+ *
+ *
+ *
alliance = MatchState.getAlliance();
+ if (alliance.isPresent()) {
+ return alliance.get() == Alliance.BLUE;
+ }
+ return false;
+ }
- private RobotContainer robot;
+ private final RobotContainer robot;
+ private final Scheduler defaultScheduler;
private Command auto;
+ public Robot() {
+ robot = new RobotContainer();
+ defaultScheduler = Scheduler.getDefault();
+ }
+
/*************************/
/*** ROBOT SCHEDULEING ***/
/*************************/
- @Override
- public void robotInit() {
- robot = new RobotContainer();
- }
-
@Override
public void robotPeriodic() {
- CommandScheduler.getInstance().run();
+ defaultScheduler.run();
}
/*********************/
@@ -40,14 +66,14 @@ public void disabledPeriodic() {}
/***********************/
/*** AUTONOMOUS MODE ***/
- /***********************/
+ /***********************/
@Override
public void autonomousInit() {
auto = robot.getAutonomousCommand();
if (auto != null) {
- auto.schedule();
+ defaultScheduler.schedule(auto);
}
}
@@ -64,7 +90,7 @@ public void autonomousExit() {}
@Override
public void teleopInit() {
if (auto != null) {
- auto.cancel();
+ defaultScheduler.cancel(auto);
}
}
@@ -74,18 +100,18 @@ public void teleopPeriodic() {}
@Override
public void teleopExit() {}
- /*****************/
- /*** TEST MODE ***/
- /*****************/
+ /*************************/
+ /*** UTILITY/TEST MODE ***/
+ /*************************/
@Override
- public void testInit() {
- CommandScheduler.getInstance().cancelAll();
+ public void utilityInit() {
+ defaultScheduler.cancelAll();
}
@Override
- public void testPeriodic() {}
+ public void utilityPeriodic() {}
@Override
- public void testExit() {}
+ public void utilityExit() {}
}
diff --git a/src/main/java/com/stuypulse/robot/RobotContainer.java b/src/main/java/com/stuypulse/robot/RobotContainer.java
index c48fa38..de6f71c 100644
--- a/src/main/java/com/stuypulse/robot/RobotContainer.java
+++ b/src/main/java/com/stuypulse/robot/RobotContainer.java
@@ -2,23 +2,27 @@
/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved.*/
/* This work is licensed under the terms of the MIT license. */
/**************************************************************/
-
package com.stuypulse.robot;
-import com.stuypulse.robot.commands.auton.DoNothingAuton;
+import com.stuypulse.robot.commands.auton.AutonomousRoutines;
import com.stuypulse.robot.constants.Ports;
-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;
+import org.wpilib.command3.Command;
+import org.wpilib.command3.button.CommandNiDsXboxController;
+import org.wpilib.smartdashboard.SendableChooser;
+import org.wpilib.smartdashboard.SmartDashboard;
+
+import dev.doglog.DogLog;
+import dev.doglog.DogLogOptions;
public class RobotContainer {
// Gamepads
- public final CommandXboxController driver = new CommandXboxController(Ports.Gamepad.DRIVER);
- public final CommandXboxController operator = new CommandXboxController(Ports.Gamepad.OPERATOR);
-
+ public final CommandNiDsXboxController driver =
+ new CommandNiDsXboxController(Ports.Gamepad.DRIVER);
+ public final CommandNiDsXboxController operator =
+ new CommandNiDsXboxController(Ports.Gamepad.OPERATOR);
+
// Subsystem
// Autons
@@ -27,11 +31,21 @@ public class RobotContainer {
// Robot container
public RobotContainer() {
+ configureLogging();
configureDefaultCommands();
configureButtonBindings();
configureAutons();
}
+ /***************/
+ /*** LOGGING ***/
+ /***************/
+
+ private void configureLogging() {
+ DogLog.setOptions(
+ new DogLogOptions().withCaptureDs(true).withNtTunables(true).withLogExtras(true));
+ }
+
/****************/
/*** DEFAULTS ***/
/****************/
@@ -49,11 +63,16 @@ private void configureButtonBindings() {}
/**************/
public void configureAutons() {
- autonChooser.setDefaultOption("Do Nothing", new DoNothingAuton());
+ autonChooser.setDefaultOption("Do Nothing", AutonomousRoutines.doNothingAuton());
SmartDashboard.putData("Autonomous", autonChooser);
}
+ /**
+ * Use this to pass the autonomous command to the main {@link Robot} class.
+ *
+ * @return The command to run in autonomous
+ */
public Command getAutonomousCommand() {
return autonChooser.getSelected();
}
diff --git a/src/main/java/com/stuypulse/robot/commands/auton/AutonomousRoutines.java b/src/main/java/com/stuypulse/robot/commands/auton/AutonomousRoutines.java
new file mode 100644
index 0000000..efa8245
--- /dev/null
+++ b/src/main/java/com/stuypulse/robot/commands/auton/AutonomousRoutines.java
@@ -0,0 +1,13 @@
+/************************ PROJECT PHIL ************************/
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved.*/
+/* This work is licensed under the terms of the MIT license. */
+/**************************************************************/
+package com.stuypulse.robot.commands.auton;
+
+import org.wpilib.command3.Command;
+
+public interface AutonomousRoutines {
+ public static Command doNothingAuton() {
+ return Command.sequence().named("Do Nothing");
+ }
+}
diff --git a/src/main/java/com/stuypulse/robot/constants/Motors.java b/src/main/java/com/stuypulse/robot/constants/Motors.java
index dc36e23..c3df175 100644
--- a/src/main/java/com/stuypulse/robot/constants/Motors.java
+++ b/src/main/java/com/stuypulse/robot/constants/Motors.java
@@ -2,31 +2,15 @@
/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved.*/
/* This work is licensed under the terms of the MIT license. */
/**************************************************************/
-
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;
-import com.ctre.phoenix6.configs.MotionMagicConfigs;
-import com.ctre.phoenix6.configs.MotorOutputConfigs;
-import com.ctre.phoenix6.configs.OpenLoopRampsConfigs;
-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 static org.wpilib.units.Units.*;
+
+import org.wpilib.units.measure.*;
+
+import com.ctre.phoenix6.configs.*;
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;
+import com.ctre.phoenix6.signals.*;
/*-
* File containing all of the configurations that different motors require.
