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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.

{% embed url="https://github.com/BroncBotz3481/YAGSL-Example/pulls?q=is%3Apr+is%3Aclosed" %}

Contributing

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

{% embed url="https://github.com/BroncBotz3481/YAGSL-Example/tree/dev" %} YAGSL-Example dev branch {% endembed %}

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

2024.7.0 - Last version for 2024 WPILib

  • Added inversion redundancy check to SparkMAX and SparkFlex.
  • Add Warmup for Pathfinding (PR #241 by TechnologyMan00)

2024.6.1.0

  • Added Canandgyro support.
  • A tiny bug fix in the aim-at-speaker command of the example swerve subsystem code by (PR #239 by catr1xLiu)

2024.6.0.0

  • Merge Swerve configuration test changes (PR #228 by clrozeboom)
  • Angular velocity correction (huge update that massively improves YAGSL!) (PR #231 by yapplejack)
  • Sparkmax optimizations, changes to avg filter etc (PR #233 by yapplejack)
  • Addded sparkmax_analog5v as a valid absolute encoder type.
  • Suggestion for desaturateWheelSpeeds() to use desiredChassisSpeeds (PR #232 by yapplejack)
  • Made auto synchronization optional and configurable by SwerveDrive.setModuleEncoderAutoSynchronize
  • Fixed configurator problem for TalonFXSwerve

2024.5.0.4

  • Added PhotonVision Vision class to example and integrate it with the example code.
  • Added getAprilTagPose method to Vision (PR #226 by kreidljj)
  • Update the vision simulation on Vision.updatePoseEstimation (PR #224 by brandonzx3)
  • Add Standard Deviations for YAGSL SwerveDrive Pose Estimator (PR #222 by maxikyuu)
  • Updating Vendordeps and renaming CanandCoders to CanandMags (PR #219 by Turbojax07 and YAGSL devs)
  • Fixed documentation issue with SwerveDriveTelemetry (Issue #233 by DanPeled )
  • Fixed AbsoluteEncoders attached to the SparkMAX like Throughbores.

2024.5.0.3

  • Fixed SparkMaxAnalogEncoder wrapper to work. The expected read values are in volts, 3.3v max. (Found and fixed by team Austin from team 2377)
  • Fixed CanandCoder to CanandMag due to product rename. (Credit to TurboJax07)
  • Changed default behavior of setting an attached absolute encoder up without calling SwerevDrive.pushOffsetsToEncoders which is now an optional optimization for MAX Swerve modules instead of a requirement. MAX Swerve no longer need to use 360 as the conversion factor IF they do not use SwerveDrive.pushOffsetsToEncoders

2024.5.0.1

  • Added SwerveDrive.setVisionMeasurementStdDevs(Matrix<N3, N1> visionMeasurementStdDevs)
  • Add ability to get the rotation rate from the IMU (PR #216 by @clrozeboom)

2024.5.0.0

  • Changed input scaling to utilize Polar coordinate magnitude multiplication.
  • Simplify placeInAppropriate0To360Scope (PR #213 by GoldenStack)
  • Added auto-centering modules setting.
  • Added back composite conversion factors.

2024.4.8.7

  • Increased logging verbosity to introduce logging modes for the field and data. (PR #185 by 5010)
  • Added SwerveDrive.setChassisDiscretization to allow for changing of the discrete value between cycle times which can be tuned to reduce drift. (PR #194 by TechnologyMan00)
  • Renamed SwerveDrive.pushOffsetsToControllers to SwerveDrive.pushOffsetsToEncoders. (PR #194 by TechnologyMan00)
  • Changed Module[...] to swerve/modules in Telemetry.

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)