Merge pull request #15 from REVrobotics/2025-update

Update for 2025

.gitignore

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

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": true,
     "currentLanguage": "cpp",
-    "projectYear": "2024",
+    "projectYear": "2025beta",
     "teamNumber": 2714
 }

CHANGELOG.md

@@ -1,5 +1,11 @@
 # MAXSwerve C++ Template Changelog
 
+## [2025.0] - 2024-11-15
+
+- Updates project for 2025 FRC season
+- Uses new SPARK configuration mechanism introduced in REVLib 2025
+- Removes slew rate limiter since it is no longer needed with MAXSwerve 2.0 wheels
+
 ## [2024.0] - 2024-01-08
 
 - Updates project for 2024 FRC season

README.md

@@ -1,4 +1,4 @@
-# MAXSwerve C++ Template v2024.0
+# MAXSwerve C++ Template v2025.0
 
 See [the online changelog](https://github.com/REVrobotics/MAXSwerve-Cpp-Template/blob/main/CHANGELOG.md) for information about updates to the template that may have been released since you created your project.
 
@@ -12,11 +12,11 @@ To get started, make sure you have calibrated the zero offsets for the absolute
 
 ## Prerequisites
 
-* SPARK MAX Firmware v1.6.2 - Adds features that are required for swerve
-* REVLib v2023.1.2 - Includes APIs for the new firmware features
+* SPARK MAX Firmware v25.0.0
+* REVLib v2025.0.0
 
 ## Configuration
 
 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!
 
-These values can be adjusted in the `Constants.h` file.
+These values can be adjusted in the `Configs.h` and `Constants.h` files.

WPILib-License.md

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

build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.10.2-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME

gradlew

@@ -15,6 +15,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 #
+# SPDX-License-Identifier: Apache-2.0
+#
 
 ##############################################################################
 #
@@ -55,7 +57,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -84,7 +86,8 @@ done
 # shellcheck disable=SC2034
 APP_BASE_NAME=${0##*/}
 # Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
-APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
+APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
+' "$PWD" ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum

gradlew.bat

@@ -13,6 +13,8 @@
 @rem See the License for the specific language governing permissions and
 @rem limitations under the License.
 @rem
+@rem SPDX-License-Identifier: Apache-2.0
+@rem
 
 @if "%DEBUG%"=="" @echo off
 @rem ##########################################################################
@@ -43,11 +45,11 @@ set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
 if %ERRORLEVEL% equ 0 goto execute
 
-echo.
-echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
+echo. 1>&2
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
 
 goto fail
 
@@ -57,11 +59,11 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe
 
 if exist "%JAVA_EXE%" goto execute
 
-echo.
-echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
+echo. 1>&2
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
 
 goto fail
 

settings.gradle

@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2024'
+        String frcYear = '2025'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')

src/main/cpp/RobotContainer.cpp

@@ -41,7 +41,7 @@ RobotContainer::RobotContainer() {
                 m_driverController.GetLeftX(), OIConstants::kDriveDeadband)},
             -units::radians_per_second_t{frc::ApplyDeadband(
                 m_driverController.GetRightX(), OIConstants::kDriveDeadband)},
-            true, true);
+            true);
       },
       {&m_drive}));
 }
@@ -96,6 +96,5 @@ frc2::Command* RobotContainer::GetAutonomousCommand() {
   return new frc2::SequentialCommandGroup(
       std::move(swerveControllerCommand),
       frc2::InstantCommand(
-          [this]() { m_drive.Drive(0_mps, 0_mps, 0_rad_per_s, false, false); },
-          {}));
+          [this]() { m_drive.Drive(0_mps, 0_mps, 0_rad_per_s, false); }, {}));
 }

src/main/cpp/subsystems/DriveSubsystem.cpp

@@ -10,7 +10,6 @@
 #include <units/velocity.h>
 
 #include "Constants.h"
-#include "utils/SwerveUtils.h"
 
 using namespace DriveConstants;
 