@@ -40,9 +24,7 @@
public interface Motors {
/** Classes to store all of the values a motor needs */
- /**
- * Wrapper class for configuring TalonFX motors
- */
+ /** Wrapper class for configuring TalonFX motors */
public static class TalonFXConfig {
private final TalonFXConfiguration configuration = new TalonFXConfiguration();
private final Slot0Configs slot0Configs = new Slot0Configs();
@@ -54,8 +36,10 @@ 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 SoftwareLimitSwitchConfigs softwareLimitSwitchConfigs =
+ new SoftwareLimitSwitchConfigs();
+ private final ClosedLoopGeneralConfigs closedLoopGeneralConfigs =
+ new ClosedLoopGeneralConfigs();
private final VoltageConfigs voltageConfigs = new VoltageConfigs();
private final TorqueCurrentConfigs torqueCurrentConfigs = new TorqueCurrentConfigs();
@@ -77,30 +61,39 @@ 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) {
+ 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];
+ final 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);
+ final SlotConfigs gainConfig =
+ new SlotConfigs()
+ .withKP(kP)
+ .withKI(kI)
+ .withKD(kD)
+ .withKS(kS)
+ .withKV(kV)
+ .withKA(kA);
gainConfig.SlotNumber = slot;
@@ -131,21 +124,15 @@ public void updateGainsConfig(TalonFX motor, int slot, double kP, double kI, dou
public TalonFXConfig withPIDConstants(double kP, double kI, double kD, int slot) {
switch (slot) {
case 0:
- slot0Configs.kP = kP;
- slot0Configs.kI = kI;
- slot0Configs.kD = kD;
+ slot0Configs.withKP(kP).withKI(kI).withKD(kD);
configuration.withSlot0(slot0Configs);
break;
case 1:
- slot1Configs.kP = kP;
- slot1Configs.kI = kI;
- slot1Configs.kD = kD;
+ slot1Configs.withKP(kP).withKI(kI).withKD(kD);
configuration.withSlot1(slot1Configs);
break;
case 2:
- slot2Configs.kP = kP;
- slot2Configs.kI = kI;
- slot2Configs.kD = kD;
+ slot2Configs.withKP(kP).withKI(kI).withKD(kD);
configuration.withSlot2(slot2Configs);
break;
}
@@ -159,42 +146,34 @@ public TalonFXConfig withFFConstants(double kS, double kV, double kA, int slot)
public TalonFXConfig withFFConstants(double kS, double kV, double kA, double kG, int slot) {
switch (slot) {
case 0:
- slot0Configs.kS = kS;
- slot0Configs.kV = kV;
- slot0Configs.kA = kA;
- slot0Configs.kG = kG;
+ slot0Configs.withKS(kS).withKV(kV).withKA(kA).withKG(kG);
configuration.withSlot0(slot0Configs);
break;
case 1:
- slot1Configs.kS = kS;
- slot1Configs.kV = kV;
- slot1Configs.kA = kA;
- slot1Configs.kG = kG;
+ slot1Configs.withKS(kS).withKV(kV).withKA(kA).withKG(kG);
configuration.withSlot1(slot1Configs);
break;
case 2:
- slot2Configs.kS = kS;
- slot2Configs.kV = kV;
- slot2Configs.kA = kA;
- slot2Configs.kG = kG;
+ slot2Configs.withKS(kS).withKV(kV).withKA(kA).withKG(kG);
configuration.withSlot2(slot2Configs);
break;
}
return this;
}
- public TalonFXConfig withStaticFeedforwardSign(StaticFeedforwardSignValue staticFeedforwardSign, int slot) {
+ public TalonFXConfig withStaticFeedforwardSign(
+ StaticFeedforwardSignValue staticFeedforwardSign, int slot) {
switch (slot) {
case 0:
- slot0Configs.StaticFeedforwardSign = staticFeedforwardSign;
+ slot0Configs.withStaticFeedforwardSign(staticFeedforwardSign);
configuration.withSlot0(slot0Configs);
break;
case 1:
- slot1Configs.StaticFeedforwardSign = staticFeedforwardSign;
+ slot1Configs.withStaticFeedforwardSign(staticFeedforwardSign);
configuration.withSlot1(slot1Configs);
break;
case 2:
- slot2Configs.StaticFeedforwardSign = staticFeedforwardSign;
+ slot2Configs.withStaticFeedforwardSign(staticFeedforwardSign);
configuration.withSlot2(slot2Configs);
break;
}
@@ -203,9 +182,9 @@ public TalonFXConfig withStaticFeedforwardSign(StaticFeedforwardSignValue static
}
public TalonFXConfig withGravityType(GravityTypeValue gravityType) {
- slot0Configs.GravityType = gravityType;
- slot1Configs.GravityType = gravityType;
- slot2Configs.GravityType = gravityType;
+ slot0Configs.withGravityType(gravityType);
+ slot1Configs.withGravityType(gravityType);
+ slot2Configs.withGravityType(gravityType);
configuration.withSlot0(slot0Configs);
configuration.withSlot1(slot1Configs);
@@ -214,26 +193,56 @@ public TalonFXConfig withGravityType(GravityTypeValue gravityType) {
return this;
}
- public TalonFXConfig withGainSchedBehavior(GainSchedBehaviorValue value, double threshold, int slot) {
- closedLoopGeneralConfigs.GainSchedErrorThreshold = threshold;
+ /**
+ * Modifies this configuration's GainSchedErrorThreshold parameter, which is the position
+ * closed-loop error threshold to apply gains scheduling.
