Changelog

Pull Requests are always reviewed!

I highly encourage anyone who wants to help make YAGSL better to create pull requests with any modifications you have made that increases your quality of life.

Pull requests · BroncBotz3481/YAGSL-ExampleGitHub

Contributing

YAGSL development is done on the dev branch of the YAGSL-Example repository here at src/main/java/swervelib.

GitHub - BroncBotz3481/YAGSL-Example at devGitHub

YAGSL-Example dev branch

All PR's should be based off of and merged into here. YAGSL is propagated often to the other repositories.

2024.4.8.7

• Increased logging verbosity to introduce logging modes for the field and data. (PR #185 by 5010)

2024.4.8.6

• Added PIDF helper functions SwerveModule.setDrivePIDF and SwerveModule.setAnglePIDF alongside SwerveModule.getDrivePIDF and SwerveModule.getAnglePIDF.

• Changed feedforward around to use SwerveModule.setFeedforward instead of directly modifying SwerveModule.feedforward

• Renamed SwerveModule.feedforward to SwerveModule.driveFeedforward.

• Added anti-jitter disabling option via SwerveModule.setAntiJitter which also modifies the encoder offsets that are pushed to the motor controllers.

• Updated vendordeps

2024.4.8.5

• Fixed NavX inversion state not taking any affect on the robot.

2024.4.8.4

• Updated anti jitter to run before cosine compensation.

2024.4.8.3

• Updated Pigeon2Swerve to use imu.getRotation3d() instead of handling the CAN timeouts.

• Massively reduced memory footprint required. (with help from @TheGamer1002)

2024.4.8.2

• Made CTRE wait for status times static for user modification. CANCoderSwerve.STATUS_TIMEOUT_SECONDS,TalonFXSwerve.STATUS_TIMEOUT_SECONDS, and Pigeon2Swerve.STATUS_TIMEOUT_SECONDS can be modified for desired use case.

2024.4.8.1

• Added SwerveDrive.setCosineCompensation function which can enable and disable cosine compensation as desired, disabled by default in sim because of discrepancies with real robots.

2024.4.8

• Added SysId support. (PR #160 and #165 by Team 5010)

• waitForStatusUpdate is used instead of refresh with default timeouts of 20ms.

• Added Cache class to cache variables over a validityPeriod which will speed up processing and reduce CAN utilization.

• Added SwerveDrive.updateCacheValidityPeriods so the user can change the cache validity period to their hearts desire.

• Added SwerveDrive.getModuleMap() which will fetch all of the SwerveModule's as a HashMap where the key is the module's filename without .json so frontleft.json would have the key of frontleft.

2024.4.7

• Modules will stay in the previous position if the desired velocity is 0.

• Cosine compensation is now reported through telemetry as expected.

2024.4.6.3

• Updated heading correction to use getOdometryHeading() instead of getYaw() (PR #150 by @Blargleflakes) This does impact heading correction PID values in controllerproperties.json and may NEED these value's increased by 50x.

• Added ability to disable the cosine compensator via config files. (PR #148 by @fovea1959)

• Added SwerveDrive.getGyro() to return SwerveIMU.

• Added SwerveMotor.setVoltage and SwerveMotor.getVoltage and SwerveMotor.getAppliledOutput to the SwerveMotor wrapper for future use with SysId.

• Added functions to test setting voltage of all swerve module motor.

• Added function to find coupling ratio of all swerve modules.

• Added function to set steering/azimuth/angle using of all swerve modules.

• Added function to find kV for drive motors to move.

• Set the angle motor relative encoder position AFTER changing the conversion factor. (Issue #155)

• Fixed module open loop control by sending maxSpeed to the module. (by @nstrike and @MarshallTappen)

• Fixed Pigeon2Swerve only using X acceleration (PR #146 by @dezash123)

• Prevent drive motors from moving when absoluteEncoderOffset is not tuned. (Found by @fovea1959)

• Updated javadocs for SwerveDrive.addVisionMeasurement so that they reflect the latest changes.

2024.4.6.1

• Fixed SwerveDrive.resetOdometry and utilize the pose estimation instead. (PR #142 by @MarshallTappen and @nstrike commit)

• Functionalize IMU inversion (PR #140 by @TechnologyMan00 and @nstrike)

• Added SwerveDrive.getOdometryHeading()

• Fixed SwerveDrive.addVisionMeasurement with vision standard deviations.

• Added IMU readings to SmartDashboard via Raw IMU Yaw (gyro with invert applied) and Adjusted IMU Yaw (pose estimation rotation).

• Changed navx_mxp to navx_mxp_serial to notate that it's serial over MXP.

• Added warning when using navx_mxp_serial or navx_usb.

• Added back wheel speed desaturation.

2024.4.6

• Simplified SwerveMath.calculateDegreesPerRotation and SwerveMath.calculateMetersPerRotation to exclude encoder resolution and add a default.

• Changed Module[...] Raw Motor Encoder to Module[...] Raw Angle Encoder.

• Added Module[...] Raw Drive Encoder

2024.4.5

• Fix for TalonFX Angle motor control (by @bhall-ctre, and @Wackyvert 2225 Mentor) .

  1. TalonFX's needed to use conversion factor as gear ratio rather than gear ratio + unit conversion.

  2. Conversion factor needed to be inverted.

  3. setPosition update to reflect current position.

• Changed ma3 encoders to be read via analog input. (Discovered by @CoZm0)

• Support 3 wheel swerve module setups with PathPlanner helper function. (PR #139 by @TechnologyMan00)

• Added SwerveModule.getAbsoluteEncoder() SwerveDrive.getMaximumVelocity() and SwerveDrive.getMaximumAngularVelocity().

• Reccommend Tuner X when a compatible Tuner X config is used.

• Added ability to change heading correction deadband.

2024.4.2

• Added feedforward to SparkMAX's.

• Added Network Alerts (made by @TheGamer1002 PR #136)

• Added feedforward to TalonFX's

• Fixed TalonFX conversion factor (made by @jkbo6 PR #128)

• CanAndCoder tweaks (made by @guineahawk PR #134)

• Added missing SparkMAX status frame's (made by @RoboPenguin7 PR #130)

• Heading Correction update to make it less sensitive (made by @balien-12 PR #132)

• Fixed cosine compensator error (made by @jkbo6 PR #129)

• Updated PathPlanner path based off of alliance (made by @MarshalTappen PR #122)

• Fixed Rotation being off, update getDriveBaseMeters (made by @TechnologyMan00)