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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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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);