diff --git a/.gitignore b/.gitignore index 34cbaac..0a6d57d 100644 --- a/.gitignore +++ b/.gitignore @@ -185,3 +185,6 @@ compile_commands.json # Eclipse generated file for annotation processors .factorypath + +# GVersion BuildConstants +src/main/java/frc/robot/BuildConstants.java \ No newline at end of file diff --git a/AdvantageKit-License.md b/AdvantageKit-License.md new file mode 100644 index 0000000..f288702 --- /dev/null +++ b/AdvantageKit-License.md @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/AdvantageScope Swerve Calibration.json b/AdvantageScope Swerve Calibration.json new file mode 100644 index 0000000..f412ed2 --- /dev/null +++ b/AdvantageScope Swerve Calibration.json @@ -0,0 +1,463 @@ +{ + "hubs": [ + { + "x": 139, + "y": 95, + "width": 1100, + "height": 650, + "state": { + "sidebar": { + "width": 300, + "expanded": [ + "/Drive", + "/RealOutputs", + "/RealOutputs/SwerveStates", + "/RealOutputs/SwerveChassisSpeeds", + "/RealOutputs/Odometry" + ] + }, + "tabs": { + "selected": 1, + "tabs": [ + { + "type": 0, + "title": "", + "controller": null, + "controllerUUID": "grimvlgu9aluj8btvwotco2wpj0pto2h", + "renderer": "#/", + "controlsHeight": 0 + }, + { + "type": 9, + "title": "Drive Overview", + "controller": { + "sources": [ + { + "type": "states", + "logKey": "/RealOutputs/SwerveStates/Measured", + "logType": "SwerveModuleState[]", + "visible": true, + "options": { + "color": "#ff0000", + "arrangement": "0,1,2,3" + } + }, + { + "type": "states", + "logKey": "/RealOutputs/SwerveStates/SetpointsOptimized", + "logType": "SwerveModuleState[]", + "visible": true, + "options": { + "color": "#00ffff", + "arrangement": "0,1,2,3" + } + }, + { + "type": "chassisSpeeds", + "logKey": "/RealOutputs/SwerveChassisSpeeds/Measured", + "logType": "ChassisSpeeds", + "visible": true, + "options": { + "color": "#ff0000" + } + }, + { + "type": "chassisSpeeds", + "logKey": "/RealOutputs/SwerveChassisSpeeds/Setpoints", + "logType": "ChassisSpeeds", + "visible": true, + "options": { + "color": "#00ffff" + } + }, + { + "type": "rotation", + "logKey": "/RealOutputs/Odometry/Robot/rotation", + "logType": "Rotation2d", + "visible": true, + "options": {} + } + ], + "maxSpeed": 5, + "sizeX": 0.65, + "sizeY": 0.65, + "orientation": 1 + }, + "controllerUUID": "prdx7t2eedan6n46dxrjfu7eisf16f9o", + "renderer": null, + "controlsHeight": 200 + }, + { + "type": 3, + "title": "Field", + "controller": { + "sources": [ + { + "type": "robot", + "logKey": "/RealOutputs/Odometry/Robot", + "logType": "Pose2d", + "visible": true, + "options": { + "model": "Crab Bot" + } + }, + { + "type": "trajectory", + "logKey": "/RealOutputs/Odometry/Trajectory", + "logType": "Pose2d[]", + "visible": true, + "options": { + "color": "#ff8c00", + "size": "normal" + } + }, + { + "type": "ghost", + "logKey": "/RealOutputs/Odometry/TrajectorySetpoint", + "logType": "Pose2d", + "visible": true, + "options": { + "model": "Crab Bot", + "color": "#ff8c00" + } + } + ], + "game": "2025 Field", + "origin": "blue" + }, + "controllerUUID": "psf0y633oclnjyocus23hcnq1d4tpyte", + "renderer": { + "cameraIndex": -1, + "orbitFov": 50, + "cameraPosition": [ + 1.4695761589768238e-15, + 5.999999999999999, + -12 + ], + "cameraTarget": [ + 0, + 0.5, + 0 + ] + }, + "controlsHeight": 200 + }, + { + "type": 1, + "title": "Turn Calibration", + "controller": { + "leftSources": [ + { + "type": "stepped", + "logKey": "/Drive/Module0/TurnPosition/value", + "logType": "Number", + "visible": true, + "options": { + "color": "#e5b31b", + "size": "normal" + } + }, + { + "type": "stepped", + "logKey": "/Drive/Module1/TurnPosition/value", + "logType": "Number", + "visible": true, + "options": { + "color": "#af2437", + "size": "normal" + } + }, + { + "type": "stepped", + "logKey": "/Drive/Module2/TurnPosition/value", + "logType": "Number", + "visible": true, + "options": { + "color": "#80588e", + "size": "normal" + } + }, + { + "type": "stepped", + "logKey": "/Drive/Module3/TurnPosition/value", + "logType": "Number", + "visible": true, + "options": { + "color": "#e48b32", + "size": "normal" + } + } + ], + "rightSources": [], + "discreteSources": [], + "leftLockedRange": null, + "rightLockedRange": null, + "leftUnitConversion": { + "type": null, + "factor": 