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Spikes-2212-Programming-Guild · Jan 28, 2025 · 06f17ee · 06f17ee
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diff --git a/README.md b/README.md
@@ -1,54 +1,48 @@
 <body style="font-family: Calibri">
-<h1 style="color: #00156B">SpikesLib</h1>
+<h1 style="color: #00156E">SpikesLib</h1>
 SpikesLib is a library that extends <a href="https://github.com/wpilibsuite/allwpilib">WPILib</a> written by the FRC team The
 Spikes#2212.
 
-<h2 style="color: #00156B;">Examples</h2>
-Examples of how to use the library can be
-found <a href = "https://github.com/Spikes-2212-Programming-Guild/SpikesLib2-Examples">here</a>.
+<h2 style="color: #00156E;">Examples</h2>
+Examples of how to use the library can be found <a href = "https://github.com/Spikes-2212-Programming-Guild/SpikesLib2-Examples">here</a>.
 
-<h2 style="color: #00156B;">Packages</h2>
+<h2 style="color: #00156E;">Packages</h2>
 
 - command - extensions for WPILib's Command Based framework
 - control - controller wrappers and custom controllers
 - dashboard - wrappers for SmartDashboard elements
 - path - path following code and pure pursuit algorithm
 - util - additional utilities
 
-<h2 style="color: #00156B;">Installation</h2>
+<h2 style="color: #00156E;">Installation</h2>
 After creating a Robot Project, import SpikesLib as an online vendor libray, using this link: <br> <br>
 https://spikes2212.com/SpikesLib.json
 
-<h2 style="color: #00156B;">2025 Season</h2>
+<h2 style="color: #00156E;">2024 Season</h2>
 
-Spikeslib has been <a href = "https://github.com/Spikes-2212-Programming-Guild/SpikesLib2/compare/v4.1.0...v5.0.0-beta"> updated </a> to support WPILib 2025.
+Spikeslib has been <a href = "https://github.com/Spikes-2212-Programming-Guild/SpikesLib2/compare/v3.2.1...v4.1.0"> updated </a> to support WPILib 2024.
 
-<h2 style="color: #00156B;">2024 Season</h2>
+<h2 style="color: #00156E;">2023 Season</h2>
 
-Spikeslib has been <a href = "https://github.com/Spikes-2212-Programming-Guild/SpikesLib2/compare/v3.2.1...v4.1.0">
-updated </a> to support WPILib 2024.
+Spikeslib has been <a href = "https://github.com/Spikes-2212-Programming-Guild/SpikesLib2/compare/v2.0.0...v3.0.0"> updated </a> to support WPILib 2023.
 
-<h2 style="color: #00156B;">2023 Season</h2>
-
-Spikeslib has been <a href = "https://github.com/Spikes-2212-Programming-Guild/SpikesLib2/compare/v2.0.0...v3.0.0">
-updated </a> to support WPILib 2023.
-
-<h2 style="color: #00156B;">2022 Season</h2>
+<h2 style="color: #00156E;">2022 Season</h2>
 
 Spikeslib has been updated to support WPILib 2022.
 
-<h2 style="color: #00156B;" >2020 Season</h2>
+<h2 style="color: #00156E;" >2020 Season</h2>
 
 For this season, SpikesLib has been moved to this repository due to the extensive changes in WPILib. <br>
 The old version is still available at the [old repository](https://github.com/Spikes-2212-Programming-Guild/SpikesLib).
 
-<h2 style="color: #00156B;">Development</h2>
+<h2 style="color: #00156E;">Development</h2>
 SpikesLib is developed in a feature branches workflow. <br>
 All feature branches are merged into <code><i>dev</i></code> branch after testing, which in turn is merged into
 <code><i>master</i></code> after it passing complete testing <br>
 Branches should be named according to the following convention - <code><i>name_package_feature</i></code>
 
-<h2 style="color: #00156B;">Help us out!</h2>
+
+<h2 style="color: #00156E;">Help us out!</h2>
 We accept help from everyone! <br>
 If you want to contribute, simply create a branch and open up a pull request, according to the instructions above.
 

