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Merge pull request #26 from REVrobotics/2025-update
Update for 2025
2 parents e87ac7a + 97b4a89 commit 7f7c62c

19 files changed

+148
-313
lines changed

‎.gitignore

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@@ -169,10 +169,16 @@ out/
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.fleet
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# Simulation GUI and other tools window save file
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networktables.json
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simgui.json
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*-window.json
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# Simulation data log directory
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logs/
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# Folder that has CTRE Phoenix Sim device config storage
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ctre_sim/
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# clangd
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/.cache
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compile_commands.json

‎.wpilib/wpilib_preferences.json

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{
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"enableCppIntellisense": false,
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"currentLanguage": "java",
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"projectYear": "2024",
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"projectYear": "2025beta",
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"teamNumber": 2714
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}

‎CHANGELOG.md

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# MAXSwerve Java Template Changelog
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## [2025.0] - 2024-11-07
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- Updates project for 2025 FRC season
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- Uses new SPARK configuration mechanism introduced in REVLib 2025
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- Removes slew rate limiter since it is no longer needed with MAXSwerve 2.0 wheels
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## [2024.0] - 2024-01-08
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- Updates project for 2024 FRC season

‎README.md

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# MAXSwerve Java Template v2024.0
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# MAXSwerve Java Template v2025.0
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See [the online changelog](https://github.com/REVrobotics/MAXSwerve-Java-Template/blob/main/CHANGELOG.md) for information about updates to the template that may have been released since you created your project.
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@@ -12,11 +12,11 @@ To get started, make sure you have calibrated the zero offsets for the absolute
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## Prerequisites
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* SPARK MAX Firmware v1.6.2 - Adds features that are required for swerve
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* REVLib v2023.1.2 - Includes APIs for the new firmware features
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* SPARK MAX Firmware v25.0.0
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* REVLib v2025.0.0
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## Configuration
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2020
It is possible that this project will not work for your robot right out of the box. Various things like the CAN IDs, PIDF gains, chassis configuration, etc. must be determined for your own robot!
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22-
These values can be adjusted in the `Constants.java` file.
22+
These values can be adjusted in the `Configs.java` and `Constants.java` files.

‎WPILib-License.md

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@@ -1,4 +1,4 @@
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Copyright (c) 2009-2023 FIRST and other WPILib contributors
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Copyright (c) 2009-2024 FIRST and other WPILib contributors
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All rights reserved.
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Redistribution and use in source and binary forms, with or without

‎build.gradle

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plugins {
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id "java"
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id "edu.wpi.first.GradleRIO" version "2024.1.1"
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id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
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}
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java {
@@ -50,6 +50,7 @@ def includeDesktopSupport = false
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// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
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// Also defines JUnit 5.
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dependencies {
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annotationProcessor wpi.java.deps.wpilibAnnotations()
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implementation wpi.java.deps.wpilib()
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implementation wpi.java.vendor.java()
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‎gradle/wrapper/gradle-wrapper.jar

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‎gradle/wrapper/gradle-wrapper.properties

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distributionBase=GRADLE_USER_HOME
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distributionPath=permwrapper/dists
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distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip
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distributionUrl=https\://services.gradle.org/distributions/gradle-8.10.2-bin.zip
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networkTimeout=10000
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validateDistributionUrl=true
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zipStoreBase=GRADLE_USER_HOME

‎gradlew

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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# SPDX-License-Identifier: Apache-2.0
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#
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##############################################################################
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#
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# Darwin, MinGW, and NonStop.
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#
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# (3) This script is generated from the Groovy template
58-
# https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
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# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
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# within the Gradle project.
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#
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# You can find Gradle at https://github.com/gradle/gradle/.
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# shellcheck disable=SC2034
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APP_BASE_NAME=${0##*/}
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# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
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APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
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APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
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' "$PWD" ) || exit
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# Use the maximum available, or set MAX_FD != -1 to use that value.
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MAX_FD=maximum

