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Upgrading to 2025.1.2

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This commit is contained in:
thenetworkgrinch
2025-01-06 15:44:15 +00:00
parent 8050f43fa5
commit 62f8236678
27 changed files with 1083 additions and 305 deletions
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9
swervelib/parser/json/DeviceJson.java
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@@ -6,6 +6,7 @@ import static swervelib.telemetry.SwerveDriveTelemetry.serialCommsIssueWarning;
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 swervelib.encoders.AnalogAbsoluteEncoderSwerve;
@@ -16,6 +17,7 @@ import swervelib.encoders.SparkMaxAnalogEncoderSwerve;
import swervelib.encoders.SparkMaxEncoderSwerve;
import swervelib.encoders.SwerveAbsoluteEncoder;
import swervelib.encoders.TalonSRXEncoderSwerve;
import swervelib.encoders.ThriftyNovaEncoderSwerve;
import swervelib.imu.ADIS16448Swerve;
import swervelib.imu.ADIS16470Swerve;
import swervelib.imu.ADXRS450Swerve;
@@ -32,6 +34,7 @@ import swervelib.motors.SparkMaxSwerve;
import swervelib.motors.SwerveMotor;
import swervelib.motors.TalonFXSwerve;
import swervelib.motors.TalonSRXSwerve;
import swervelib.motors.ThriftyNovaSwerve;
/**
* Device JSON parsed class. Used to access the JSON data.
@@ -97,6 +100,8 @@ public class DeviceJson
return new TalonSRXEncoderSwerve(motor, FeedbackDevice.PulseWidthEncodedPosition);
case "talonsrx_analog":
return new TalonSRXEncoderSwerve(motor, FeedbackDevice.Analog);
case "thrifty_nova":
return new ThriftyNovaEncoderSwerve(motor);
default:
throw new RuntimeException(type + " is not a recognized absolute encoder type.");
}
@@ -221,6 +226,10 @@ public class DeviceJson
// 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, DCMotor.getCIM(1));
}
case "nova_neo":
return new ThriftyNovaSwerve(id, isDriveMotor, DCMotor.getNEO(1));
case "nova_neo550":
return new ThriftyNovaSwerve(id, isDriveMotor, DCMotor.getNeo550(1));
default:
throw new RuntimeException(type + " is not a recognized motor type.");
}