Merge develop into main for RC2
#38
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Bumps com.diffplug.spotless from 6.25.0 to 7.0.1. --- updated-dependencies: - dependency-name: com.diffplug.spotless dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com>
…potless-7.0.1 Bump com.diffplug.spotless from 6.25.0 to 7.0.1
For some reason this seems to make PathPlanner happier. renamed: src/main/deploy/pathplanner/autos/Example Auto.auto -> src/main/deploy/pathplanner/autos/Test.auto renamed: src/main/deploy/pathplanner/paths/Example Path.path -> src/main/deploy/pathplanner/paths/Consistancy Test.path
Rename default auto paths
new file: .github/workflows/cut-new-tag.yml
Includes the Photon Vision "kickoff" release candidate 1 modified: vendordeps/Phoenix6-frc2025-latest.json modified: vendordeps/REVLib.json modified: vendordeps/maple-sim.json modified: vendordeps/photonlib.json renamed: vendordeps/yagsl-2025.1.3.jwt151.json -> vendordeps/yagsl-2025.2.0.json
modified: build.gradle
Possibly incorrect URL? modified: vendordeps/photonlib.json
deleted: .github/workflows/cut-new-tag.yml renamed: vendordeps/Studica-2025.0.0.json -> vendordeps/Studica-2025.0.1.json modified: vendordeps/photonlib.json
modified: vendordeps/photonlib.json
Vendor library updates for RC2
Bumps com.diffplug.spotless from 6.25.0 to 7.0.2. --- updated-dependencies: - dependency-name: com.diffplug.spotless dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com>
…potless-7.0.2 Bump com.diffplug.spotless from 6.25.0 to 7.0.2
Make sure all PathPlanner PIDs point to values in `Constants.java`. modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/Robot.java modified: src/main/java/frc/robot/subsystems/drive/Drive.java
Aligned all of the PathPlanner calls and other bits in the `Robot.java` file to match what is in the AK2025 TalonFX Swerve Template. The latter works fine with PathPlanner, and here's hoping these adjustments make RBSI do the same! Also, a couple more vendordep updates. modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/Robot.java modified: src/main/java/frc/robot/RobotContainer.java modified: vendordeps/photonlib.json renamed: vendordeps/yagsl-2025.2.0.json -> vendordeps/yagsl-2025.2.1.json
Not sure if this is what's causing PathPlanner to behave oddly, but it's something not in the AK2025 templates. The other thing to try will be to remove the IMU accelerometer readout from the Accelerometer subsystem, with the thought that the extra read may be messing with the PathPlanner gyro settings. modified: src/main/java/frc/robot/RobotContainer.java modified: src/main/java/frc/robot/subsystems/drive/Drive.java modified: src/main/java/frc/robot/subsystems/drive/GyroIO.java modified: src/main/java/frc/robot/subsystems/drive/GyroIONavX.java modified: src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java
In hopes this solves some of our driving issues. modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/RobotContainer.java modified: src/main/java/frc/robot/generated/TunerConstants.java modified: src/main/java/frc/robot/subsystems/drive/Drive.java new file: src/main/java/frc/robot/util/RBSIParsing.java renamed: vendordeps/yagsl-2025.2.1.json -> vendordeps/yagsl-2025.2.2.json
Assumed wheel radius value was in inches, so converted it to meters... problem is it was already in meters. Oops. This made the code think the wheel was tiny, hence needing to apply huge angular velocity to make the chassis run at the expected speed. Yeah... modified: src/main/deploy/pathplanner/paths/Consistancy Test.path modified: src/main/java/frc/robot/Constants.java modified: src/main/java/frc/robot/commands/ChoreoAutoController.java modified: src/main/java/frc/robot/commands/DriveCommands.java modified: src/main/java/frc/robot/subsystems/drive/Drive.java modified: src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java modified: src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java modified: src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java modified: src/main/java/frc/robot/subsystems/drive/SwerveConstants.java renamed: vendordeps/ReduxLib-2025.0.0.json -> vendordeps/ReduxLib-2025.0.1.json
Align code with AK2025 TalonFX Template
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Mostly changes related to fixing the erratic PathPlanner driving seen in testing RC1. The issue ended up being a unit-conversion error, where a value in meters was assumed to be in inches instead.
Other changes included, as well, for ease of use and keeping vendordeps up to date.