‎gradlew.bat

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@rem See the License for the specific language governing permissions and
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@rem limitations under the License.
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@rem
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@rem SPDX-License-Identifier: Apache-2.0
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@rem
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@if "%DEBUG%"=="" @echo off
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@rem ##########################################################################
@@ -43,11 +45,11 @@ set JAVA_EXE=java.exe
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%JAVA_EXE% -version >NUL 2>&1
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if %ERRORLEVEL% equ 0 goto execute
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46-
echo.
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echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
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echo.
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echo Please set the JAVA_HOME variable in your environment to match the
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echo location of your Java installation.
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echo. 1>&2
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echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
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echo. 1>&2
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echo Please set the JAVA_HOME variable in your environment to match the 1>&2
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echo location of your Java installation. 1>&2
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goto fail
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if exist "%JAVA_EXE%" goto execute
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60-
echo.
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echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
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echo.
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echo Please set the JAVA_HOME variable in your environment to match the
64-
echo location of your Java installation.
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echo. 1>&2
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echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
64+
echo. 1>&2
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echo Please set the JAVA_HOME variable in your environment to match the 1>&2
66+
echo location of your Java installation. 1>&2
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goto fail
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‎settings.gradle

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repositories {
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mavenLocal()
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gradlePluginPortal()
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String frcYear = '2024'
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String frcYear = '2025'
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File frcHome
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if (OperatingSystem.current().isWindows()) {
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String publicFolder = System.getenv('PUBLIC')

‎src/main/java/frc/robot/Configs.java

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package frc.robot;
2+
3+
import com.revrobotics.spark.config.SparkMaxConfig;
4+
import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor;
5+
import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
6+
7+
import frc.robot.Constants.ModuleConstants;
8+
9+
public final class Configs {
10+
public static final class MAXSwerveModule {
11+
public static final SparkMaxConfig drivingConfig = new SparkMaxConfig();
12+
public static final SparkMaxConfig turningConfig = new SparkMaxConfig();
13+
14+
static {
15+
// Use module constants to calculate conversion factors and feed forward gain.
16+
double drivingFactor = ModuleConstants.kWheelDiameterMeters * Math.PI
17+
/ ModuleConstants.kDrivingMotorReduction;
18+
double turningFactor = 2 * Math.PI;
19+
double drivingVelocityFeedForward = 1 / ModuleConstants.kDriveWheelFreeSpeedRps;
20+
21+
drivingConfig
22+
.idleMode(IdleMode.kBrake)
23+
.smartCurrentLimit(50);
24+
drivingConfig.encoder
25+
.positionConversionFactor(drivingFactor) // meters
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.velocityConversionFactor(drivingFactor / 60.0); // meters per second
27+
drivingConfig.closedLoop
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.feedbackSensor(FeedbackSensor.kPrimaryEncoder)
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// These are example gains you may need to them for your own robot!
30+
.pid(0.04, 0, 0)
31+
.velocityFF(drivingVelocityFeedForward)
32+
.outputRange(-1, 1);
33+
34+
turningConfig
35+
.idleMode(IdleMode.kBrake)
36+
.smartCurrentLimit(20);
37+
turningConfig.absoluteEncoder
38+
// Invert the turning encoder, since the output shaft rotates in the opposite
39+
// direction of the steering motor in the MAXSwerve Module.
40+
.inverted(true)
41+
.positionConversionFactor(turningFactor) // radians
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.velocityConversionFactor(turningFactor / 60.0); // radians per second
43+
turningConfig.closedLoop
44+
.feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
45+
// These are example gains you may need to them for your own robot!
46+
.pid(1, 0, 0)
47+
.outputRange(-1, 1)
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// Enable PID wrap around for the turning motor. This will allow the PID
49+
// controller to go through 0 to get to the setpoint i.e. going from 350 degrees
50+
// to 10 degrees will go through 0 rather than the other direction which is a
51+
// longer route.
52+
.positionWrappingEnabled(true)
53+
.positionWrappingInputRange(0, turningFactor);
54+
}
55+
}
56+
}

‎src/main/java/frc/robot/Constants.java

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package frc.robot;
66

7-
import com.revrobotics.CANSparkBase.IdleMode;
8-
97
import edu.wpi.first.math.geometry.Translation2d;
108
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
119
import edu.wpi.first.math.trajectory.TrapezoidProfile;
@@ -66,54 +64,20 @@ public static final class DriveConstants {
6664
}
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6866
public static final class ModuleConstants {
69-
// The MAXSwerve module can be configured with one of three pinion gears: 12T, 13T, or 14T.
70-
// This changes the drive speed of the module (a pinion gear with more teeth will result in a
71-
// robot that drives faster).
67+
// The MAXSwerve module can be configured with one of three pinion gears: 12T,
68+
// 13T, or 14T. This changes the drive speed of the module (a pinion gear with
69+
// more teeth will result in a robot that drives faster).
7270
public static final int kDrivingMotorPinionTeeth = 14;
7371

