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@gcschmit gcschmit released this 03 Jun 17:39
· 40 commits to main since this release
v2023.1.0
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Learn about vigilant mode.

This release is a back port of Huskie Robotics' code for the 2023 season. The changes are categorized by topic in rough order of significance.

Vision

  • add support for multiple cameras
  • add support for transforming coordinate system based on alliance color
  • add support for disabling vision subsystem
  • calculate standard deviation based on distance to target when adding vision measurement to pose estimator
  • add support to check if pose estimator has converged to vision-determined pose
  • add support to only add vision measurement to pose estimator if within distance threshold to tag
  • use getTimestampSeconds method instead of getLatencyMillis method to timestamp results per recommendation
  • add support to reset pose estimator based on pose derived from visible tag

Drivetrain

  • add slow-mode feature (robot velocities are scaled down when enabled)
  • add pitch and roll to gyro io inputs
  • add support to enable coast mode only after disabled for specified period of time
  • change default to field-relative mode
  • add accessors for yaw, pitch, and roll from gryo
  • add support to force field-relative driving
  • add accessor for average swerve module drive current

Move to Pose

  • add move-to-pose command to generate autonomous paths on-the-fly
  • add Field2d and Region2d classes to model field as a collection of regions with transition points between regions
  • add support for generating a path between two poses using Field2d

Commands

  • add drive-to-pose command (closed loop straight-line motion to pose)
  • add rotate-to-angle command (closed loop rotational setpoint with optional driver-controlled translational motion)
  • add configurable acceleration limiting to TeleopSwerve command

Swerve

  • add accessor for drive motor current

Subsystem

  • add generic subsystem as an example

Autonomous

  • add support for transforming paths based on alliance color
  • add "auto" path for empirically determining wheel diameter
  • add "auto" path for setting initial pose to facilitate testing
  • add "auto" path for tuning auto PID controllers

Operator Interface

  • add operator interface consisting of 2 joysticks, xBox controller, and custom operator button panel

SparkMAXFactory

  • initial release

TalonFXFactory

  • add support to configure forward and backward peak output
  • add support to configure brushless current status frame period
  • add support to configure remote sensors
  • add support to configure motion magic and motion profiling

Robot

  • add support to check alliance color and trigger updates

Misc

  • improve and add Javadoc comments
  • incorporate 6328's field constants
  • remove 2022 robot; add 2023 robot
  • add words to spelling dictionary
  • update to latest wpilib and vendor dependencies
  • remove 2022 AprilTag field layout
  • remove CANDeviceFinder and associated classes (incompatible with CANivore)
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