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Upgrading to 2025.7.2

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This commit is contained in:
thenetworkgrinch
2025-03-19 03:45:47 +00:00
parent 4016ee2190
commit 65874df0b2
15 changed files with 195 additions and 149 deletions
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30
swervelib/SwerveDrive.java
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@@ -272,7 +272,6 @@ public class SwerveDrive implements AutoCloseable
// register the drivetrain simulation
SimulatedArena.getInstance().addDriveTrainSimulation(mapleSimDrive);
simIMU = new SwerveIMUSimulation(mapleSimDrive.getGyroSimulation());
imuReadingCache = new Cache<>(simIMU::getGyroRotation3d, 5L);
} else
@@ -289,8 +288,11 @@ public class SwerveDrive implements AutoCloseable
getYaw(),
getModulePositions(),
startingPose); // x,y,heading in radians; Vision measurement std dev, higher=less weight
zeroGyro();
//
// Rotation3d currentGyro = imuReadingCache.getValue();
// double offset = currentGyro.getZ() +
// startingPose.getRotation().getRadians();
// setGyroOffset(new Rotation3d(currentGyro.getX(), currentGyro.getY(), offset));
// Initialize Telemetry
if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.POSE.ordinal())
@@ -335,11 +337,13 @@ public class SwerveDrive implements AutoCloseable
}
@Override
public void close() {
public void close()
{
imu.close();
tunerXRecommendation.close();
for (var module : swerveModules) {
for (var module : swerveModules)
{
module.close();
}
}
@@ -393,7 +397,10 @@ public class SwerveDrive implements AutoCloseable
public void setOdometryPeriod(double period)
{
odometryThread.stop();
SimulatedArena.overrideSimulationTimings(Seconds.of(period), 1);
if (SwerveDriveTelemetry.isSimulation)
{
SimulatedArena.overrideSimulationTimings(Seconds.of(period), 1);
}
odometryThread.startPeriodic(period);
}
@@ -403,7 +410,10 @@ public class SwerveDrive implements AutoCloseable
public void stopOdometryThread()
{
odometryThread.stop();
SimulatedArena.overrideSimulationTimings(Seconds.of(TimedRobot.kDefaultPeriod), 5);
if (SwerveDriveTelemetry.isSimulation)
{
SimulatedArena.overrideSimulationTimings(Seconds.of(TimedRobot.kDefaultPeriod), 5);
}
}
/**
@@ -778,7 +788,7 @@ public class SwerveDrive implements AutoCloseable
{
module.applyStateOptimizations(states[module.moduleNumber]);
module.applyAntiJitter(states[module.moduleNumber], false);
// from the module configuration, obtain necessary information to calculate feed-forward
// Warning: Will not work well if motor is not what we are expecting.
// Warning: Should replace module.getDriveMotor().simMotor with expected motor type first.
@@ -898,7 +908,7 @@ public class SwerveDrive implements AutoCloseable
* method. However, if either gyro angle or module position is reset, this must be called in order for odometry to
* keep working.
*
* @param pose The pose to set the odometry to
* @param pose The pose to set the odometry to. Field relative, blue-origin where 0deg is facing towards RED alliance.
*/
public void resetOdometry(Pose2d pose)
{
@@ -987,7 +997,7 @@ public class SwerveDrive implements AutoCloseable
}
/**
* Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.
* Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0 (red alliance station).
*/
public void zeroGyro()
{