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@gcschmit gcschmit released this 04 Nov 15:09
· 26 commits to main since this release
v2023.2.0
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Learn about vigilant mode.

This will be the last release based on 2023 software components. Our focus will now shift to 2024 software components, and we plan to release a beta before kickoff updated for these new versions. The changes are categorized by topic in rough order of significance.

Phoenix 6

  • add getPhoenix6Licensed method to RobotConfig to determine if a Phoenix 6 Pro license is installed for CTRE devices
  • remove getSwerveAngleKF and getSwerveDriveKF methods from RobotConfig as they are no longer relevant with Phoenix 6
  • add setYaw method to GyroIO since this can now be done synchronously; as a result, gyroOffset in Drivetrain has been removed
  • replaced GyroIOPigeon2 with GyroIOPigeon2Phoenix6 to port to Phoenix 6
  • refactor Conversions to port to Phoenix 6 (supports units used by Phoenix 6)
  • replace custom swerve module optimize method with SwerveModuleState.optimize which is compatible with Phoenix 6 behavior
  • add closed-loop errors to SwerveModuleIOInputs to facilitate tuning (fixes log PID controller error #44)
  • change current and temperature inputs to single values instead of arrays
  • add stator and supply current to SwerveModuleIOInputs (previously was just stator)
  • replace SwerveModuleIOTalonFX with SwerveModuleIOTalonFXPhoenix6 to port to Phoenix 6. Key features:
    • FOC enabled if Phoenix 6 is licensed
    • all odometry-related signals are synchronized if Phoenix 6 is licensed (includes gyro and is managed in Drivetrain)
    • leverages high-fidelity simulation of CTRE hardware devices
  • incorporate 254 fix for swerve drift while rotating; see convertFromDiscreteChassisSpeedsToContinuous method in Drivetrain
  • add logging of autonmous paths to AdvantageScope to assist with tuning (fixes log PID controller error #44)
  • use actual timestamp when updating pose estimator instead of time from AdvantageKit
  • log measured swerve module states in addition to serve module state setpoints such that both can be displayed in AdvantageScope
  • port SubsystemIOTalonFX to Phoenix 6
  • increase DRIVE_CONTINUOUS_CURRENT_LIMIT for swerve drive motor to 50 amps
  • leverage Phoenix 6 continuous wrap feature
  • use Fused CANcoder as feedback sensor for swerve angle control

Fault Reporter

  • adapted FaultReporter (originally AdvancedSubsystem), SubsystemFault, SelfChecking classes from Ranger Robotics
  • FaultReporter is a singleton with which subsystem can register to periodically perform checks on hardware devices for faults and can register to perform automated subsystem tests (e.g., pre-match checks)
  • FaultReporter publishes results via Network Tables and is intended to be used in conjunction with Ranger Robotics’s pit display.

Serve Characterization

  • update the "Swerve Drive Characterization" auto mode to use a larger range of voltages and to use the linear least-squares method (Moore-Penrose pseudoinverse) to calculate kS, kV, and kA (fixes update characterization to include kA and span a wider range of voltages #43)
  • add the "Swerve Rotate Characterization" to characterize the swerve module's rotation mechanism
  • add characterization constants for Nova

What's Changed

Full Changelog: v2023.1.0...v2023.2.0

Contributors

gcschmit
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