1 + }, + "rightUnitConversion": { + "type": null, + "factor": 1 + }, + "leftFilter": 0, + "rightFilter": 0 + }, + "controllerUUID": "ol8lk80m83ma3aegae849d6k1d29sp7d", + "renderer": null, + "controlsHeight": 200 + }, + { + "type": 1, + "title": "Drive Calibration", + "controller": { + "leftSources": [ + { + "type": "stepped", + "logKey": "/Drive/Module0/DrivePositionRad", + "logType": "Number", + "visible": true, + "options": { + "color": "#e5b31b", + "size": "normal" + } + }, + { + "type": "stepped", + "logKey": "/Drive/Module1/DrivePositionRad", + "logType": "Number", + "visible": true, + "options": { + "color": "#af2437", + "size": "normal" + } + }, + { + "type": "stepped", + "logKey": "/Drive/Module2/DrivePositionRad", + "logType": "Number", + "visible": true, + "options": { + "color": "#80588e", + "size": "normal" + } + }, + { + "type": "stepped", + "logKey": "/Drive/Module3/DrivePositionRad", + "logType": "Number", + "visible": true, + "options": { + "color": "#e48b32", + "size": "normal" + } + } + ], + "rightSources": [], + "discreteSources": [], + "leftLockedRange": null, + "rightLockedRange": null, + "leftUnitConversion": { + "type": null, + "factor": 1 + }, + "rightUnitConversion": { + "type": null, + "factor": 1 + }, + "leftFilter": 0, + "rightFilter": 0 + }, + "controllerUUID": "7jj1f83nsv59dd2ou11ls3ccz5tq1293", + "renderer": null, + "controlsHeight": 200 + }, + { + "type": 1, + "title": "Turn PID Tuning", + "controller": { + "leftSources": [ + { + "type": "stepped", + "logKey": "/RealOutputs/SwerveStates/Measured/0/angle/value", + "logType": "Number", + "visible": true, + "options": { + "color": "#2b66a2", + "size": "normal" + } + }, + { + "type": "stepped", + "logKey": "/RealOutputs/SwerveStates/SetpointsOptimized/0/angle/value", + "logType": "Number", + "visible": true, + "options": { + "color": "#e5b31b", + "size": "normal" + } + } + ], + "rightSources": [], + "discreteSources": [], + "leftLockedRange": null, + "rightLockedRange": null, + "leftUnitConversion": { + "type": null, + "factor": 1 + }, + "rightUnitConversion": { + "type": null, + "factor": 1 + }, + "leftFilter": 0, + "rightFilter": 0 + }, + "controllerUUID": "kj6tf6sxm5g04wnjrhed6mx2wpccmqtn", + "renderer": null, + "controlsHeight": 200 + }, + { + "type": 1, + "title": "Drive PID Tuning", + "controller": { + "leftSources": [ + { + "type": "stepped", + "logKey": "/RealOutputs/SwerveStates/Measured/0/speed", + "logType": "Number", + "visible": true, + "options": { + "color": "#2b66a2", + "size": "normal" + } + }, + { + "type": "stepped", + "logKey": "/RealOutputs/SwerveStates/SetpointsOptimized/0/speed", + "logType": "Number", + "visible": true, + "options": { + "color": "#e5b31b", + "size": "normal" + } + } + ], + "rightSources": [], + "discreteSources": [], + "leftLockedRange": null, + "rightLockedRange": null, + "leftUnitConversion": { + "type": null, + "factor": 1 + }, + "rightUnitConversion": { + "type": null, + "factor": 1 + }, + "leftFilter": 0, + "rightFilter": 0 + }, + "controllerUUID": "bctxg9pmwpo31m9bv9ofr92oqqtbpqzp", + "renderer": null, + "controlsHeight": 200 + }, + { + "type": 1, + "title": "Max Speed Measurement", + "controller": { + "leftSources": [ + { + "type": "stepped", + "logKey": "/RealOutputs/SwerveChassisSpeeds/Measured/vx", + "logType": "Number", + "visible": true, + "options": { + "color": "#2b66a2", + "size": "normal" + } + }, + { + "type": "stepped", + "logKey": "/RealOutputs/SwerveChassisSpeeds/Measured/vy", + "logType": "Number", + "visible": true, + "options": { + "color": "#e5b31b", + "size": "normal" + } + } + ], + "rightSources": [], + "discreteSources": [], + "leftLockedRange": null, + "rightLockedRange": null, + "leftUnitConversion": { + "type": null, + "factor": 1 + }, + "rightUnitConversion": { + "type": null, + "factor": 1 + }, + "leftFilter": 0, + "rightFilter": 0 + }, + "controllerUUID": "oy3vmjuhr7g36evikwnmjhfacl30mzn5", + "renderer": null, + "controlsHeight": 200 + }, + { + "type": 1, + "title": "Slip Current Measurement", + "controller": { + "leftSources": [ + { + "type": "stepped", + "logKey": "/Drive/Module0/DriveCurrentAmps", + "logType": "Number", + "visible": true, + "options": { + "color": "#2b66a2", + "size": "normal" + } + } + ], + "rightSources": [ + { + "type": "stepped", + "logKey": "/Drive/Module0/DriveVelocityRadPerSec", + "logType": "Number", + "visible": true, + "options": { + "color": "#e5b31b", + "size": "normal" + } + } + ], + "discreteSources": [], + "leftLockedRange": null, + "rightLockedRange": null, + "leftUnitConversion": { + "type": null, + "factor": 1 + }, + "rightUnitConversion": { + "type": null, + "factor": 1 + }, + "leftFilter": 0, + "rightFilter": 0 + }, + "controllerUUID": "efudylbvebbv1ga2kosknov0uegmtj7h", + "renderer": null, + "controlsHeight": 200 + } + ] + } + } + } + ], + "satellites": [], + "version": "4.0.0-beta-3" +} diff --git a/README.md b/README.md index 75c0cab..4484ac1 100644 --- a/README.md +++ b/README.md @@ -1,2 +1,14 @@ # PARTsOS15 -[![CI](https://github.com/3492PARTs/PARTsOS15/actions/workflows/ci.yml/badge.svg?branch=28-github-actions)](https://github.com/3492PARTs/PARTsOS15/actions/workflows/ci.yml) \ No newline at end of file +[![CI](https://github.com/3492PARTs/PARTsOS15/actions/workflows/ci.yml/badge.svg?branch=28-github-actions)](https://github.com/3492PARTs/PARTsOS15/actions/workflows/ci.yml) +## Contributing +#### At Home +Contribute as normal. +#### During an Event +A new system has been put in place to allow version control during rapid development at events.\ +To use this system: +1. BEFORE the Event, create a new branch called "event_{EVENT_NAME}", replacing {EVENT_NAME} with the current event's name. +2. Deploy the code as you normally would at the event. + +Commits will be automatically created per each deploy. +Their names being timestamps of that deploy.\ +[More can be found on the AdvantageKit Wiki.](https://docs.advantagekit.org/getting-started/installation/version-control#usage) diff --git a/TODO.md b/TODO.md new file mode 100644 index 0000000..b0e9a3c --- /dev/null +++ b/TODO.md @@ -0,0 +1,14 @@ +# Todo: PARTsOS15 - AdvantageKit +Remove this file and append it to this branches PR once it is complete. +## Setup +- [x] AdvantageKit Vendor Library +- [x] AdvantageKit Gradle Configuration +- [x] AdvantageKit Robot Metadata +- [x] GVersion Gradle Configuration +## Hardware IO +- [ ] Drivetrain +- [ ] Climber +- [ ] Candle +- [ ] Coral In/Outtake +- [ ] Elevator +- [ ] Vision \ No newline at end of file diff --git a/build.gradle b/build.gradle index e1e3b81..028ad5a 100644 --- a/build.gradle +++ b/build.gradle @@ -1,6 +1,8 @@ plugins { id "java" id "edu.wpi.first.GradleRIO" version "2025.3.2" + id "com.peterabeles.gversion" version "1.10" + id "com.diffplug.spotless" version "6.12.0" } java { @@ -27,14 +29,26 @@ deploy { // getTargetTypeClass is a shortcut to get the class type using a string frcJava(getArtifactTypeClass('FRCJavaArtifact')) { + jvmArgs.add("-XX:+UnlockExperimentalVMOptions") + jvmArgs.add("-XX:GCTimeRatio=5") + jvmArgs.add("-XX:+UseSerialGC") + jvmArgs.add("-XX:MaxGCPauseMillis=50") + + // The options below may improve performance, but should only be enabled on the RIO 2 + // + // final MAX_JAVA_HEAP_SIZE_MB = 100; + // jvmArgs.add("-Xmx" + MAX_JAVA_HEAP_SIZE_MB + "M") + // jvmArgs.add("-Xms" + MAX_JAVA_HEAP_SIZE_MB + "M") + jvmArgs.add("-XX:+AlwaysPreTouch") } // Static files artifact frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) { files = project.fileTree('src/main/deploy') directory = '/home/lvuser/deploy' - deleteOldFiles = true // Change to true to delete files on roboRIO that no - // longer exist in deploy directory of this project + // Change to true to delete files on roboRIO that no + // longer exist in deploy directory on roboRIO + deleteOldFiles = false } } } @@ -49,6 +63,12 @@ wpi.java.debugJni = false // Set this to true to enable desktop support. def includeDesktopSupport = true +// Configuration for AdvantageKit +task(replayWatch, type: JavaExec) { + mainClass = "org.littletonrobotics.junction.ReplayWatch" + classpath = sourceSets.main.runtimeClasspath +} + // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. // Also defines JUnit 5. dependencies { @@ -72,6 +92,10 @@ dependencies { testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1' testRuntimeOnly 'org.junit.platform:junit-platform-launcher' + + // Advantagekit + def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text) + annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version" } test { @@ -80,7 +104,12 @@ test { } // Simulation configuration (e.g. environment variables). -wpi.sim.addGui().defaultEnabled = true +// +// The sim GUI is *disabled* by default to support running +// AdvantageKit log replay from the command line. Set the +// value to "true" to enable the sim GUI by default (this +// is the standard WPILib behavior). +wpi.sim.addGui().defaultEnabled = false wpi.sim.addDriverstation() // Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar') @@ -102,3 +131,89 @@ wpi.java.configureTestTasks(test) tasks.withType(JavaCompile) { options.compilerArgs.add '-XDstringConcat=inline' } + +// Create version file +project.compileJava.dependsOn(createVersionFile) +gversion { + srcDir = "src/main/java/" + classPackage = "frc.robot" + className = "BuildConstants" + dateFormat = "yyyy-MM-dd HH:mm:ss z" + timeZone = "America/New_York" + indent = " " +} + +// Create commit with working changes on event branches +task(eventDeploy) { + doLast { + if (project.gradle.startParameter.taskNames.any({ it.toLowerCase().contains("deploy") })) { + def branchPrefix = "event" + def branch = 'git branch --show-current'.execute().text.trim() + def commitMessage = "Update at '${new Date().toString()}'" + + if (branch.startsWith(branchPrefix)) { + exec { + workingDir(projectDir) + executable 'git' + args 'add', '-A' + } + exec { + workingDir(projectDir) + executable 'git' + args 'commit', '-m', commitMessage + ignoreExitValue = true + } + + println "Committed to branch: '$branch'" + println "Commit message: '$commitMessage'" + } else { + println "Not on an event branch, skipping commit" + } + } else { + println "Not running deploy task, skipping commit" + } + } +} +createVersionFile.dependsOn(eventDeploy) + +// Spotless formatting +project.compileJava.dependsOn(spotlessApply) +spotless { + java { + target fileTree(".") { + include "**/*.java" + exclude "**/build/**", "**/build-*/**" + } + toggleOffOn() + googleJavaFormat() + removeUnusedImports() + trimTrailingWhitespace() + endWithNewline() + } + groovyGradle { + target fileTree(".") { + include "**/*.gradle" + exclude "**/build/**", "**/build-*/**" + } + greclipse() + indentWithSpaces(4) + trimTrailingWhitespace() + endWithNewline() + } + json { + target fileTree(".") { + include "**/*.json" + exclude "**/build/**", "**/build-*/**" + } + gson().indentWithSpaces(2) + } + format "misc", { + target fileTree(".") { + include "**/*.md", "**/.gitignore" + exclude "**/build/**", "**/build-*/**" + } + trimTrailingWhitespace() + indentWithSpaces(2) + endWithNewline() + } +} diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index aa085d9..3889d3c 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -6,6 +6,7 @@ import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.wpilibj.RobotBase; import frc.robot.util.PARTsUnit; import frc.robot.util.PARTsUnit.PARTsUnitType; @@ -13,6 +14,20 @@ * Constants class to hold constants. */ public final class Constants { + public static final Mode simMode = Mode.SIM; + public static final Mode currentMode = RobotBase.isReal() ? Mode.REAL : simMode; + + public static enum Mode { + /** Running on a real robot. */ + REAL, + + /** Running a physics simulator. */ + SIM, + + /** Replaying from a log file. */ + REPLAY + } + public static class Drivetrain { public static final String canBusName = "hi"; public static final double kMaxAngularSpeed = Math.PI / 4; // Radians diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index d39eef0..103ef55 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -4,6 +4,13 @@ package frc.robot; +import org.littletonrobotics.junction.LogFileUtil; +import org.littletonrobotics.junction.LoggedRobot; +import org.littletonrobotics.junction.Logger; +import org.littletonrobotics.junction.networktables.NT4Publisher; +import org.littletonrobotics.junction.wpilog.WPILOGReader; +import org.littletonrobotics.junction.wpilog.WPILOGWriter; + import au.grapplerobotics.CanBridge; import