diff --git a/SpikesLib2.json b/SpikesLib2.json
@@ -1,8 +1,8 @@
 {
     "fileName": "SpikesLib2.json",
     "name": "SpikesLib2",
-    "version": "v5.0.0-beta",
-    "frcYear": "2025",
+    "version": "v4.1.0",
+    "frcYear": "2024",
     "uuid": "018a8f54-8662-11ec-a8a3-0242ac120002",
     "jsonUrl": "https://raw.githubusercontent.com/Spikes-2212-Programming-Guild/SpikesLib2/master/SpikesLib2.json",
     "mavenUrls": [
@@ -15,7 +15,7 @@
         {
             "groupId": "com.github.Spikes-2212-Programming-Guild",
     	    "artifactId": "SpikesLib2",
-            "version": "v5.0.0-beta"
+            "version": "4.1.0"
         }
     ]
 }
diff --git a/build.gradle b/build.gradle
@@ -1,3 +1,4 @@
+
 plugins {
     id 'java-library'
     id 'maven-publish'
@@ -20,33 +21,30 @@ repositories {
     maven {
         url 'https://maven.revrobotics.com'
     }
-    maven {
-        url 'https://jitpack.io'
-    }
 }
 
 publishing {
     publications {
         mavenJava(MavenPublication) {
             groupId = 'org.gradle.sample'
             artifactId = 'library'
-            version = '5.0.0-beta'
+            version = '4.1.0'
 
             from components.java
         }
     }
 }
 
 dependencies {
-    implementation group: 'com.ctre.phoenix6', name: 'wpiapi-java', version: '25.2.1'
-    implementation group: 'edu.wpi.first.ntcore', name: 'ntcore-java', version: '2025.1.1'
-    implementation group: 'edu.wpi.first.wpilibNewCommands', name: 'wpilibNewCommands-java', version: '2025.1.1'
-    implementation group: 'edu.wpi.first.wpilibj', name: 'wpilibj-java', version: '2025.1.1'
-    implementation group: 'edu.wpi.first.cameraserver', name: 'cameraserver-java', version: '2025.1.1'
-    implementation group: 'edu.wpi.first.wpiutil', name: 'wpiutil-java', version: '2025.1.1'
-    implementation group: 'edu.wpi.first.wpimath', name: 'wpimath-java', version: '2025.1.1'
-    implementation group: 'edu.wpi.first.wpiunits', name: 'wpiunits-java', version: '2025.1.1'
-    implementation group: 'com.revrobotics.frc', name: 'REVLib-java', version: '2025.0.2'
-    implementation group: 'com.ctre.phoenix', name: 'api-java', version: '5.35.1'
-    implementation group: 'com.ctre.phoenix', name: 'wpiapi-java', version: '5.35.1'
+    implementation group: 'com.ctre.phoenix6', name: 'wpiapi-java', version: '24.1.0'
+    implementation group: 'edu.wpi.first.ntcore', name: 'ntcore-java', version: '2024.2.1'
+    implementation group: 'edu.wpi.first.wpilibNewCommands', name: 'wpilibNewCommands-java', version: '2024.2.1'
+    implementation group: 'edu.wpi.first.wpilibj', name: 'wpilibj-java', version: '2024.2.1'
+    implementation group: 'edu.wpi.first.cameraserver', name: 'cameraserver-java', version: '2024.2.1'
+    implementation group: 'edu.wpi.first.wpiutil', name: 'wpiutil-java', version: '2024.2.1'
+    implementation group: 'edu.wpi.first.wpimath', name: 'wpimath-java', version: '2024.2.1'
+    implementation group: 'edu.wpi.first.wpiunits', name: 'wpiunits-java', version: '2024.2.1'
+    implementation group: 'com.revrobotics.frc', name: 'REVLib-java', version: '2024.2.0'
+    implementation group: 'com.ctre.phoenix', name: 'api-java', version: '5.33.0'
+    implementation group: 'com.ctre.phoenix', name: 'wpiapi-java', version: '5.33.0'
 }
diff --git a/docs/README.md b/docs/README.md
@@ -3,47 +3,43 @@ SpikesLib is a library that extends <a href="https://github.com/wpilibsuite/allw
 Spikes#2212.
 
