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Upgrading to 2025.1.0

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thenetworkgrinch
2024-12-09 23:26:04 +00:00
parent 9fe6551d88
commit 4bc6978a20
35 changed files with 1902 additions and 1122 deletions
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72
swervelib/parser/json/DeviceJson.java
View File

@@ -4,11 +4,10 @@ import static swervelib.telemetry.SwerveDriveTelemetry.canIdWarning;
import static swervelib.telemetry.SwerveDriveTelemetry.i2cLockupWarning;
import static swervelib.telemetry.SwerveDriveTelemetry.serialCommsIssueWarning;
import com.revrobotics.SparkRelativeEncoder.Type;
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 edu.wpi.first.wpilibj.I2C;
import edu.wpi.first.wpilibj.SPI;
import edu.wpi.first.wpilibj.SerialPort.Port;
import swervelib.encoders.AnalogAbsoluteEncoderSwerve;
import swervelib.encoders.CANCoderSwerve;
import swervelib.encoders.CanAndMagSwerve;
@@ -16,6 +15,7 @@ import swervelib.encoders.PWMDutyCycleEncoderSwerve;
import swervelib.encoders.SparkMaxAnalogEncoderSwerve;
import swervelib.encoders.SparkMaxEncoderSwerve;
import swervelib.encoders.SwerveAbsoluteEncoder;
import swervelib.encoders.TalonSRXEncoderSwerve;
import swervelib.imu.ADIS16448Swerve;
import swervelib.imu.ADIS16470Swerve;
import swervelib.imu.ADXRS450Swerve;
@@ -27,6 +27,7 @@ import swervelib.imu.PigeonSwerve;
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.TalonFXSwerve;
@@ -92,6 +93,10 @@ public class DeviceJson
return new AnalogAbsoluteEncoderSwerve(id);
case "cancoder":
return new CANCoderSwerve(id, canbus != null ? canbus : "");
case "talonsrx_pwm":
return new TalonSRXEncoderSwerve(motor, FeedbackDevice.PulseWidthEncodedPosition);
case "talonsrx_analog":
return new TalonSRXEncoderSwerve(motor, FeedbackDevice.Analog);
default:
throw new RuntimeException(type + " is not a recognized absolute encoder type.");
}
@@ -122,7 +127,7 @@ public class DeviceJson
return new CanandgyroSwerve(id);
case "navx":
case "navx_spi":
return new NavXSwerve(SPI.Port.kMXP);
return new NavXSwerve(NavXComType.kMXP_SPI);
case "navx_i2c":
DriverStation.reportWarning(
"WARNING: There exists an I2C lockup issue on the roboRIO that could occur, more information here: " +
@@ -130,15 +135,15 @@ public class DeviceJson
".html#onboard-i2c-causing-system-lockups",
false);
i2cLockupWarning.set(true);
return new NavXSwerve(I2C.Port.kMXP);
return new NavXSwerve(NavXComType.kI2C);
case "navx_usb":
DriverStation.reportWarning("WARNING: There is issues when using USB camera's and the NavX like this!\n" +
"https://pdocs.kauailabs.com/navx-mxp/guidance/selecting-an-interface/", false);
serialCommsIssueWarning.set(true);
return new NavXSwerve(Port.kUSB);
return new NavXSwerve(NavXComType.kUSB1);
case "navx_mxp_serial":
serialCommsIssueWarning.set(true);
return new NavXSwerve(Port.kMXP);
return new NavXSwerve(NavXComType.kMXP_UART);
case "pigeon":
return new PigeonSwerve(id);
case "pigeon2":
@@ -162,39 +167,56 @@ public class DeviceJson
}
switch (type)
{
case "sparkmax_neo":
case "neo":
case "sparkmax":
return new SparkMaxSwerve(id, isDriveMotor, DCMotor.getNEO(1));
case "sparkmax_neo550":
case "neo550":
return new SparkMaxSwerve(id, isDriveMotor, DCMotor.getNeo550(1));
case "sparkflex_vortex":
case "vortex":
case "sparkflex":
return new SparkFlexSwerve(id, isDriveMotor, DCMotor.getNeoVortex(1));
case "sparkflex_neo":
return new SparkFlexSwerve(id, isDriveMotor, DCMotor.getNEO(1));
case "sparkflex_neo550":
return new SparkFlexSwerve(id, isDriveMotor, DCMotor.getNeo550(1));
case "falcon500":
case "falcon":
return new TalonFXSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getFalcon500(1));
case "falcon500foc":
return new TalonFXSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getFalcon500Foc(1));
case "krakenx60":
case "talonfx":
return new TalonFXSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getKrakenX60(1));
case "krakenx60foc":
return new TalonFXSwerve(id, canbus != null ? canbus : "", isDriveMotor, DCMotor.getKrakenX60Foc(1));
case "talonsrx":
return new TalonSRXSwerve(id, isDriveMotor, DCMotor.getCIM(1));
case "sparkmax_brushed":
switch (canbus)
{
case "greyhill_63r256":
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kQuadrature, 1024, false);
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kQuadrature, 1024, false, DCMotor.getCIM(1));
case "srx_mag_encoder":
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kQuadrature, 4096, false);
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kQuadrature, 4096, false, DCMotor.getCIM(1));
case "throughbore":
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kQuadrature, 8192, false);
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kQuadrature, 8192, false, DCMotor.getCIM(1));
case "throughbore_dataport":
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kNoSensor, 8192, true);
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kNoSensor, 8192, true, DCMotor.getCIM(1));
case "greyhill_63r256_dataport":
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kQuadrature, 1024, true);
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kQuadrature, 1024, true, DCMotor.getCIM(1));
case "srx_mag_encoder_dataport":
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kQuadrature, 4096, true);
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kQuadrature, 4096, true, DCMotor.getCIM(1));
default:
if (isDriveMotor)
{
throw new RuntimeException("Spark MAX " + id + " MUST have a encoder attached to the motor controller.");
}
// We are creating a motor for an angle motor which will use the absolute encoder attached to the data port.
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kNoSensor, 0, false);
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kNoSensor, 0, false, DCMotor.getCIM(1));
}
case "neo":
case "sparkmax":
return new SparkMaxSwerve(id, isDriveMotor);
case "sparkflex":
return new SparkFlexSwerve(id, isDriveMotor);
case "falcon":
case "talonfx":
return new TalonFXSwerve(id, canbus != null ? canbus : "", isDriveMotor);
case "talonsrx":
return new TalonSRXSwerve(id, isDriveMotor);
default:
throw new RuntimeException(type + " is not a recognized motor type.");
}