+ *
+ * @param value Gains scheduling behavior, see {@link
+ * com.ctre.phoenix6.signals.GainSchedBehaviorValue}.
+ * @param thresholdRotations The position closed-loop error threshold for gain scheduling in
+ * rotations.
+ * @param slot Slot to apply gains scheduling behavior to.
+ * @return Itself for method-chaining.
+ */
+ public TalonFXConfig withGainSchedBehavior(
+ GainSchedBehaviorValue value, double thresholdRotations, int slot) {
+ return this.withGainSchedBehavior(value, Rotations.of(thresholdRotations), slot);
+ }
+
+ /**
+ * Modifies this configuration's GainSchedErrorThreshold parameter, which is the position
+ * closed-loop error threshold to apply gains scheduling.
+ *
+ * @param value Gains scheduling behavior, see {@link
+ * com.ctre.phoenix6.signals.GainSchedBehaviorValue}.
+ * @param thresholdRotations The position closed-loop error threshold for gain scheduling.
+ * @param slot Slot to apply gains scheduling behavior to.
+ * @return Itself for method-chaining.
+ */
+ public TalonFXConfig withGainSchedBehavior(
+ GainSchedBehaviorValue value, Angle threshold, int slot) {
+ closedLoopGeneralConfigs.withGainSchedErrorThreshold(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;
+
+ switch (slot) {
+ case 0:
+ {
+ slot0Configs.withGainSchedBehavior(value);
+ configuration.withSlot0(slot0Configs);
+ }
+ break;
+ case 1:
+ {
+ slot1Configs.withGainSchedBehavior(value);
+ configuration.withSlot1(slot1Configs);
+ }
+ break;
+ case 2:
+ {
+ slot2Configs.withGainSchedBehavior(value);
+ configuration.withSlot2(slot2Configs);
+ }
+ break;
}
return this;
@@ -242,7 +251,7 @@ public TalonFXConfig withGainSchedBehavior(GainSchedBehaviorValue value, double
// MOTOR OUTPUT CONFIGS
public TalonFXConfig withInvertedValue(InvertedValue invertedValue) {
- motorOutputConfigs.Inverted = invertedValue;
+ motorOutputConfigs.withInverted(invertedValue);
configuration.withMotorOutput(motorOutputConfigs);
@@ -250,15 +259,32 @@ public TalonFXConfig withInvertedValue(InvertedValue invertedValue) {
}
public TalonFXConfig withNeutralMode(NeutralModeValue neutralMode) {
- motorOutputConfigs.NeutralMode = neutralMode;
+ motorOutputConfigs.withNeutralMode(neutralMode);
configuration.withMotorOutput(motorOutputConfigs);
return this;
}
- public TalonFXConfig withVelocityTimeFilter(double filterInSeconds) {
- feedbackConfigs.withVelocityFilterTimeConstant(filterInSeconds);
+ /**
+ * Modifies this configuration's velocity filter's time constant.
+ *
+ * @param filterTime The configurable time constant in seconds of the Kalman velocity
+ * filter.
+ * @return Itself for easier method-chaining
+ */
+ public TalonFXConfig withVelocityTimeFilter(double filterTimeSeconds) {
+ return this.withVelocityTimeFilter(Seconds.of(filterTimeSeconds));
+ }
+
+ /**
+ * Modifies this configuration's velocity filter's time constant.
+ *
+ * @param filterTime The configurable time constant of the Kalman velocity filter.