74-
// Invert the turning encoder, since the output shaft rotates in the opposite direction of
75-
// the steering motor in the MAXSwerve Module.
76-
public static final boolean kTurningEncoderInverted = true;
77-
7872
// Calculations required for driving motor conversion factors and feed forward
7973
public static final double kDrivingMotorFreeSpeedRps = NeoMotorConstants.kFreeSpeedRpm / 60;
8074
public static final double kWheelDiameterMeters = 0.0762;
8175
public static final double kWheelCircumferenceMeters = kWheelDiameterMeters * Math.PI;
82-
// 45 teeth on the wheel's bevel gear, 22 teeth on the first-stage spur gear, 15 teeth on the bevel pinion
76+
// 45 teeth on the wheel's bevel gear, 22 teeth on the first-stage spur gear, 15
77+
// teeth on the bevel pinion
8378
public static final double kDrivingMotorReduction = (45.0 * 22) / (kDrivingMotorPinionTeeth * 15);
8479
public static final double kDriveWheelFreeSpeedRps = (kDrivingMotorFreeSpeedRps * kWheelCircumferenceMeters)
8580
/ kDrivingMotorReduction;
86-
87-
public static final double kDrivingEncoderPositionFactor = (kWheelDiameterMeters * Math.PI)
88-
/ kDrivingMotorReduction; // meters
89-
public static final double kDrivingEncoderVelocityFactor = ((kWheelDiameterMeters * Math.PI)
90-
/ kDrivingMotorReduction) / 60.0; // meters per second
91-
92-
public static final double kTurningEncoderPositionFactor = (2 * Math.PI); // radians
93-
public static final double kTurningEncoderVelocityFactor = (2 * Math.PI) / 60.0; // radians per second
94-
95-
public static final double kTurningEncoderPositionPIDMinInput = 0; // radians
96-
public static final double kTurningEncoderPositionPIDMaxInput = kTurningEncoderPositionFactor; // radians
97-
98-
public static final double kDrivingP = 0.04;
99-
public static final double kDrivingI = 0;
100-
public static final double kDrivingD = 0;
101-
public static final double kDrivingFF = 1 / kDriveWheelFreeSpeedRps;
102-
public static final double kDrivingMinOutput = -1;
103-
public static final double kDrivingMaxOutput = 1;
104-
105-
public static final double kTurningP = 1;
106-
public static final double kTurningI = 0;
107-
public static final double kTurningD = 0;
108-
public static final double kTurningFF = 0;
109-
public static final double kTurningMinOutput = -1;
110-
public static final double kTurningMaxOutput = 1;
111-
112-
public static final IdleMode kDrivingMotorIdleMode = IdleMode.kBrake;
113-
public static final IdleMode kTurningMotorIdleMode = IdleMode.kBrake;
114-
115-
public static final int kDrivingMotorCurrentLimit = 50; // amps
116-
public static final int kTurningMotorCurrentLimit = 20; // amps
11781
}
11882

11983
public static final class OIConstants {

‎src/main/java/frc/robot/RobotContainer.java

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@@ -54,7 +54,7 @@ public RobotContainer() {
5454
-MathUtil.applyDeadband(m_driverController.getLeftY(), OIConstants.kDriveDeadband),
5555
-MathUtil.applyDeadband(m_driverController.getLeftX(), OIConstants.kDriveDeadband),
5656
-MathUtil.applyDeadband(m_driverController.getRightX(), OIConstants.kDriveDeadband),
57-
true, true),
57+
true),
5858
m_robotDrive));
5959
}
6060

@@ -117,6 +117,6 @@ public Command getAutonomousCommand() {
117117
m_robotDrive.resetOdometry(exampleTrajectory.getInitialPose());
118118

119119
// Run path following command, then stop at the end.
120-
return swerveControllerCommand.andThen(() -> m_robotDrive.drive(0, 0, 0, false, false));
120+
return swerveControllerCommand.andThen(() -> m_robotDrive.drive(0, 0, 0, false));
121121
}
122122
}

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