edu.wpi.first.cameraserver.CameraServer; import edu.wpi.first.cscore.UsbCamera; @@ -18,7 +25,7 @@ import frc.robot.util.PARTsNT; import frc.robot.util.PARTsDashboard.DashboardTab; -public class Robot extends TimedRobot { +public class Robot extends LoggedRobot { private Command m_autonomousCommand; PARTsNT partsNT; @@ -27,6 +34,48 @@ public class Robot extends TimedRobot { private final RobotContainer m_robotContainer; public Robot() { + // Record metadata + Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME); + Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE); + Logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA); + Logger.recordMetadata("GitDate", BuildConstants.GIT_DATE); + Logger.recordMetadata("GitBranch", BuildConstants.GIT_BRANCH); + switch (BuildConstants.DIRTY) { + case 0: + Logger.recordMetadata("GitDirty", "All changes committed"); + break; + case 1: + Logger.recordMetadata("GitDirty", "Uncomitted changes"); + break; + default: + Logger.recordMetadata("GitDirty", "Unknown"); + break; + } + + // Set up data receivers & replay source + switch (Constants.currentMode) { + case REAL: + // Running on a real robot, log to a USB stick ("/U/logs") + Logger.addDataReceiver(new WPILOGWriter()); + Logger.addDataReceiver(new NT4Publisher()); + break; + + case SIM: + // Running a physics simulator, log to NT + Logger.addDataReceiver(new NT4Publisher()); + break; + + case REPLAY: + // Replaying a log, set up replay source + setUseTiming(false); // Run as fast as possible + String logPath = LogFileUtil.findReplayLog(); + Logger.setReplaySource(new WPILOGReader(logPath)); + Logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim"))); + break; + } + + Logger.start(); // Start logging! No more data receivers, replay sources, or metadata values may be added. + // This is needed for lasercan, without it causes robot to lag on boot CanBridge.runTCP(); diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json new file mode 100644 index 0000000..bef4a15 --- /dev/null +++ b/vendordeps/AdvantageKit.json @@ -0,0 +1,35 @@ +{ + "fileName": "AdvantageKit.json", + "name": "AdvantageKit", + "version": "4.1.2", + "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003", + "frcYear": "2025", + "mavenUrls": [ + "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/" + ], + "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json", + "javaDependencies": [ + { + "groupId": "org.littletonrobotics.akit", + "artifactId": "akit-java", + "version": "4.1.2" + } + ], + "jniDependencies": [ + { + "groupId": "org.littletonrobotics.akit", + "artifactId": "akit-wpilibio", + "version": "4.1.2", + "skipInvalidPlatforms": false, + "isJar": false, + "validPlatforms": [ + "linuxathena", + "linuxx86-64", + "linuxarm64", + "osxuniversal", + "windowsx86-64" + ] + } + ], + "cppDependencies": [] +} \ No newline at end of file diff --git a/vendordeps/PathplannerLib-2025.2.6.json b/vendordeps/PathplannerLib-2025.2.7.json similarity index 87% rename from vendordeps/PathplannerLib-2025.2.6.json rename to vendordeps/PathplannerLib-2025.2.7.json index 95ba203..d3f84e5 100644 --- a/vendordeps/PathplannerLib-2025.2.6.json +++ b/vendordeps/PathplannerLib-2025.2.7.json @@ -1,7 +1,7 @@ { - "fileName": "PathplannerLib-2025.2.6.json", + "fileName": "PathplannerLib-2025.2.7.json", "name": "PathplannerLib", - "version": "2025.2.6", + "version": "2025.2.7", "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", "frcYear": "2025", "mavenUrls": [ @@ -12,7 +12,7 @@ { "groupId": "com.pathplanner.lib", "artifactId": "PathplannerLib-java", - "version": "2025.2.6" + "version": "2025.2.7" } ], "jniDependencies": [], @@ -20,7 +20,7 @@ { "groupId": "com.pathplanner.lib", "artifactId": "PathplannerLib-cpp", - "version": "2025.2.6", + "version": "2025.2.7", "libName": "PathplannerLib", "headerClassifier": "headers", "sharedLibrary": false, diff --git a/vendordeps/Phoenix6-25.3.2.json b/vendordeps/Phoenix6-frc2025-latest.json similarity index 86% rename from vendordeps/Phoenix6-25.3.2.json rename to vendordeps/Phoenix6-frc2025-latest.json index 29187a8..6f40c84 100644 --- a/vendordeps/Phoenix6-25.3.2.json +++ b/vendordeps/Phoenix6-frc2025-latest.json @@ -1,7 +1,7 @@ { - "fileName": "Phoenix6-25.3.2.json", + "fileName": "Phoenix6-frc2025-latest.json", "name": "CTRE-Phoenix (v6)", - "version": "25.3.2", + "version": "25.4.0", "frcYear": "2025", "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "mavenUrls": [ @@ -19,14 +19,14 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "25.3.2" + "version": "25.4.0" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "api-cpp", - "version": "25.3.