@@ -40,73 +39,15 @@ void DriveSubsystem::Periodic() {
 
 void DriveSubsystem::Drive(units::meters_per_second_t xSpeed,
                            units::meters_per_second_t ySpeed,
-                           units::radians_per_second_t rot, bool fieldRelative,
-                           bool rateLimit) {
-  double xSpeedCommanded;
-  double ySpeedCommanded;
-
-  if (rateLimit) {
-    // Convert XY to polar for rate limiting
-    double inputTranslationDir = atan2(ySpeed.value(), xSpeed.value());
-    double inputTranslationMag =
-        sqrt(pow(xSpeed.value(), 2) + pow(ySpeed.value(), 2));
-
-    // Calculate the direction slew rate based on an estimate of the lateral
-    // acceleration
-    double directionSlewRate;
-    if (m_currentTranslationMag != 0.0) {
-      directionSlewRate =
-          abs(DriveConstants::kDirectionSlewRate / m_currentTranslationMag);
-    } else {
-      directionSlewRate = 500.0;  // some high number that means the slew rate
-                                  // is effectively instantaneous
-    }
-
-    double currentTime = wpi::Now() * 1e-6;
-    double elapsedTime = currentTime - m_prevTime;
-    double angleDif = SwerveUtils::AngleDifference(inputTranslationDir,
-                                                   m_currentTranslationDir);
-    if (angleDif < 0.45 * std::numbers::pi) {
-      m_currentTranslationDir = SwerveUtils::StepTowardsCircular(
-          m_currentTranslationDir, inputTranslationDir,
-          directionSlewRate * elapsedTime);
-      m_currentTranslationMag = m_magLimiter.Calculate(inputTranslationMag);
-    } else if (angleDif > 0.85 * std::numbers::pi) {
-      if (m_currentTranslationMag >
-          1e-4) {  // some small number to avoid floating-point errors with
-                   // equality checking
-        // keep currentTranslationDir unchanged
-        m_currentTranslationMag = m_magLimiter.Calculate(0.0);
-      } else {
-        m_currentTranslationDir =
-            SwerveUtils::WrapAngle(m_currentTranslationDir + std::numbers::pi);
-        m_currentTranslationMag = m_magLimiter.Calculate(inputTranslationMag);
-      }
-    } else {
-      m_currentTranslationDir = SwerveUtils::StepTowardsCircular(
-          m_currentTranslationDir, inputTranslationDir,
-          directionSlewRate * elapsedTime);
-      m_currentTranslationMag = m_magLimiter.Calculate(0.0);
-    }
-    m_prevTime = currentTime;
-
-    xSpeedCommanded = m_currentTranslationMag * cos(m_currentTranslationDir);
-    ySpeedCommanded = m_currentTranslationMag * sin(m_currentTranslationDir);
-    m_currentRotation = m_rotLimiter.Calculate(rot.value());
-
-  } else {
-    xSpeedCommanded = xSpeed.value();
-    ySpeedCommanded = ySpeed.value();
-    m_currentRotation = rot.value();
-  }
-
+                           units::radians_per_second_t rot,
+                           bool fieldRelative) {
   // Convert the commanded speeds into the correct units for the drivetrain
   units::meters_per_second_t xSpeedDelivered =
-      xSpeedCommanded * DriveConstants::kMaxSpeed;
+      xSpeed.value() * DriveConstants::kMaxSpeed;
   units::meters_per_second_t ySpeedDelivered =
-      ySpeedCommanded * DriveConstants::kMaxSpeed;
+      ySpeed.value() * DriveConstants::kMaxSpeed;
   units::radians_per_second_t rotDelivered =
-      m_currentRotation * DriveConstants::kMaxAngularSpeed;
+      rot.value() * DriveConstants::kMaxAngularSpeed;
 
   auto states = kDriveKinematics.ToSwerveModuleStates(
       fieldRelative

src/main/cpp/subsystems/MAXSwerveModule.cpp

@@ -6,78 +6,23 @@
 
 #include <frc/geometry/Rotation2d.h>
 
-#include <numbers>
+#include "Configs.h"
 
-#include "Constants.h"
-
-using namespace ModuleConstants;
+using namespace rev::spark;
 
