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Upgrading to 2025.1.2

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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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7
swervelib/parser/json/ModuleJson.java
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@@ -4,7 +4,9 @@ import com.revrobotics.spark.SparkMax;
import edu.wpi.first.math.util.Units;
import swervelib.encoders.SparkMaxEncoderSwerve;
import swervelib.encoders.SwerveAbsoluteEncoder;
import swervelib.encoders.ThriftyNovaEncoderSwerve;
import swervelib.motors.SwerveMotor;
import swervelib.motors.ThriftyNovaSwerve;
import swervelib.parser.PIDFConfig;
import swervelib.parser.SwerveModuleConfiguration;
import swervelib.parser.SwerveModulePhysicalCharacteristics;
@@ -103,7 +105,10 @@ public class ModuleJson
// Backwards compatibility, auto-optimization.
if (conversionFactors.angle.factor == 360 && absEncoder != null &&
absEncoder instanceof SparkMaxEncoderSwerve && angleMotor.getMotor() instanceof SparkMax)
(absEncoder instanceof SparkMaxEncoderSwerve && angleMotor.getMotor() instanceof SparkMax))
{
angleMotor.setAbsoluteEncoder(absEncoder);
} else if ((absEncoder instanceof ThriftyNovaEncoderSwerve && angleMotor instanceof ThriftyNovaSwerve))
{
angleMotor.setAbsoluteEncoder(absEncoder);
}