 
-<h2 style="color: #00156B;">Packages</h2>
+<h2 style="color: #0015AB;">Packages</h2>
 
 <li>command - extensions for WPILib's Command Based framework</li>
 <li>control - controller wrappers and custom controllers</li>
 <li>dashboard - wrappers for SmartDashboard elements</li>
 <li>path - path following code and pure pursuit algorithm</li>
 <li>util - additional utilities</li>
 
-<h2 style="color: #00156B;">Installation</h2>
+<h2 style="color: #0015AB;">Installation</h2>
 After creating a Robot Project, import SpikesLib as an online vendor libray, using this link: <br> <br>
 https://spikes2212.com/SpikesLib.json
 
-<h2 style="color: #00156B;">2025 Season</h2>
-
-Spikeslib has been <a href = "https://github.com/Spikes-2212-Programming-Guild/SpikesLib2/compare/v4.1.0...v5.0.0-beta"> updated </a> to support WPILib 2025.
-
-<h2 style="color: #00156B;">2024 Season</h2>
+<h2 style="color: #00156E;">2024 Season</h2>
 
 Spikeslib has been <a href = "https://github.com/Spikes-2212-Programming-Guild/SpikesLib2/compare/v3.2.1...v4.1.0"> updated </a> to support WPILib 2024.
 
-<h2 style="color: #00156B;">2023 Season</h2>
+<h2 style="color: #00156E;">2023 Season</h2>
 
 Spikeslib has been <a href = "https://github.com/Spikes-2212-Programming-Guild/SpikesLib2/compare/v2.0.0...v3.0.0"> updated </a> to support WPILib 2023.
 
-<h2 style="color: #00156B;">2022 Season</h2>
+<h2 style="color: #0015AB;">2022 Season</h2>
 
 Spikeslib has been updated to support WPILib 2022.
 
-<h2 style="color: #00156B;" >2020 Season</h2>
+<h2 style="color: #0015AB;" >2020 Season</h2>
 
 For this season, SpikesLib has been moved to this repository due to the extensive changes in WPILib. <br>
 The old version is still available at the <a href="https://github.com/Spikes-2212-Programming-Guild/SpikesLib"
 target="_blank" rel="noopener noreferrer">old repository</a>.
 
-<h2 style="color: #00156B;">Development</h2>
+<h2 style="color: #0015AB;">Development</h2>
 SpikesLib is developed in a feature branches workflow. <br>
 All feature branches are merged into <code><i>dev</i></code> branch after testing, which in turn is merged into
 <code><i>master</i></code> after it passing complete testing <br>
 Branches should be named according to the following convention - <code><i>name_package_feature</i></code>
 
-<h2 style="color: #00156B;">Help us out!</h2>
+<h2 style="color: #0015AB;">Help us out!</h2>
 We accept help from everyone! <br>
 If you want to contribute, simply create a branch and open up a pull request, according to the instructions above.
 

diff --git a/src/main/java/com/spikes2212/command/drivetrains/OdometryDrivetrain.java b/src/main/java/com/spikes2212/command/drivetrains/OdometryDrivetrain.java
@@ -3,7 +3,6 @@
 import com.spikes2212.path.OdometryHandler;
 import edu.wpi.first.wpilibj.motorcontrol.MotorController;
 
-@Deprecated(forRemoval = true, since = "2025")
 public abstract class OdometryDrivetrain extends TankDrivetrain {
 
     public OdometryDrivetrain(String namespaceName, MotorController left, MotorController right) {

diff --git a/src/main/java/com/spikes2212/command/drivetrains/TankDrivetrain.java b/src/main/java/com/spikes2212/command/drivetrains/TankDrivetrain.java
@@ -1,7 +1,6 @@
 package com.spikes2212.command.drivetrains;
 
 import com.spikes2212.command.DashboardedSubsystem;
-import com.spikes2212.util.MotorControllerGroup;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -21,8 +20,8 @@ public class TankDrivetrain extends DashboardedSubsystem {
 
     private static final String DEFAULT_NAMESPACE_NAME = "tank drivetrain";
 
-    protected final MotorController leftController;
-    protected final MotorController rightController;
+    protected MotorController leftController;
+    protected MotorController rightController;
 
     private final DifferentialDrive drive;
 
@@ -39,18 +38,6 @@ public TankDrivetrain(MotorController leftController, MotorController rightContr
         this(getClassName(DEFAULT_NAMESPACE_NAME), leftController, rightController);
     }
 