+ * @return Itself for easier method-chaining
+ */
+ public TalonFXConfig withVelocityTimeFilter(Time filterTime) {
+ feedbackConfigs.withVelocityFilterTimeConstant(filterTime);
configuration.withFeedback(feedbackConfigs);
@@ -267,14 +293,48 @@ public TalonFXConfig withVelocityTimeFilter(double filterInSeconds) {
// RAMP RATE CONFIGS
- public TalonFXConfig withRampRate(double rampRate) {
- closedLoopRampsConfigs.DutyCycleClosedLoopRampPeriod = rampRate;
- closedLoopRampsConfigs.TorqueClosedLoopRampPeriod = rampRate;
- closedLoopRampsConfigs.VoltageClosedLoopRampPeriod = rampRate;
+ /**
+ * Modifies this configuration's open and closed loop ramp periods for the following control
+ * types:
+ *
+ *
+ * - DutyCycle
+ *
- TorqueCurrent
+ *
- Voltage
+ *
+ *
+ *
+ *
+ * @param rampRateSeconds Seconds for the motor to reach peak output from 0
+ * @return Itself for method-chaining
+ */
+ public TalonFXConfig withRampRate(double rampRateSeconds) {
+ return this.withRampRate(Seconds.of(rampRateSeconds));
+ }
- openLoopRampsConfigs.DutyCycleOpenLoopRampPeriod = rampRate;
- openLoopRampsConfigs.TorqueOpenLoopRampPeriod = rampRate;
- openLoopRampsConfigs.VoltageOpenLoopRampPeriod = rampRate;
+ /**
+ * Modifies this configuration's open and closed loop ramp periods for the following control
+ * types:
+ *
+ *
+ * - DutyCycle
+ *
- TorqueCurrent
+ *
- Voltage
+ *
+ *
+ *
+ *
+ * @param rampRateSeconds Time for the motor to reach peak output from 0
+ * @return Itself for easy method chaining
+ */
+ public TalonFXConfig withRampRate(Time rampRate) {
+ closedLoopRampsConfigs.withDutyCycleClosedLoopRampPeriod(rampRate);
+ closedLoopRampsConfigs.withTorqueClosedLoopRampPeriod(rampRate);
+ closedLoopRampsConfigs.withVoltageClosedLoopRampPeriod(rampRate);
+
+ openLoopRampsConfigs.withDutyCycleOpenLoopRampPeriod(rampRate);
+ openLoopRampsConfigs.withTorqueOpenLoopRampPeriod(rampRate);
+ openLoopRampsConfigs.withVoltageOpenLoopRampPeriod(rampRate);
configuration.withClosedLoopRamps(closedLoopRampsConfigs);
configuration.withOpenLoopRamps(openLoopRampsConfigs);
@@ -283,19 +343,62 @@ public TalonFXConfig withRampRate(double rampRate) {
}
// CURRENT LIMIT CONFIGS
+ /**
+ * Modifies this configuration's supply current lower limit.
+ *
+ * @param currentLowerLimit The amount of supply current in amperes allowed after the
+ * regular {@link CurrentLimitsConfigs#SupplyCurrentLimit} is active for longer than the
+ * time parameter.
+ * @param time The amount of time in seconds that the regular {@link
+ * CurrentLimitsConfigs#SupplyCurrentLimit} can be active before lowring it to the
+ * currentLowerLimit parameter.
+ * @return
+ */
+ public TalonFXConfig withLowerLimitSupplyCurrent(
+ double currentLowerLimitAmps, double timeSeconds) {
+ return this.withLowerLimitSupplyCurrent(
+ Amps.of(currentLowerLimitAmps), Seconds.of(timeSeconds));
+ }
- public TalonFXConfig withLowerLimitSupplyCurrent(double currentLowerLimitAmps, double time) {
- currentLimitsConfigs.SupplyCurrentLowerLimit = currentLowerLimitAmps;
- currentLimitsConfigs.SupplyCurrentLowerTime = time;
+ /**
+ * Modifies this configuration's supply current lower limit.
+ *
+ * @param currentLowerLimit The amount of supply current allowed after the regular {@link
+ * CurrentLimitsConfigs#SupplyCurrentLimit} is active for longer than the time
+ * parameter.
+ * @param time The amount of time that the regular {@link
+ * CurrentLimitsConfigs#SupplyCurrentLimit} can be active before lowring it to the
+ * currentLowerLimit parameter.
+ * @return
+ */
+ public TalonFXConfig withLowerLimitSupplyCurrent(Current currentLowerLimit, Time time) {
+ currentLimitsConfigs.withSupplyCurrentLowerLimit(currentLowerLimit);
+ currentLimitsConfigs.withSupplyCurrentLowerTime(time);
configuration.withCurrentLimits(currentLimitsConfigs);
return this;
}
- public TalonFXConfig withSupplyCurrentLimitAmps(double currentLimitAmps) {
- currentLimitsConfigs.SupplyCurrentLimit = currentLimitAmps;
- currentLimitsConfigs.SupplyCurrentLimitEnable = true;
+ /**
+ * Modifies this configuration's supply current limit and enables it.
+ *
+ * @param currentLimit Maximum allowed current in amperes drawn from the battery.
+ * @return Itself for easier method-chaining.
+ */
+ public TalonFXConfig withSupplyCurrentLimit(double currentLimitAmps) {
+ return this.withSupplyCurrentLimit(Amps.of(currentLimitAmps));
+ }
+
+ /**
+ * Modifies this configuration's supply current limit and enables it.
+ *
+ * @param currentLimit Maximum allowed current drawn from the battery.
+ * @return Itself for easier method-chaining.
+ */
+ public TalonFXConfig withSupplyCurrentLimit(Current currentLimit) {
+ currentLimitsConfigs.withSupplyCurrentLimit(currentLimit);
+ currentLimitsConfigs.withSupplyCurrentLimitEnable(true);
configuration.withCurrentLimits(currentLimitsConfigs);
@@ -303,16 +406,33 @@ public TalonFXConfig withSupplyCurrentLimitAmps(double currentLimitAmps) {
}
public TalonFXConfig withSupplyCurrentLimitEnabled(boolean enabled) {
- currentLimitsConfigs.SupplyCurrentLimitEnable = enabled;
+ currentLimitsConfigs.withSupplyCurrentLimitEnable(enabled);
configuration.withCurrentLimits(currentLimitsConfigs);
return this;
}
- public TalonFXConfig withStatorCurrentLimitAmps(double currentLimitAmps) {
- currentLimitsConfigs.StatorCurrentLimit = currentLimitAmps;
- currentLimitsConfigs.StatorCurrentLimitEnable = true;
+ /**
+ * Modifies this configuration's stator current limit and enables it.
