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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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67
swervelib/parser/json/ModuleJson.java
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@@ -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),