67
swervelib/parser/json/ModuleJson.java
View File

@@ -1,8 +1,8 @@
package swervelib.parser.json;
import com.revrobotics.CANSparkMax;
import com.revrobotics.MotorFeedbackSensor;
import com.revrobotics.spark.SparkMax;
import edu.wpi.first.math.util.Units;
import swervelib.encoders.SparkMaxEncoderSwerve;
import swervelib.encoders.SwerveAbsoluteEncoder;
import swervelib.motors.SwerveMotor;
import swervelib.parser.PIDFConfig;
@@ -26,14 +26,6 @@ public class ModuleJson
* Angle motor device configuration.
*/
public DeviceJson angle;
/**
* Conversion factor for the module, if different from the one in swervedrive.json
* <p>
* Conversion factor applied to the motor controllers PID loops. Can be calculated with
* {@link swervelib.math.SwerveMath#calculateDegreesPerSteeringRotation(double, double)} for angle motors or
* {@link swervelib.math.SwerveMath#calculateMetersPerRotation(double, double, double)} for drive motors.
*/
public MotorConfigDouble conversionFactor = new MotorConfigDouble(0, 0);
/**
* Conversion Factors composition. Auto-calculates the conversion factors.
*/
@@ -81,37 +73,8 @@ public class ModuleJson
SwerveMotor angleMotor = angle.createMotor(false);
SwerveAbsoluteEncoder absEncoder = encoder.createEncoder(angleMotor);
// Setup deprecation notice.
// if (this.conversionFactor.drive != 0 && this.conversionFactor.angle != 0)
// {
// new Alert("Configuration",
// "\n'conversionFactor': {'drive': " + conversionFactor.drive + ", 'angle': " + conversionFactor.angle +
// "} \nis deprecated, please use\n" +
// "'conversionFactors': {'drive': {'factor': " + conversionFactor.drive + "}, 'angle': {'factor': " +
// conversionFactor.angle + "} }",
// AlertType.WARNING).set(true);
// }
// Override with composite conversion factor.
if (!conversionFactors.isAngleEmpty())
{
conversionFactor.angle = conversionFactors.angle.calculate();
}
if (!conversionFactors.isDriveEmpty())
{
conversionFactor.drive = conversionFactors.drive.calculate();
}
// Set the conversion factors to null if they are both 0.
if (this.conversionFactor != null)
{
if (this.conversionFactor.angle == 0 && this.conversionFactor.drive == 0)
{
this.conversionFactor = null;
}
}
if (this.conversionFactor == null && physicalCharacteristics.conversionFactor == null)
if (!conversionFactors.works() && physicalCharacteristics.conversionFactor == null)
{
throw new RuntimeException("No Conversion Factor configured! Please create SwerveDrive using \n" +
"SwerveParser.createSwerveDrive(driveFeedforward, maxSpeed, angleMotorConversionFactor, driveMotorConversion)\n" +
@@ -120,27 +83,27 @@ public class ModuleJson
"OR\n" +
"Set the conversion factor in physicalproperties.json OR the module JSON file." +
"REMEMBER: You can calculate the conversion factors using SwerveMath.calculateMetersPerRotation AND SwerveMath.calculateDegreesPerSteeringRotation\n");
} else if (physicalCharacteristics.conversionFactor != null && this.conversionFactor == null)
} else if (physicalCharacteristics.conversionFactor.works() && !conversionFactors.works())
{
this.conversionFactor = physicalCharacteristics.conversionFactor;
} else if (physicalCharacteristics.conversionFactor !=
null) // If both are defined, override 0 with the physical characterstics input.
conversionFactors = physicalCharacteristics.conversionFactor;
} else if (physicalCharacteristics.conversionFactor.works())
// If both are defined, override 0 with the physical characterstics input.
{
this.conversionFactor.angle = this.conversionFactor.angle == 0 ? physicalCharacteristics.conversionFactor.angle
: this.conversionFactor.angle;
this.conversionFactor.drive = this.conversionFactor.drive == 0 ? physicalCharacteristics.conversionFactor.drive
: this.conversionFactor.drive;
conversionFactors.angle = conversionFactors.isAngleEmpty() ? physicalCharacteristics.conversionFactor.angle
: conversionFactors.angle;
conversionFactors.drive = conversionFactors.isDriveEmpty() ? physicalCharacteristics.conversionFactor.drive
: conversionFactors.drive;
}
if (this.conversionFactor.drive == 0 || this.conversionFactor.angle == 0)
if (conversionFactors.isDriveEmpty() || conversionFactors.isAngleEmpty())
{
throw new RuntimeException(
"Conversion factors cannot be 0, please configure conversion factors in physicalproperties.json or the module JSON files.");
}
// Backwards compatibility, auto-optimization.
if (conversionFactor.angle == 360 && absEncoder != null &&
absEncoder.getAbsoluteEncoder() instanceof MotorFeedbackSensor && angleMotor.getMotor() instanceof CANSparkMax)
if (conversionFactors.angle.factor == 360 && absEncoder != null &&
absEncoder instanceof SparkMaxEncoderSwerve && angleMotor.getMotor() instanceof SparkMax)
{
angleMotor.setAbsoluteEncoder(absEncoder);
}
@@ -148,7 +111,7 @@ public class ModuleJson
return new SwerveModuleConfiguration(
drive.createMotor(true),
angleMotor,
conversionFactor,
conversionFactors,
absEncoder,
absoluteEncoderOffset,
Units.inchesToMeters(Math.round(location.x) == 0 ? location.front : location.x),