+ *
+ * @param currentLimit Amount of current in amperes allowed in the motor (motoring and regen
+ * current).
+ * @return Itself for easier method chaining.
+ */
+ public TalonFXConfig withStatorCurrentLimit(double currentLimitAmps) {
+ return this.withStatorCurrentLimit(Amps.of(currentLimitAmps));
+ }
+
+ /**
+ * Modifies this configuration's stator current limit and enables it.
+ *
+ * @param currentLimit Amount of current allowed in the motor (motoring and regen current).
+ * @return Itself for easier method chaining.
+ */
+ public TalonFXConfig withStatorCurrentLimit(Current currentLimit) {
+ currentLimitsConfigs.withStatorCurrentLimit(currentLimit);
+ currentLimitsConfigs.withStatorCurrentLimitEnable(true);
configuration.withCurrentLimits(currentLimitsConfigs);
@@ -320,17 +440,50 @@ public TalonFXConfig withStatorCurrentLimitAmps(double currentLimitAmps) {
}
public TalonFXConfig withStatorCurrentLimitEnabled(boolean enabled) {
- currentLimitsConfigs.StatorCurrentLimitEnable = enabled;
+ currentLimitsConfigs.withStatorCurrentLimitEnable(enabled);
configuration.withCurrentLimits(currentLimitsConfigs);
return this;
}
- public TalonFXConfig withTorqueCurrentLimits(double peakForwardTorqueCurrent, double peakReverseTorqueCurrent, double neutralTolerance) {
- torqueCurrentConfigs.PeakForwardTorqueCurrent = peakForwardTorqueCurrent;
- torqueCurrentConfigs.PeakReverseTorqueCurrent = peakReverseTorqueCurrent;
- torqueCurrentConfigs.TorqueNeutralDeadband = neutralTolerance;
+ /**
+ * Modifies this configuration's torque current limits. Limits apply during torque current
+ * control modes.
+ *
+ * @param peakForwardTorqueCurrent Maximum forward torque current output in amperes.
+ * @param peakReverseTorqueCurrent Maximum reverse torque current output in amperes.
+ * @param neutralTolerance Current range in amperes where requested torque current will
+ * result in zero bridge output.
+ * @return Itself for easier method-chaining.
+ */
+ public TalonFXConfig withTorqueCurrentLimits(
+ double peakForwardTorqueCurrentAmps,
+ double peakReverseTorqueCurrentAmps,
+ double neutralToleranceAmps) {
+ return this.withTorqueCurrentLimits(
+ Amps.of(peakForwardTorqueCurrentAmps),
+ Amps.of(peakReverseTorqueCurrentAmps),
+ Amps.of(neutralToleranceAmps));
+ }
+
+ /**
+ * Modifies this configuration's torque current limits. Limits apply during torque current
+ * control modes.
+ *
+ * @param peakForwardTorqueCurrent Maximum forward torque current output.
+ * @param peakReverseTorqueCurrent Maximum reverse torque current output.
+ * @param neutralTolerance Current range where requested torque current will result in zero
+ * bridge output.
+ * @return Itself for easier method-chaining.
+ */
+ public TalonFXConfig withTorqueCurrentLimits(
+ Current peakForwardTorqueCurrent,
+ Current peakReverseTorqueCurrent,
+ Current neutralTolerance) {
+ torqueCurrentConfigs.withPeakForwardTorqueCurrent(peakForwardTorqueCurrent);
+ torqueCurrentConfigs.withPeakReverseTorqueCurrent(peakReverseTorqueCurrent);
+ torqueCurrentConfigs.withTorqueNeutralDeadband(neutralTolerance);
configuration.withTorqueCurrent(torqueCurrentConfigs);
@@ -339,9 +492,28 @@ public TalonFXConfig withTorqueCurrentLimits(double peakForwardTorqueCurrent, do
// VOLTAGE LIMIT CONFIGS
- public TalonFXConfig withVoltageLimits(double peakForwardVoltage, double peakReverseVoltage) {
- voltageConfigs.PeakForwardVoltage = peakForwardVoltage;
- voltageConfigs.PeakReverseVoltage = peakReverseVoltage;
+ /**
+ * Modifies this configuration's voltage limits. Limits apply during voltage control modes.
+ *
+ * @param peakForwardVoltage Maximum forward voltage output in volts.
+ * @param peakReverseVoltage Maximum reverse voltage output in volts.
+ * @return Itself for easier method chaining.
+ */
+ public TalonFXConfig withVoltageLimits(double peakForwardVolts, double peakReverseVolts) {
+ return this.withVoltageLimits(Volts.of(peakForwardVolts), Volts.of(peakReverseVolts));
+ }
+
+ /**
+ * Modifies this configuration's voltage limits. Limits apply during voltage control modes.
+ *
+ * @param peakForwardVoltage Maximum forward voltage output.
+ * @param peakReverseVoltage Maximum reverse voltage output.
+ * @return Itself for easier method chaining.
+ */
+ public TalonFXConfig withVoltageLimits(
+ Voltage peakForwardVoltage, Voltage peakReverseVoltage) {
+ voltageConfigs.withPeakForwardVoltage(peakForwardVoltage);
+ voltageConfigs.withPeakReverseVoltage(peakReverseVoltage);
configuration.withVoltage(voltageConfigs);
@@ -349,12 +521,51 @@ public TalonFXConfig withVoltageLimits(double peakForwardVoltage, double peakRev
}
// SOFTWARE LIMIT CONFIGS
+ /**
+ * Modifies this configuration's software limit switch.