-    public TankDrivetrain(String namespaceName, MotorController leftMaster, MotorController leftSlave,
-                          MotorController rightMaster, MotorController rightSlave) {
-        this(namespaceName, new MotorControllerGroup(leftMaster, leftSlave),
-                new MotorControllerGroup(rightMaster, rightSlave));
-    }
-
-    public TankDrivetrain(MotorController leftMaster, MotorController leftSlave,
-                          MotorController rightMaster, MotorController rightSlave) {
-        this(new MotorControllerGroup(leftMaster, leftSlave),
-                new MotorControllerGroup(rightMaster, rightSlave));
-    }
-
     /**
      * Moves both sides of this drivetrain by the given speeds for each side.
      *
@@ -140,7 +127,7 @@ public void setLeft(double leftSpeed) {
      * @param rightSpeed the speed to set to the right side (-1 to 1). Positive values move this side forward
      */
     public void setRight(double rightSpeed) {
-        rightController.set(rightSpeed);
+        rightController.set(-rightSpeed);
     }
 
     /**
@@ -171,7 +158,6 @@ public void stop() {
 
     /**
      * Sets the motor safety feature of the speed controllers on/off.
-     *
      * @param enabled whether motor safety should be enabled
      */
     public void setMotorSafety(boolean enabled) {

diff --git a/src/main/java/com/spikes2212/command/drivetrains/commands/DriveArcadeWithPID.java b/src/main/java/com/spikes2212/command/drivetrains/commands/DriveArcadeWithPID.java
@@ -31,7 +31,7 @@ public class DriveArcadeWithPID extends Command {
     /**
      * The PID controller for the turning PID loop.
      */
-    protected final PIDController pidController;
+    protected PIDController pidController;
 
     /**
      * The FeedForward settings for the turning FeedForwards loop.
@@ -41,87 +41,69 @@ public class DriveArcadeWithPID extends Command {
     /**
      * The FeedForward controller for the turning FeedForwards loop.
      */
-    protected final FeedForwardController feedForwardController;
+    protected FeedForwardController feedForwardController;
 
     /**
      * The angle of the drivetrain.
      */
-    protected final Supplier<Double> source;
+    protected Supplier<Double> source;
 
     /**
-     * The angle the drivetrain should reach.
+     * The last time the drivetrain's angle wasn't within the target range.
      */
-    protected final Supplier<Double> setpoint;
+    private double lastTimeNotOnTarget;
 
     /**
-     * The acceleration the drivetrain should be at.
+     * The angle the drivetrain should reach.
      */
-    protected final Supplier<Double> acceleration;
+    protected Supplier<Double> setpoint;
 
     /**
      * The speed at which to move the drivetrain forward.
      */
-    protected final Supplier<Double> moveValue;
-
-    /**
-     * The last time the drivetrain's angle wasn't within the target range.
-     */
-    private double lastTimeNotOnTarget;
+    protected Supplier<Double> moveValue;
 
     public DriveArcadeWithPID(TankDrivetrain drivetrain, Supplier<Double> source, Supplier<Double> setpoint,
-                              Supplier<Double> acceleration, Supplier<Double> moveValue, PIDSettings pidSettings,
+                              Supplier<Double> moveValue, PIDSettings pidSettings,
                               FeedForwardSettings feedForwardSettings) {
         addRequirements(drivetrain);
         this.drivetrain = drivetrain;
         this.setpoint = setpoint;
-        this.acceleration = acceleration;
         this.pidSettings = pidSettings;
         this.feedForwardSettings = feedForwardSettings;
         this.source = source;
         this.moveValue = moveValue;
         this.pidController = new PIDController(pidSettings.getkP(), pidSettings.getkI(), pidSettings.getkD());
         this.pidController.setSetpoint(setpoint.get());
         this.feedForwardController = new FeedForwardController(feedForwardSettings.getkS(), feedForwardSettings.getkV(),
-                feedForwardSettings.getkA(), feedForwardSettings.getkG(), feedForwardSettings.getControlMode());
-    }
-
-    public DriveArcadeWithPID(TankDrivetrain drivetrain, Supplier<Double> source, double setpoint,
-                              Supplier<Double> acceleration, double moveValue, PIDSettings pidSettings,
-                              FeedForwardSettings feedForwardSettings) {
-        this(drivetrain, source, () -> setpoint, acceleration, () -> moveValue, pidSettings, feedForwardSettings);
-    }
-
-    public DriveArcadeWithPID(TankDrivetrain drivetrain, Supplier<Double> source, Supplier<Double> setpoint,
-                              Supplier<Double> moveValue, PIDSettings pidSettings,
-                              FeedForwardSettings feedForwardSettings) {
-        this(drivetrain, source, setpoint, () -> 0.0, moveValue, pidSettings, feedForwardSettings);
+                feedForwardSettings.getkA(), feedForwardSettings.getkG(), FeedForwardController.DEFAULT_PERIOD);
     }
 
