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Upgrading to 2025.7.0

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This commit is contained in:
thenetworkgrinch
2025-02-22 06:15:56 +00:00
parent 62f8236678
commit 4016ee2190
41 changed files with 2237 additions and 557 deletions
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36
swervelib/parser/json/DeviceJson.java
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@@ -6,13 +6,13 @@ import static swervelib.telemetry.SwerveDriveTelemetry.serialCommsIssueWarning;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.studica.frc.AHRS.NavXComType;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.wpilibj.DriverStation;
import swervelib.encoders.AnalogAbsoluteEncoderSwerve;
import swervelib.encoders.CANCoderSwerve;
import swervelib.encoders.CanAndMagSwerve;
import swervelib.encoders.PWMDutyCycleEncoderSwerve;
import swervelib.encoders.DIODutyCycleEncoderSwerve;
import swervelib.encoders.SparkFlexEncoderSwerve;
import swervelib.encoders.SparkMaxAnalogEncoderSwerve;
import swervelib.encoders.SparkMaxEncoderSwerve;
import swervelib.encoders.SwerveAbsoluteEncoder;
@@ -26,12 +26,14 @@ import swervelib.imu.CanandgyroSwerve;
import swervelib.imu.NavXSwerve;
import swervelib.imu.Pigeon2Swerve;
import swervelib.imu.PigeonSwerve;
import swervelib.imu.PigeonViaTalonSRXSwerve;
import swervelib.imu.SwerveIMU;
import swervelib.motors.SparkFlexSwerve;
import swervelib.motors.SparkMaxBrushedMotorSwerve;
import swervelib.motors.SparkMaxBrushedMotorSwerve.Type;
import swervelib.motors.SparkMaxSwerve;
import swervelib.motors.SwerveMotor;
import swervelib.motors.TalonFXSSwerve;
import swervelib.motors.TalonFXSwerve;
import swervelib.motors.TalonSRXSwerve;
import swervelib.motors.ThriftyNovaSwerve;
@@ -81,6 +83,11 @@ public class DeviceJson
return new SparkMaxAnalogEncoderSwerve(motor, 3.3);
case "sparkmax_analog5v":
return new SparkMaxAnalogEncoderSwerve(motor, 5);
case "sparkflex_integrated":
case "sparkflex_attached":
case "sparkflex_canandmag":
case "sparkflex_canandcoder":
return new SparkFlexEncoderSwerve(motor, 360);
case "canandcoder_can":
case "canandmag_can":
return new CanAndMagSwerve(id);
@@ -89,13 +96,16 @@ public class DeviceJson
case "throughbore":
case "am_mag":
case "dutycycle":
return new PWMDutyCycleEncoderSwerve(id);
return new DIODutyCycleEncoderSwerve(id);
case "thrifty":
case "ma3":
case "analog":
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":
@@ -151,6 +161,8 @@ public class DeviceJson
return new NavXSwerve(NavXComType.kMXP_UART);
case "pigeon":
return new PigeonSwerve(id);
case "pigeon_via_talonsrx":
return new PigeonViaTalonSRXSwerve(id);
case "pigeon2":
return new Pigeon2Swerve(id, canbus != null ? canbus : "");
default:
@@ -172,10 +184,22 @@ public class DeviceJson
}
switch (type)
{
case "talonfxs_neo":
return new TalonFXSSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getNEO(1));
case "talonfxs_neo550":
return new TalonFXSSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getNeo550(1));
case "talonfxs_vortex":
return new TalonFXSSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getNeoVortex(1));
case "talonfxs_minion":
throw new UnsupportedOperationException("Cannot create minion combination yet"); //new TalonFXSSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getNeoVortex(1));
case "sparkmax_neo":
case "neo":
case "sparkmax":
return new SparkMaxSwerve(id, isDriveMotor, DCMotor.getNEO(1));
case "sparkmax_vortex":
return new SparkMaxSwerve(id, isDriveMotor, DCMotor.getNeoVortex(1));
case "sparkmax_minion":
throw new UnsupportedOperationException("Cannot create minion combination yet");
case "sparkmax_neo550":
case "neo550":
return new SparkMaxSwerve(id, isDriveMotor, DCMotor.getNeo550(1));
@@ -187,6 +211,8 @@ public class DeviceJson
return new SparkFlexSwerve(id, isDriveMotor, DCMotor.getNEO(1));
case "sparkflex_neo550":
return new SparkFlexSwerve(id, isDriveMotor, DCMotor.getNeo550(1));
case "sparkflex_minion":
throw new UnsupportedOperationException("Cannot create minion combination yet");
case "falcon500":
case "falcon":
return new TalonFXSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getFalcon500(1));
@@ -230,6 +256,10 @@ public class DeviceJson
return new ThriftyNovaSwerve(id, isDriveMotor, DCMotor.getNEO(1));
case "nova_neo550":
return new ThriftyNovaSwerve(id, isDriveMotor, DCMotor.getNeo550(1));
case "nova_vortex":
return new ThriftyNovaSwerve(id, isDriveMotor, DCMotor.getNeoVortex(1));
case "nova_minion":
throw new UnsupportedOperationException("Cannot create minion combination");//return new ThriftyNovaSwerve(id, isDriveMotor, DCMotor.getMinion(1));
default:
throw new RuntimeException(type + " is not a recognized motor type.");
}