+ *
+ * @param forwardEnable Whether to set the motor output to neutral if its position exceeds
+ * the forward threshold.
+ * @param reverseEnable Whether to set the motor output to neutral if its position exceeds
+ * the reverse threshold.
+ * @param forwardThreshold The threshold angle in rotations for the application of the
+ * forward limit.
+ * @param reverseThreshold The threshold angle in rotations for the application of the
+ * reverse limit.
+ * @return Itself for easier method-chaining.
+ */
+ public TalonFXConfig withSoftLimits(
+ boolean forwardEnable,
+ boolean reverseEnable,
+ double forwardThresholdRotations,
+ double reverseThresholdRotations) {
+ return this.withSoftLimits(
+ forwardEnable,
+ reverseEnable,
+ Rotations.of(forwardThresholdRotations),
+ Rotations.of(reverseThresholdRotations));
+ }
- public TalonFXConfig withSoftLimits(boolean forwardEnable, boolean reverseEnable, double forwardThreshold, double reverseThreshold) {
- softwareLimitSwitchConfigs.ForwardSoftLimitEnable = forwardEnable;
- softwareLimitSwitchConfigs.ReverseSoftLimitEnable = reverseEnable;
- softwareLimitSwitchConfigs.ForwardSoftLimitThreshold = forwardThreshold;
- softwareLimitSwitchConfigs.ReverseSoftLimitThreshold = reverseThreshold;
+ /**
+ * Modifies this configuration's software limit switch.
+ *
+ * @param forwardEnable Whether to set the motor output to neutral if its position exceeds
+ * the forward threshold.
+ * @param reverseEnable Whether to set the motor output to neutral if its position exceeds
+ * the reverse threshold.
+ * @param forwardThreshold The threshold angle for the application of the forward limit.
+ * @param reverseThreshold The threshold angle for the application of the reverse limit.
+ * @return Itself for easier method-chaining.
+ */
+ public TalonFXConfig withSoftLimits(
+ boolean forwardEnable,
+ boolean reverseEnable,
+ Angle forwardThreshold,
+ Angle reverseThreshold) {
+ softwareLimitSwitchConfigs.withForwardSoftLimitEnable(forwardEnable);
+ softwareLimitSwitchConfigs.withReverseSoftLimitEnable(reverseEnable);
+ softwareLimitSwitchConfigs.withForwardSoftLimitThreshold(forwardThreshold);
+ softwareLimitSwitchConfigs.withReverseSoftLimitThreshold(reverseThreshold);
configuration.withSoftwareLimitSwitch(softwareLimitSwitchConfigs);
@@ -362,10 +573,32 @@ public TalonFXConfig withSoftLimits(boolean forwardEnable, boolean reverseEnable
}
// MOTION MAGIC CONFIGS
+ /**
+ * Modifies this configuration's motion magic profile.
+ *
+ * @param maxVelocity Maximum/cruise velocity of the motion profile in rotations per second.
+ * @param maxAcceleration Maximum acceleration of the motion profile in rotations per second
+ * squared.
+ * @return Itself for method-chaining.
+ */
+ public TalonFXConfig withMotionProfile(
+ double maxVelocityRotPerSec, double maxAccelerationRotPerSecSquared) {
+ return this.withMotionProfile(
+ RotationsPerSecond.of(maxVelocityRotPerSec),
+ RotationsPerSecondPerSecond.of(maxAccelerationRotPerSecSquared));
+ }
- public TalonFXConfig withMotionProfile(double maxVelocity, double maxAcceleration) {
- motionMagicConfigs.MotionMagicCruiseVelocity = maxVelocity;
- motionMagicConfigs.MotionMagicAcceleration = maxAcceleration;
+ /**
+ * Modifies this configuration's motion magic profile.
+ *
+ * @param maxVelocity Maximum/cruise velocity of the motion profile.
+ * @param maxAcceleration Maximum acceleration of the motion profile.
+ * @return Itself for method-chaining.
+ */
+ public TalonFXConfig withMotionProfile(
+ AngularVelocity maxVelocity, AngularAcceleration maxAcceleration) {
+ motionMagicConfigs.withMotionMagicCruiseVelocity(maxVelocity);
+ motionMagicConfigs.withMotionMagicAcceleration(maxAcceleration);
configuration.withMotionMagic(motionMagicConfigs);
@@ -376,9 +609,9 @@ public TalonFXConfig withMotionProfile(double maxVelocity, double maxAcceleratio
public TalonFXConfig withRemoteSensor(
int ID, FeedbackSensorSourceValue source, double rotorToSensorRatio) {
- feedbackConfigs.FeedbackRemoteSensorID = ID;
- feedbackConfigs.FeedbackSensorSource = source;
- feedbackConfigs.RotorToSensorRatio = rotorToSensorRatio;
+ feedbackConfigs.withFeedbackRemoteSensorID(ID);
+ feedbackConfigs.withFeedbackSensorSource(source);
+ feedbackConfigs.withRotorToSensorRatio(rotorToSensorRatio);
configuration.withFeedback(feedbackConfigs);
@@ -386,7 +619,7 @@ public TalonFXConfig withRemoteSensor(
}
public TalonFXConfig withSensorToMechanismRatio(double sensorToMechanismRatio) {
- feedbackConfigs.SensorToMechanismRatio = sensorToMechanismRatio;
+ feedbackConfigs.withSensorToMechanismRatio(sensorToMechanismRatio);
configuration.withFeedback(feedbackConfigs);
diff --git a/src/main/java/com/stuypulse/robot/constants/Ports.java b/src/main/java/com/stuypulse/robot/constants/Ports.java
index 1a2106d..c53ccb2 100644
--- a/src/main/java/com/stuypulse/robot/constants/Ports.java
+++ b/src/main/java/com/stuypulse/robot/constants/Ports.java
@@ -2,11 +2,10 @@
/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved.*/
/* This work is licensed under the terms of the MIT license. */
/**************************************************************/
-
package com.stuypulse.robot.constants;
/** This file contains the different ports of motors, solenoids and sensors */
-public interface Ports {
+public class Ports {
public interface Gamepad {
int DRIVER = 0;
int OPERATOR = 1;
diff --git a/src/main/java/com/stuypulse/robot/constants/Settings.java b/src/main/java/com/stuypulse/robot/constants/Settings.java
index a1b4525..ad19904 100644
--- a/src/main/java/com/stuypulse/robot/constants/Settings.java
+++ b/src/main/java/com/stuypulse/robot/constants/Settings.java
@@ -2,14 +2,12 @@
/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved.*/
/* This work is licensed under the terms of the MIT license. */
/**************************************************************/
-
package com.stuypulse.robot.constants;
-
-/*-
+/**
* File containing tunable settings for every subsystem on the robot.