-    public DriveArcadeWithPID(TankDrivetrain drivetrain, Supplier<Double> source, double setpoint,
-                              double moveValue, PIDSettings pidSettings, FeedForwardSettings feedForwardSettings) {
-        this(drivetrain, source, () -> setpoint, () -> 0.0, () -> moveValue, pidSettings, feedForwardSettings);
+    public DriveArcadeWithPID(TankDrivetrain drivetrain, Supplier<Double> source, double setpoint, double moveValue,
+                              PIDSettings pidSettings, FeedForwardSettings feedForwardSettings) {
+        this(drivetrain, source, () -> setpoint, () -> moveValue, pidSettings, feedForwardSettings);
     }
 
     public DriveArcadeWithPID(TankDrivetrain drivetrain, Supplier<Double> source, Supplier<Double> setpoint,
                               Supplier<Double> moveValue, PIDSettings pidSettings) {
-        this(drivetrain, source, setpoint, () -> 0.0, moveValue, pidSettings, FeedForwardSettings.EMPTY_FF_SETTINGS);
+        this(drivetrain, source, setpoint, moveValue, pidSettings, FeedForwardSettings.EMPTY_FFSETTINGS);
     }
 
-    public DriveArcadeWithPID(TankDrivetrain drivetrain, Supplier<Double> source, double setpoint,
-                              double moveValue, PIDSettings pidSettings) {
+    public DriveArcadeWithPID(TankDrivetrain drivetrain, Supplier<Double> source, double setpoint, double moveValue,
+                              PIDSettings pidSettings) {
         this(drivetrain, source, () -> setpoint, () -> moveValue, pidSettings);
     }
 
     @Override
     public void execute() {
         pidController.setTolerance(pidSettings.getTolerance());
         pidController.setPID(pidSettings.getkP(), pidSettings.getkI(), pidSettings.getkD());
-        pidController.setIZone(pidSettings.getIZone());
 
-        feedForwardController.setGains(feedForwardSettings);
+        feedForwardController.setGains(feedForwardSettings.getkS(), feedForwardSettings.getkV(),
+                feedForwardSettings.getkA(), feedForwardSettings.getkG());
 
         drivetrain.arcadeDrive(moveValue.get(), pidController.calculate(source.get(), setpoint.get()) +
-                feedForwardController.calculate(source.get(), setpoint.get(), acceleration.get()));
+                feedForwardController.calculate(setpoint.get()));
     }
 
     @Override

diff --git a/src/main/java/com/spikes2212/command/drivetrains/commands/DriveArcadeWithVoltages.java b/src/main/java/com/spikes2212/command/drivetrains/commands/DriveArcadeWithVoltages.java
@@ -5,6 +5,8 @@
 
 import java.util.function.Supplier;
 
+import java.util.function.Supplier;
+
 /**
  * A command that moves a {@link TankDrivetrain} using linear and rotational voltages.
  *

diff --git a/src/main/java/com/spikes2212/command/drivetrains/commands/DriveCurvature.java b/src/main/java/com/spikes2212/command/drivetrains/commands/DriveCurvature.java
@@ -14,9 +14,9 @@
  */
 public class DriveCurvature extends Command {
 
-    protected final TankDrivetrain drivetrain;
-    protected final Supplier<Double> speed;
-    protected final Supplier<Double> rotation;
+    protected TankDrivetrain drivetrain;
+    protected Supplier<Double> speed;
+    protected Supplier<Double> rotation;
 
     public DriveCurvature(TankDrivetrain drivetrain, Supplier<Double> speed, Supplier<Double> rotation) {
         this.drivetrain = drivetrain;
-Original file line number
+Diff line change
@@ Expand Up / @@ -5,6 +5,8 @@ @@
     import java.util.function.Supplier;
+    import java.util.function.Supplier;
     /**
      * A command that moves a {@link TankDrivetrain} using linear and rotational voltages.
      *
@@ Expand Down @@