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Upgrading to 2025.1.0

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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
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57
swervelib/parser/json/PhysicalPropertiesJson.java
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@@ -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));
}
}