*
- * We use DogLog's tunables in order to have tunable
- * values that we can edit on Shuffleboard.
+ * We use DogLog's tunables in order to have tunable values that we can edit from external
+ * dashboards.
*/
public interface Settings {}
diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json
new file mode 100644
index 0000000..0573d11
--- /dev/null
+++ b/vendordeps/AdvantageKit.json
@@ -0,0 +1,35 @@
+{
+ "fileName": "AdvantageKit.json",
+ "name": "AdvantageKit",
+ "version": "27.0.0-alpha-4",
+ "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
+ "wpilibYear": "2027_alpha5",
+ "mavenUrls": [
+ "https://frcmaven.wpi.org/artifactory/littletonrobotics-mvn-release/"
+ ],
+ "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json",
+ "javaDependencies": [
+ {
+ "groupId": "org.littletonrobotics.akit",
+ "artifactId": "akit-java",
+ "version": "27.0.0-alpha-4"
+ }
+ ],
+ "jniDependencies": [
+ {
+ "groupId": "org.littletonrobotics.akit",
+ "artifactId": "akit-wpilibio",
+ "version": "27.0.0-alpha-4",
+ "skipInvalidPlatforms": false,
+ "isJar": false,
+ "validPlatforms": [
+ "linuxsystemcore",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal",
+ "windowsx86-64"
+ ]
+ }
+ ],
+ "cppDependencies": []
+}
\ No newline at end of file
diff --git a/vendordeps/CommandsV3.json b/vendordeps/CommandsV3.json
new file mode 100644
index 0000000..cf494f9
--- /dev/null
+++ b/vendordeps/CommandsV3.json
@@ -0,0 +1,25 @@
+{
+ "fileName": "CommandsV3.json",
+ "name": "Commands v3",
+ "version": "1.0.0",
+ "uuid": "4decdc05-a056-46cf-9561-39449bbb0130",
+ "wpilibYear": "2027_alpha5",
+ "mavenUrls": [],
+ "jsonUrl": "",
+ "conflictsWith": [
+ {
+ "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
+ "errorMessage": "Users can not have both Commands v2 and Commands v3 vendordeps in their robot program.",
+ "offlineFileName": "CommandsV2.json"
+ }
+ ],
+ "javaDependencies": [
+ {
+ "groupId": "org.wpilib",
+ "artifactId": "commands3-java",
+ "version": "wpilib"
+ }
+ ],
+ "jniDependencies": [],
+ "cppDependencies": []
+}
\ No newline at end of file
diff --git a/vendordeps/DogLog.json b/vendordeps/DogLog.json
index 7201ed0..608dc30 100644
--- a/vendordeps/DogLog.json
+++ b/vendordeps/DogLog.json
@@ -3,11 +3,11 @@
{
"groupId": "com.github.jonahsnider",
"artifactId": "doglog",
- "version": "2026.5.0"
+ "version": "2027.1.0"
}
],
"fileName": "DogLog.json",
- "frcYear": "2026",
+ "wpilibYear": "2027_alpha5",
"jsonUrl": "https://doglog.dev/vendordep.json",
"name": "DogLog",
"jniDependencies": [],
@@ -15,6 +15,6 @@
"https://jitpack.io"
],
"cppDependencies": [],
- "version": "2026.5.0",
+ "version": "2027.1.0",
"uuid": "65592ce1-2251-4a31-8e4b-2df20dacebe4"
}
\ No newline at end of file
diff --git a/vendordeps/Phoenix6-26.50.0-alpha-1.json b/vendordeps/Phoenix6-26.50.0-alpha-1.json
new file mode 100644
index 0000000..f7db60a
--- /dev/null
+++ b/vendordeps/Phoenix6-26.50.0-alpha-1.json
@@ -0,0 +1,449 @@
+{
+ "fileName": "Phoenix6-26.50.0-alpha-1.json",
+ "name": "CTRE-Phoenix (v6)",
+ "version": "26.50.0-alpha-1",
+ "wpilibYear": "2027_alpha5",
+ "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
+ "mavenUrls": [
+ "https://maven.ctr-electronics.com/release/"
+ ],
+ "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2027-latest.json",
+ "conflictsWith": [
+ {
+ "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
+ "errorMessage": "Users cannot have both the replay and regular Phoenix 6 vendordeps in their robot program.",
+ "offlineFileName": "Phoenix6-replay-frc2027-latest.json"
+ }
+ ],
+ "javaDependencies": [
+ {
+ "groupId": "com.ctre.phoenix6",
+ "artifactId": "wpiapi-java",
+ "version": "26.50.0-alpha-1"
+ }
+ ],
+ "jniDependencies": [
+ {
+ "groupId": "com.ctre.phoenix6",
+ "artifactId": "api-cpp",
+ "version": "26.50.0-alpha-1",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "linuxsystemcore"
+ ],
+ "simMode": "hwsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6",
+ "artifactId": "tools",
+ "version": "26.50.0-alpha-1",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "linuxsystemcore"
+ ],
+ "simMode": "hwsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "api-cpp-sim",
+ "version": "26.50.0-alpha-1",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "tools-sim",
+ "version": "26.50.0-alpha-1",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simTalonSRX",
