3061 Lib v2024.2.0

This is another minor release for the 2024 Crescendo season.

While we are now solely developing in the frc-software-2024 repository, which is also publicly accessible. The intention is that 3061-lib contains features that may be relevant to any FRC game, while frc-software-2024 will contain features specific to Crescendo. There were a few bug fixes and improvements that we wanted to back port here.

The changes since the v2024.1.0 release are categorized by topic in rough order of significance.

Drivetrain Subsystem

• change default to field relative
• fix bug where driveFacingAngle translation was reversed on red alliance
• add lock to speaker button which keeps the robot pointed at its alliance speaker while driving

Simulation

• add ArmSystemSim class and VelocitySystemSim class to make it easier to incorporate system models with Phoenix 6 devices

Vision

• incorporate pose ambiguity into standard deviation calculation for estimated pose from vision
• ignore vision pose estimate if too far from current estimated position (this requires use of a command to reset the pose to the estimated pose from vision)

Miscellaneous

• update FieldConstants and Field2d classes for Crescendo
• update to WPILib 2024.3.1 and latests vendor deps

What's Changed

• add system test for drivetrain by @gcschmit in #84
• back port vision improvements from frc-software-2024 by @gcschmit in #95
• back port from 2024-frc-software by @gcschmit in #97

Full Changelog: v2024.1.0...v2024.2.0