Upgrading to 2025.1.2.1

BroncBotz3481 · Jan 6, 2025 · b6d5c8f · b6d5c8f
1 parent 834674f
commit b6d5c8f
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Showing 55 changed files with 84 additions and 31 deletions.
diff --git a/src/main/java/swervelib/imu/ADIS16448Swerve.java b/src/main/java/swervelib/imu/ADIS16448Swerve.java
@@ -14,7 +14,7 @@ public class ADIS16448Swerve extends SwerveIMU {
 
   /** {@link ADIS16448_IMU} device to read the current headings from. */
   private final ADIS16448_IMU imu;
-  /** Mutable {@link AngularVelocity} for readings. */
+  /** Mutable {@link MutAngularVelocity} for readings. */
   private final MutAngularVelocity yawVel = new MutAngularVelocity(0, 0, DegreesPerSecond);
   /** Offset for the ADIS16448. */
   private Rotation3d offset = new Rotation3d();

diff --git a/src/main/java/swervelib/imu/ADIS16470Swerve.java b/src/main/java/swervelib/imu/ADIS16470Swerve.java
@@ -15,7 +15,7 @@ public class ADIS16470Swerve extends SwerveIMU {
 
   /** {@link ADIS16470_IMU} device to read the current headings from. */
   private final ADIS16470_IMU imu;
-  /** Mutable {@link AngularVelocity} for readings. */
+  /** Mutable {@link MutAngularVelocity} for readings. */
   private final MutAngularVelocity yawVel = new MutAngularVelocity(0, 0, DegreesPerSecond);
   /** Offset for the ADIS16470. */
   private Rotation3d offset = new Rotation3d();

diff --git a/src/main/java/swervelib/imu/ADXRS450Swerve.java b/src/main/java/swervelib/imu/ADXRS450Swerve.java
@@ -14,7 +14,7 @@ public class ADXRS450Swerve extends SwerveIMU {
 
   /** {@link ADXRS450_Gyro} device to read the current headings from. */
   private final ADXRS450_Gyro imu;
-  /** Mutable {@link AngularVelocity} for readings. */
+  /** Mutable {@link MutAngularVelocity} for readings. */
   private final MutAngularVelocity yawVel = new MutAngularVelocity(0, 0, DegreesPerSecond);
   /** Offset for the ADXRS450. */
   private Rotation3d offset = new Rotation3d();

diff --git a/src/main/java/swervelib/imu/AnalogGyroSwerve.java b/src/main/java/swervelib/imu/AnalogGyroSwerve.java
@@ -14,7 +14,7 @@ public class AnalogGyroSwerve extends SwerveIMU {
 
   /** Gyroscope object. */
   private final AnalogGyro imu;
-  /** Mutable {@link AngularVelocity} for readings. */
+  /** Mutable {@link MutAngularVelocity} for readings. */
   private final MutAngularVelocity yawVel = new MutAngularVelocity(0, 0, DegreesPerSecond);
   /** Offset for the analog gyro. */
   private Rotation3d offset = new Rotation3d();

diff --git a/src/main/java/swervelib/imu/CanandgyroSwerve.java b/src/main/java/swervelib/imu/CanandgyroSwerve.java
@@ -15,7 +15,7 @@ public class CanandgyroSwerve extends SwerveIMU {
   public static double STATUS_TIMEOUT_SECONDS = 0.04;
   /** Boron {@link Canandgyro} by Redux Robotics. */
   private final Canandgyro imu;
-  /** Mutable {@link AngularVelocity} for readings. */
+  /** Mutable {@link MutAngularVelocity} for readings. */
   private final MutAngularVelocity yawVel = new MutAngularVelocity(0, 0, RotationsPerSecond);
   /** Offset for the Boron {@link Canandgyro}. */
   private Rotation3d offset = new Rotation3d();

diff --git a/src/main/java/swervelib/imu/NavXSwerve.java b/src/main/java/swervelib/imu/NavXSwerve.java
@@ -14,7 +14,7 @@
 /** Communicates with the NavX({@link AHRS}) as the IMU. */
 public class NavXSwerve extends SwerveIMU {
 
-  /** Mutable {@link AngularVelocity} for readings. */
+  /** Mutable {@link MutAngularVelocity} for readings. */
   private final MutAngularVelocity yawVel = new MutAngularVelocity(0, 0, DegreesPerSecond);
   /** NavX IMU. */
   private AHRS imu;

diff --git a/src/main/java/swervelib/imu/Pigeon2Swerve.java b/src/main/java/swervelib/imu/Pigeon2Swerve.java
@@ -21,7 +21,7 @@ public class Pigeon2Swerve extends SwerveIMU {
   public static double STATUS_TIMEOUT_SECONDS = 0.04;
   /** {@link Pigeon2} IMU device. */
   private final Pigeon2 imu;
-  /** Mutable {@link AngularVelocity} for readings. */
+  /** Mutable {@link MutAngularVelocity} for readings. */
   private final MutAngularVelocity yawVel = new MutAngularVelocity(0, 0, DegreesPerSecond);
 
