Team2890/YAGSL
4
0
Fork 0
mirror of https://github.com/BroncBotz3481/YAGSL synced 2026-06-19 06:21:40 +00:00
Code Issues Packages Projects Releases Wiki Activity

Upgrading to 2025.1.0

Browse Source
This commit is contained in:
thenetworkgrinch
2024-12-09 23:26:04 +00:00
parent 9fe6551d88
commit 4bc6978a20
35 changed files with 1902 additions and 1122 deletions
Download Patch File Download Diff File Expand all files Collapse all files

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.");
}