57
swervelib/parser/json/PhysicalPropertiesJson.java
View File

@@ -1,5 +1,8 @@
package swervelib.parser.json;
import edu.wpi.first.units.Units;
import edu.wpi.first.wpilibj.Alert;
import edu.wpi.first.wpilibj.Alert.AlertType;
import swervelib.parser.SwerveModulePhysicalCharacteristics;
import swervelib.parser.json.modules.ConversionFactorsJson;
@@ -9,13 +12,23 @@ import swervelib.parser.json.modules.ConversionFactorsJson;
public class PhysicalPropertiesJson
{
/**
* Conversion factor applied to the motor controllers PID loops. Can be calculated with
* {@link swervelib.math.SwerveMath#calculateDegreesPerSteeringRotation(double, double)} for angle motors or
* {@link swervelib.math.SwerveMath#calculateMetersPerRotation(double, double, double)} for drive motors.
* DEPRECATED! Use {@link PhysicalPropertiesJson#conversionFactors} instead.
*/
public MotorConfigDouble conversionFactor = new MotorConfigDouble(0, 0);
@Deprecated(since = "2025", forRemoval = true)
public MotorConfigDouble conversionFactor = new MotorConfigDouble();
/**
* Minimum voltage to spin the module or wheel.
*/
public MotorConfigDouble friction = new MotorConfigDouble(0.3, 0.2);
/**
* Steer rotational inertia in KilogramMetersSquare.
*/
public double steerRotationalInertia = 0.03;
/**
* Robot mass in lb (pounds)
*/
public double robotMass = 110.2311;
/**
* Conversion Factors composition. Auto-calculates the conversion factors.
*/
@@ -45,35 +58,29 @@ public class PhysicalPropertiesJson
public SwerveModulePhysicalCharacteristics createPhysicalProperties()
{
// Setup deprecation notice.
// if (conversionFactor.drive != 0 && conversionFactor.angle != 0 && conversionFactors.isDriveEmpty() &&
// conversionFactors.isAngleEmpty())
// {
// new Alert("Configuration",
// "\n'conversionFactor': {'drive': " + conversionFactor.drive + ", 'angle': " + conversionFactor.angle +
// "} \nis deprecated, please use\n" +
// "'conversionFactors': {'drive': {'factor': " + conversionFactor.drive + "}, 'angle': {'factor': " +
// conversionFactor.angle + "} }",
// AlertType.ERROR_TRACE).set(true);
// }
if (!conversionFactors.isAngleEmpty())
if (conversionFactor.drive != 0 && conversionFactor.angle != 0 && conversionFactors.isDriveEmpty() &&
conversionFactors.isAngleEmpty())
{
conversionFactor.angle = conversionFactors.angle.calculate();
}
if (!conversionFactors.isDriveEmpty())
{
conversionFactor.drive = conversionFactors.drive.calculate();
new Alert("Configuration",
"\n'conversionFactor': {'drive': " + conversionFactor.drive + ", 'angle': " + conversionFactor.angle +
"} \nis deprecated, please use\n" +
"'conversionFactors': {'drive': {'factor': " + conversionFactor.drive + "}, 'angle': {'factor': " +
conversionFactor.angle + "} }",
AlertType.kError).set(true);
}
return new SwerveModulePhysicalCharacteristics(
conversionFactor,
conversionFactors,
wheelGripCoefficientOfFriction,
optimalVoltage,
currentLimit.drive,
currentLimit.angle,
rampRate.drive,
rampRate.angle);
rampRate.angle,
friction.drive,
friction.angle,
steerRotationalInertia,
Units.Pounds.of(robotMass).in(Units.Kilogram));
}
}