   /** Offset for the {@link Pigeon2}. */
@@ -32,11 +32,11 @@ public class Pigeon2Swerve extends SwerveIMU {
   private Pigeon2Configurator cfg;
 
   /** X Acceleration supplier */
-  private Supplier<StatusSignal<LinearAcceleration>> xAcc;
+  private final Supplier<StatusSignal<LinearAcceleration>> xAcc;
   /** Y Accelleration supplier. */
-  private Supplier<StatusSignal<LinearAcceleration>> yAcc;
+  private final Supplier<StatusSignal<LinearAcceleration>> yAcc;
   /** Z Acceleration supplier. */
-  private Supplier<StatusSignal<LinearAcceleration>> zAcc;
+  private final Supplier<StatusSignal<LinearAcceleration>> zAcc;
 
   /**
    * Generate the SwerveIMU for {@link Pigeon2}.
@@ -124,9 +124,11 @@ public Rotation3d getRotation3d() {
    */
   @Override
   public Optional<Translation3d> getAccel() {
-    // TODO: Implement later.
-
-    return Optional.empty();
+    return Optional.of(
+        new Translation3d(
+            xAcc.get().getValueAsDouble(),
+            yAcc.get().getValueAsDouble(),
+            zAcc.get().getValueAsDouble()));
   }
 
   @Override

diff --git a/src/main/java/swervelib/imu/PigeonSwerve.java b/src/main/java/swervelib/imu/PigeonSwerve.java
@@ -15,7 +15,7 @@ public class PigeonSwerve extends SwerveIMU {
 
   /** {@link WPI_PigeonIMU} IMU device. */
   private final WPI_PigeonIMU imu;
-  /** Mutable {@link AngularVelocity} for readings. */
+  /** Mutable {@link MutAngularVelocity} for readings. */
   private final MutAngularVelocity yawVel = new MutAngularVelocity(0, 0, DegreesPerSecond);
   /** Offset for the {@link WPI_PigeonIMU}. */
   private Rotation3d offset = new Rotation3d();

diff --git a/src/main/java/swervelib/parser/json/DeviceJson.java b/src/main/java/swervelib/parser/json/DeviceJson.java
@@ -83,6 +83,10 @@ public SwerveAbsoluteEncoder createEncoder(SwerveMotor motor) {
         return new AnalogAbsoluteEncoderSwerve(id);
       case "cancoder":
         return new CANCoderSwerve(id, canbus != null ? canbus : "");
+      case "srxmag_standalone":
+        return new TalonSRXEncoderSwerve(
+            new TalonSRXSwerve(id, false, DCMotor.getCIM(1)),
+            FeedbackDevice.PulseWidthEncodedPosition);
       case "talonsrx_pwm":
         return new TalonSRXEncoderSwerve(motor, FeedbackDevice.PulseWidthEncodedPosition);
       case "talonsrx_analog":

diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1-headers.zip b/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1-headers.zip
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1-headers.zip.md5 b/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1-headers.zip.md5
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diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1-headers.zip.sha1 b/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1-headers.zip.sha1
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diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1-headers.zip.sha256 b/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1-headers.zip.sha256
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diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1-headers.zip.sha512 b/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1-headers.zip.sha512
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diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1-sources.zip b/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1-sources.zip
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1-sources.zip.md5 b/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1-sources.zip.md5
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diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1-sources.zip.sha1 b/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1-sources.zip.sha1
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diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1-sources.zip.sha256 b/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1-sources.zip.sha256
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diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1-sources.zip.sha512 b/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1-sources.zip.sha512
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diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1.pom b/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1.pom
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 https://maven.apache.org/xsd/maven-4.0.0.xsd" xmlns="http://maven.apache.org/POM/4.0.0"
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <modelVersion>4.0.0</modelVersion>
+  <groupId>swervelib</groupId>
+  <artifactId>YAGSL-cpp</artifactId>
+  <version>2025.1.2.1</version>
+  <packaging>pom</packaging>
+</project>
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1.pom.md5 b/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1.pom.md5
@@ -0,0 +1 @@
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diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1.pom.sha1 b/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1.pom.sha1
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diff --git a/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1.pom.sha256 b/yagsl/repos/swervelib/YAGSL-cpp/2025.1.2.1/YAGSL-cpp-2025.1.2.1.pom.sha256
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diff --git a/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml b/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml
@@ -3,8 +3,8 @@
   <groupId>swervelib</groupId>
   <artifactId>YAGSL-cpp</artifactId>
   <versioning>
-    <latest>2025.1.2</latest>
-    <release>2025.1.2</release>
+    <latest>2025.1.2.1</latest>
+    <release>2025.1.2.1</release>
     <versions>
       <version>2024.6.1.0</version>
       <version>2024.7.0</version>
@@ -26,7 +26,8 @@
       <version>2025.1.0.4</version>
       <version>2025.1.1</version>
       <version>2025.1.2</version>
+      <version>2025.1.2.1</version>
     </versions>
-    <lastUpdated>20250106162218</lastUpdated>
+    <lastUpdated>20250106183533</lastUpdated>
   </versioning>
 </metadata>
diff --git a/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.md5 b/yagsl/repos/swervelib/YAGSL-cpp/maven-metadata.xml.md5
@@ -1 +1 @@
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+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <modelVersion>4.0.0</modelVersion>
+  <groupId>swervelib</groupId>
+  <artifactId>YAGSL-java</artifactId>
+  <version>2025.1.2.1</version>
+</project>
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diff --git a/yagsl/repos/swervelib/YAGSL-java/2025.1.2.1/YAGSL-java-2025.1.2.1.pom.sha1 b/yagsl/repos/swervelib/YAGSL-java/2025.1.2.1/YAGSL-java-2025.1.2.1.pom.sha1
@@ -0,0 +1 @@
+cb517a3c30861c68d7b0d5b61596cde04abec561
diff --git a/yagsl/repos/swervelib/YAGSL-java/2025.1.2.1/YAGSL-java-2025.1.2.1.pom.sha256 b/yagsl/repos/swervelib/YAGSL-java/2025.1.2.1/YAGSL-java-2025.1.2.1.pom.sha256
@@ -0,0 +1 @@
+7620a9c0a8f87bdf71ef56fdcd0d4b270634275f9e769cdd0ff7a3966a44bb77
diff --git a/yagsl/repos/swervelib/YAGSL-java/2025.1.2.1/YAGSL-java-2025.1.2.1.pom.sha512 b/yagsl/repos/swervelib/YAGSL-java/2025.1.2.1/YAGSL-java-2025.1.2.1.pom.sha512
@@ -0,0 +1 @@
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diff --git a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml
@@ -3,8 +3,8 @@
   <groupId>swervelib</groupId>
   <artifactId>YAGSL-java</artifactId>
   <versioning>
-    <latest>2025.1.2</latest>
-    <release>2025.1.2</release>
+    <latest>2025.1.2.1</latest>
+    <release>2025.1.2.1</release>
     <versions>
       <version>2024.7.0</version>
       <version>2025.0.0</version>
@@ -16,7 +16,8 @@
       <version>2025.1.0.4</version>
       <version>2025.1.1</version>
       <version>2025.1.2</version>
+      <version>2025.1.2.1</version>
     </versions>
-    <lastUpdated>20250106162223</lastUpdated>
+    <lastUpdated>20250106183538</lastUpdated>
   </versioning>
 </metadata>
diff --git a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.md5 b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.md5
@@ -1 +1 @@
-3f3cdc3b4f34d300559cae3e5a7f333f
+4185777427ceb584dcd5ead642136d31
diff --git a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha1 b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha1
@@ -1 +1 @@
-8f7df3259991afc084596e2fe3c29334ffd734c7
+9e0cb8f6424bc49edbe15cfd71d8b2000e7dab1c
diff --git a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha256 b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha256
@@ -1 +1 @@
-998e83e37920ad017ae8785848a8bf374fcfa8f2c0a3af015bc9281e33551a21
+f4ef32d0c45a82de0094ca4ffcb6fb97181e6fa96f70c9099c405c37780d5969
diff --git a/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha512 b/yagsl/repos/swervelib/YAGSL-java/maven-metadata.xml.sha512
@@ -1 +1 @@
-dfac4eba3b8834c339553e51d40abf57a2ae2725e64f99bef40302948233297e9cfa2dc6615b3c302bee8968d43df228fb08f70fe35420713a8134dc610785f9
+f39f061357b9bfcfac31e68f91494da0433efea9d4b10270b1e75a0af2933226293ffdb9bed6f203b3eb4212ffed02fff5ea520a1aed3c9ffd8a0397cbf70066
diff --git a/yagsl/yagsl.json b/yagsl/yagsl.json
@@ -1,7 +1,7 @@
 {
-  "fileName": "yagsl-2025.1.2.json",
+  "fileName": "yagsl-2025.1.2.1.json",
   "name": "YAGSL",
-  "version": "2025.1.2",
+  "version": "2025.1.2.1",
   "frcYear": "2025",
   "uuid": "1ccce5a4-acd2-4d18-bca3-4b8047188400",
   "mavenUrls": [
@@ -12,7 +12,7 @@
     {
       "groupId": "swervelib",
       "artifactId": "YAGSL-java",
-      "version": "2025.1.2"
+      "version": "2025.1.2.1"
     }
   ],
   "requires": [
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