 MAXSwerveModule::MAXSwerveModule(const int drivingCANId, const int turningCANId,
                                  const double chassisAngularOffset)
-    : m_drivingSparkMax(drivingCANId, rev::CANSparkMax::MotorType::kBrushless),
-      m_turningSparkMax(turningCANId, rev::CANSparkMax::MotorType::kBrushless) {
-  // Factory reset, so we get the SPARKS MAX to a known state before configuring
-  // them. This is useful in case a SPARK MAX is swapped out.
-  m_drivingSparkMax.RestoreFactoryDefaults();
-  m_turningSparkMax.RestoreFactoryDefaults();
-
-  // Apply position and velocity conversion factors for the driving encoder. The
-  // native units for position and velocity are rotations and RPM, respectively,
-  // but we want meters and meters per second to use with WPILib's swerve APIs.
-  m_drivingEncoder.SetPositionConversionFactor(kDrivingEncoderPositionFactor);
-  m_drivingEncoder.SetVelocityConversionFactor(kDrivingEncoderVelocityFactor);
-
-  // Apply position and velocity conversion factors for the turning encoder. We
-  // want these in radians and radians per second to use with WPILib's swerve
-  // APIs.
-  m_turningAbsoluteEncoder.SetPositionConversionFactor(
-      kTurningEncoderPositionFactor);
-  m_turningAbsoluteEncoder.SetVelocityConversionFactor(
-      kTurningEncoderVelocityFactor);
-
-  // Invert the turning encoder, since the output shaft rotates in the opposite
-  // direction of the steering motor in the MAXSwerve Module.
-  m_turningAbsoluteEncoder.SetInverted(kTurningEncoderInverted);
-
-  // Enable PID wrap around for the turning motor. This will allow the PID
-  // controller to go through 0 to get to the setpoint i.e. going from 350
-  // degrees to 10 degrees will go through 0 rather than the other direction
-  // which is a longer route.
-  m_turningPIDController.SetPositionPIDWrappingEnabled(true);
-  m_turningPIDController.SetPositionPIDWrappingMinInput(
-      kTurningEncoderPositionPIDMinInput.value());
-  m_turningPIDController.SetPositionPIDWrappingMaxInput(
-      kTurningEncoderPositionPIDMaxInput.value());
-
-  // Set the PID Controller to use the duty cycle encoder on the swerve
-  // module instead of the built in NEO550 encoder.
-  m_turningPIDController.SetFeedbackDevice(m_turningAbsoluteEncoder);
-
-  // Set the PID gains for the driving motor. Note these are example gains, and
-  // you may need to tune them for your own robot!
-  m_drivingPIDController.SetP(kDrivingP);
-  m_drivingPIDController.SetI(kDrivingI);
-  m_drivingPIDController.SetD(kDrivingD);
-  m_drivingPIDController.SetFF(kDrivingFF);
-  m_drivingPIDController.SetOutputRange(kDrivingMinOutput, kDrivingMaxOutput);
-
-  // Set the PID gains for the turning motor. Note these are example gains, and
-  // you may need to tune them for your own robot!
-  m_turningPIDController.SetP(kTurningP);
-  m_turningPIDController.SetI(kTurningI);
-  m_turningPIDController.SetD(kTurningD);
-  m_turningPIDController.SetFF(kTurningFF);
-  m_turningPIDController.SetOutputRange(kTurningMinOutput, kTurningMaxOutput);
-
-  m_drivingSparkMax.SetIdleMode(kDrivingMotorIdleMode);
-  m_turningSparkMax.SetIdleMode(kTurningMotorIdleMode);
-  m_drivingSparkMax.SetSmartCurrentLimit(kDrivingMotorCurrentLimit.value());
-  m_turningSparkMax.SetSmartCurrentLimit(kDrivingMotorCurrentLimit.value());
-
-  // Save the SPARK MAX configurations. If a SPARK MAX browns out during
-  // operation, it will maintain the above configurations.
-  m_drivingSparkMax.BurnFlash();
-  m_turningSparkMax.BurnFlash();
+    : m_drivingSpark(drivingCANId, SparkMax::MotorType::kBrushless),
+      m_turningSpark(turningCANId, SparkMax::MotorType::kBrushless) {
+  // Apply the respective configurations to the SPARKS. Reset parameters before
+  // applying the configuration to bring the SPARK to a known good state.
+  // Persist the settings to the SPARK to avoid losing them on a power cycle.
+  m_drivingSpark.Configure(Configs::MAXSwerveModule::DrivingConfig(),
+                           SparkBase::ResetMode::kResetSafeParameters,
+                           SparkBase::PersistMode::kPersistParameters);
+  m_turningSpark.Configure(Configs::MAXSwerveModule::TurningConfig(),
+                           SparkBase::ResetMode::kResetSafeParameters,
+                           SparkBase::PersistMode::kPersistParameters);
 
   m_chassisAngularOffset = chassisAngularOffset;
   m_desiredState.angle =
@@ -107,16 +52,14 @@ void MAXSwerveModule::SetDesiredState(
       frc::Rotation2d(units::radian_t{m_chassisAngularOffset});
 
   // Optimize the reference state to avoid spinning further than 90 degrees.
-  frc::SwerveModuleState optimizedDesiredState{frc::SwerveModuleState::Optimize(
-      correctedDesiredState, frc::Rotation2d(units::radian_t{
-                                 m_turningAbsoluteEncoder.GetPosition()}))};
-
-  // Command driving and turning SPARKS MAX towards their respective setpoints.
-  m_drivingPIDController.SetReference((double)optimizedDesiredState.speed,
-                                      rev::CANSparkMax::ControlType::kVelocity);
-  m_turningPIDController.SetReference(
-      optimizedDesiredState.angle.Radians().value(),
-      rev::CANSparkMax::ControlType::kPosition);
+  correctedDesiredState.Optimize(
+      frc::Rotation2d(units::radian_t{m_turningAbsoluteEncoder.GetPosition()}));
+
+  m_drivingClosedLoopController.SetReference(
+      (double)correctedDesiredState.speed, SparkMax::ControlType::kVelocity);
+  m_turningClosedLoopController.SetReference(
+      correctedDesiredState.angle.Radians().value(),
+      SparkMax::ControlType::kPosition);
 
   m_desiredState = desiredState;
 }