12
swervelib/parser/json/modules/AngleConversionFactorsJson.java
View File

@@ -1,8 +1,6 @@
package swervelib.parser.json.modules;
import swervelib.math.SwerveMath;
import swervelib.telemetry.Alert;
import swervelib.telemetry.Alert.AlertType;
/**
* Angle motor conversion factors composite JSON parse class.
@@ -13,11 +11,11 @@ public class AngleConversionFactorsJson
/**
* Gear ratio for the angle/steering/azimuth motor on the Swerve Module. Motor rotations to 1 wheel rotation.
*/
public double gearRatio = 0;
public double gearRatio;
/**
* Calculated or given conversion factor.
*/
public double factor = 0;
public double factor = 0;
/**
* Calculate the drive conversion factor.
@@ -26,12 +24,6 @@ public class AngleConversionFactorsJson
*/
public double calculate()
{
if (factor != 0 && gearRatio != 0)
{
new Alert("Configuration",
"The given angle conversion factor takes precedence over the composite conversion factor, please remove 'factor' if you want to use the composite factor instead.",
AlertType.WARNING).set(true);
}
if (factor == 0)
{
factor = SwerveMath.calculateDegreesPerSteeringRotation(gearRatio);

17
swervelib/parser/json/modules/ConversionFactorsJson.java
View File

@@ -22,7 +22,8 @@ public class ConversionFactorsJson
*/
public boolean isDriveEmpty()
{
return drive.factor == 0 && drive.diameter == 0 && drive.gearRatio == 0;
drive.calculate();
return drive.factor == 0;
}
/**
@@ -32,6 +33,18 @@ public class ConversionFactorsJson
*/
public boolean isAngleEmpty()
{
return angle.factor == 0 && angle.gearRatio == 0;
angle.calculate();
return angle.factor == 0;
}
/**
* Check if the conversion factor can be found.
*
* @return If the conversion factors can be found.
*/
public boolean works()
{
return (angle.factor != 0 && drive.factor != 0) ||
((drive.gearRatio != 0 && drive.diameter != 0)) && (angle.gearRatio != 0);
}
}

14
swervelib/parser/json/modules/DriveConversionFactorsJson.java
View File

@@ -2,8 +2,6 @@ package swervelib.parser.json.modules;
import edu.wpi.first.math.util.Units;
import swervelib.math.SwerveMath;
import swervelib.telemetry.Alert;
import swervelib.telemetry.Alert.AlertType;
/**
* Drive motor composite JSON parse class.
@@ -14,15 +12,15 @@ public class DriveConversionFactorsJson
/**
* Gear ratio for the drive motor rotations to turn the wheel 1 complete rotation.
*/
public double gearRatio = 0;
public double gearRatio;
/**
* Diameter of the wheel in inches.
*/
public double diameter = 0;
public double diameter;
/**
* Calculated conversion factor.
*/
public double factor = 0;
public double factor = 0;
/**
* Calculate the drive conversion factor.
@@ -31,12 +29,6 @@ public class DriveConversionFactorsJson
*/
public double calculate()
{
if (factor != 0 && (diameter != 0 || gearRatio != 0))
{
new Alert("Configuration",
"The given drive conversion factor takes precedence over the composite conversion factor, please remove 'factor' if you want to use the composite factor instead.",
AlertType.WARNING).set(true);
}
if (factor == 0)
{
factor = SwerveMath.calculateMetersPerRotation(Units.inchesToMeters(this.diameter), this.gearRatio);