+ "version": "26.50.0-alpha-1",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simVictorSPX",
+ "version": "26.50.0-alpha-1",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simPigeonIMU",
+ "version": "26.50.0-alpha-1",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProTalonFX",
+ "version": "26.50.0-alpha-1",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProTalonFXS",
+ "version": "26.50.0-alpha-1",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProCANcoder",
+ "version": "26.50.0-alpha-1",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProPigeon2",
+ "version": "26.50.0-alpha-1",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProCANrange",
+ "version": "26.50.0-alpha-1",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProCANdi",
+ "version": "26.50.0-alpha-1",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProCANdle",
+ "version": "26.50.0-alpha-1",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ }
+ ],
+ "cppDependencies": [
+ {
+ "groupId": "com.ctre.phoenix6",
+ "artifactId": "wpiapi-cpp",
+ "version": "26.50.0-alpha-1",
+ "libName": "CTRE_Phoenix6_WPI",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "linuxsystemcore"
+ ],
+ "simMode": "hwsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6",
+ "artifactId": "tools",
+ "version": "26.50.0-alpha-1",
+ "libName": "CTRE_PhoenixTools",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "linuxsystemcore"
+ ],
+ "simMode": "hwsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "wpiapi-cpp-sim",
+ "version": "26.50.0-alpha-1",
+ "libName": "CTRE_Phoenix6_WPISim",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "tools-sim",
+ "version": "26.50.0-alpha-1",
+ "libName": "CTRE_PhoenixTools_Sim",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simTalonSRX",
+ "version": "26.50.0-alpha-1",
+ "libName": "CTRE_SimTalonSRX",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simVictorSPX",
+ "version": "26.50.0-alpha-1",
+ "libName": "CTRE_SimVictorSPX",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simPigeonIMU",
+ "version": "26.50.0-alpha-1",
+ "libName": "CTRE_SimPigeonIMU",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProTalonFX",
+ "version": "26.50.0-alpha-1",
+ "libName": "CTRE_SimProTalonFX",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProTalonFXS",
+ "version": "26.50.0-alpha-1",
+ "libName": "CTRE_SimProTalonFXS",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProCANcoder",
+ "version": "26.50.0-alpha-1",
+ "libName": "CTRE_SimProCANcoder",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProPigeon2",
+ "version": "26.50.0-alpha-1",
+ "libName": "CTRE_SimProPigeon2",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProCANrange",
+ "version": "26.50.0-alpha-1",
+ "libName": "CTRE_SimProCANrange",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProCANdi",
+ "version": "26.50.0-alpha-1",
+ "libName": "CTRE_SimProCANdi",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ },
+ {
+ "groupId": "com.ctre.phoenix6.sim",
+ "artifactId": "simProCANdle",
+ "version": "26.50.0-alpha-1",
+ "libName": "CTRE_SimProCANdle",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "linuxarm64",
+ "osxuniversal"
+ ],
+ "simMode": "swsim"
+ }
+ ]
+}
\ No newline at end of file
From 3788b4e23e455abcf8f8aa360100de5a77a562ad Mon Sep 17 00:00:00 2001
From: hc-45 <223769218+hc-45@users.noreply.github.com>
Date: Wed, 29 Jul 2026 15:05:52 -0400
Subject: [PATCH 2/4] CHORE: change vendordep and gradle versions. Uses gradle
9.4.1
---
gradle/wrapper/gradle-wrapper.jar | Bin 43583 -> 48966 bytes
.../robot/commands/DoNothingCommand.java | 25 -
.../robot/commands/auton/DoNothingAuton.java | 22 -
vendordeps/PathplannerLib.json | 38 --
vendordeps/Phoenix6-frc2026-latest.json | 449 ------------------
vendordeps/WPILibNewCommands.json | 39 --
6 files changed, 573 deletions(-)
delete mode 100644 src/main/java/com/stuypulse/robot/commands/DoNothingCommand.java
delete mode 100644 src/main/java/com/stuypulse/robot/commands/auton/DoNothingAuton.java
delete mode 100644 vendordeps/PathplannerLib.json
delete mode 100644 vendordeps/Phoenix6-frc2026-latest.json
delete mode 100644 vendordeps/WPILibNewCommands.json
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
index a4b76b9530d66f5e68d973ea569d8e19de379189..d997cfc60f4cff0e7451d19d49a82fa986695d07 100644
GIT binary patch
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