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -40,7 +40,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "25.3.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -54,7 +54,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "api-cpp-sim", - "version": "25.3.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -68,7 +68,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "25.3.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -82,7 +82,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "25.3.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -96,7 +96,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "25.3.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -110,7 +110,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "25.3.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -124,7 +124,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simCANCoder", - "version": "25.3.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -138,7 +138,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "25.3.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -152,7 +152,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFXS", - "version": "25.3.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -166,7 +166,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "25.3.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -180,7 +180,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "25.3.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -194,7 +194,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "25.3.2", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -208,7 +208,21 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "25.3.2", + "version": "25.4.0", + "isJar": false, + "skipInvalidPlatforms": true, + "validPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "25.4.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -224,7 +238,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -240,7 +254,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, @@ -256,7 +270,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "wpiapi-cpp-sim", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -272,7 +286,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -288,7 +302,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -304,7 +318,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, @@ -320,7 +334,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, @@ -336,7 +350,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simCANCoder", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_SimCANCoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -352,7 +366,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -368,7 +382,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFXS", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_SimProTalonFXS", "headerClassifier": "headers", "sharedLibrary": true, @@ -384,7 +398,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -400,7 +414,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, @@ -416,7 +430,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_SimProCANrange", "headerClassifier": "headers", "sharedLibrary": true, @@ -432,7 +446,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "25.3.2", + "version": "25.4.0", "libName": "CTRE_SimProCANdi", "headerClassifier": "headers", "sharedLibrary": true, @@ -444,6 +458,22 @@ "osxuniversal" ], "simMode": "swsim" + }, + { + "groupId": "com.ctre.phoenix6.sim", + "artifactId": "simProCANdle", + "version": "25.4.0", + "libName": "CTRE_SimProCANdle", + "headerClassifier": "headers", + "sharedLibrary": true, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "linuxarm64", + "osxuniversal" + ], + "simMode": "swsim" } ] } \ No newline at end of file