2025 - draft #107

FriedLongJohns · 2025-01-15T01:15:59Z

@brettle pls review
also @CoolSpy3 thanks!!

sobbing

sim is still broken tests are still broken also I probably broke some functionality somewhere

build.gradle

src/main/java/org/carlmontrobotics/lib199/CachedSparkMax.java

src/main/java/org/carlmontrobotics/lib199/DummySparkMaxAnswer.java

src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java

src/main/java/org/carlmontrobotics/lib199/MotorErrors.java

src/main/java/org/carlmontrobotics/lib199/swerve/SwerveModule.java

src/main/java/org/carlmontrobotics/lib199/swerve/SwerveModuleSim.java

vendordeps/Studica-2025.0.0.json

build.gradle

src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java

src/main/java/org/carlmontrobotics/lib199/MotorErrors.java

src/main/java/org/carlmontrobotics/lib199/SparkVelocityPIDController.java

#107 (comment) Co-authored-by: CoolSpy3 <[email protected]>

1. duplicatestrategy to fail 2. no more CachedSparkMax 2. motorcontrollerfactory now configures sparks!! 3. motorErrors checks for null faults 4. swap from smartMotion to MAXmotion in mockedsparkmaxpidcontroller.java 5. cleaner builder pid configs in sparkvelocitypidcontroller.java 6. change from deprecated calculate(double, double) to calculateWithVelocities() in swervemodule and don't persist configs

src/main/java/org/carlmontrobotics/lib199/path/DifferentialDriveInterface.java

src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java

src/main/java/org/carlmontrobotics/lib199/swerve/SwerveModule.java

…ade createSparkFlex(int) return createSparkFlex(id, sparkConfig(SparkMotorType.VORTEX)); and deleted old SparkConfig methods

This reverts commit 158c96e.

…ed VarType and fixed MotorErrorTest

Co-authored-by: Copilot <[email protected]>

CoolSpy3

Alright! Just a few more notes on how motors are handled. After this, I think I'll do another dive through the whole PR, look for any final bugs, apply some formatting fixes, and (barring any other major snags) this should be good to go! Home stretch now!

That being said, simulation is still probably in need of a pretty deep rewrite. I don't think that needs to be part of this PR though, I'd rather get polished 2025 code merged to master, and then sim can be tackled separately.

src/main/java/org/carlmontrobotics/lib199/SparkMotorType.java

src/main/java/org/carlmontrobotics/lib199/MotorControllerType.java

src/main/java/org/carlmontrobotics/lib199/MotorErrors.java

src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java

src/main/java/org/carlmontrobotics/lib199/MotorErrors.java

src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java

src/test/java/org/carlmontrobotics/lib199/MotorErrorsTest.java

Elastic

src/main/java/org/carlmontrobotics/lib199/swerve/SwerveModule.java

src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java

timtogan · 2026-01-01T15:06:51Z

@CoolSpy3 Alr I am pretty sure I addresed pretty much all your comments if you could if you check everything that would be awesome :D

CoolSpy3

Awesome! I think all of the major stuff has been addressed. Just two more minor comments. I'll start re-reading everything for anything else that should be fixed before this merges.

src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java

…d organized MotorContollerFactory imports

CoolSpy3

Alright, here's the last batch of changes. After this, I might just run through and fix some formatting things, and then this should be good to merge!

CoolSpy3 · 2026-01-03T06:30:53Z

src/main/java/org/carlmontrobotics/lib199/swerve/SwerveModule.java

+        driveConfig = driveMotorType.createConfig();
+        turnConfig = turnMotorType.createConfig();


These don't appear to be used outside of the constructor. I'd bring them into the local scope so that they don't get used later.

FWIW, an alternative choice would be to keep them as-is and use them whenever the motors need to be configured (i.e. in the brake() and coast() functions), but that would overwrite any interim config changes, which would be annoying to debug.

Aren't these being used in brake() and coast() already?

src/main/java/org/carlmontrobotics/lib199/swerve/SwerveModule.java

CoolSpy3 · 2026-01-10T19:59:29Z

src/main/java/org/carlmontrobotics/lib199/swerve/SwerveModule.java

+        driveConfig.encoder
+            .positionConversionFactor(drivePositionFactor)
+            .velocityConversionFactor(driveVelocityFactor)
+            .quadratureAverageDepth(2);


Why are we setting this?

I mean this was added before I started working on this PR, so I am also not entirely sure why we are setting. I'll try to look into if there is a reason to set it.

src/main/java/org/carlmontrobotics/lib199/swerve/SwerveModule.java

src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java

src/main/java/org/carlmontrobotics/lib199/SparkVelocityPIDController.java

…id controller use correct config

timtogan · 2026-01-11T06:45:45Z

Ok, I basically finished on this batch! Just need to get back to you on this: #107 (comment) I'll prob do it today or tommorow morning. (Also fyi the javadoc doesn't build rn only because ctre javadocs are down)

FriedLongJohns added 4 commits January 12, 2025 15:16

initial

517ae75

sobbing

fix swerve stuff

d279fe3

sim is still broken tests are still broken also I probably broke some functionality somewhere

that wasn't supposed to be commented out!

c52cbd7

make it build (when tests excluded)

5d10c7f

FriedLongJohns requested a review from a team as a code owner January 15, 2025 01:16

CoolSpy3 requested changes Jan 15, 2025

View reviewed changes

brettle reviewed Jan 25, 2025

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sofiebudman and others added 8 commits February 7, 2025 17:30

update swerve modueljava

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remove comment

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#107 (comment) Co-authored-by: CoolSpy3 <[email protected]>

remove space

b712b84

#107 (comment) Co-authored-by: CoolSpy3 <[email protected]>

FriedLongJohns requested review from CoolSpy3 and brettle February 8, 2025 21:10

FriedLongJohns assigned FriedLongJohns and sofiebudman Feb 8, 2025

CoolSpy3 requested changes Feb 8, 2025

View reviewed changes

FriedLongJohns added 5 commits February 8, 2025 23:04

revert gradle to before initial commit

f6017cb

delete lib199/path*

e3f8b5c

check raw bits instead of pointer values

d7f6b9b

add baseSparkConfig and deriatives

193cd3f

update calculateWithVelocities

0e27e13

CoolSpy3 reviewed Feb 10, 2025

View reviewed changes

src/main/java/org/carlmontrobotics/lib199/swerve/SwerveModule.java Outdated Show resolved Hide resolved

FriedLongJohns added 2 commits February 11, 2025 08:45

factor in antiGravitationalAcceleration into drivePeriodic

dbfca96

add comments to baseSparkXConfig methods

a7a4b9b

FriedLongJohns mentioned this pull request Feb 14, 2025

Use persistent alerts api instead of revLibErrors #109

Open

remove dummySparkMaxAnswer

90fc642

timtogan and others added 7 commits December 21, 2025 16:47

Deprecated Victor controllers and createSparkMax(int, MotorConfig), m…

a4f37e4

…ade createSparkFlex(int) return createSparkFlex(id, sparkConfig(SparkMotorType.VORTEX)); and deleted old SparkConfig methods

Revert "Tried adding sim support to CanCoders"

3c24b3c

This reverts commit 158c96e.

removed some deprecated stuff from MotorErrors, Lib199Subsytem, delet…

cf50401

…ed VarType and fixed MotorErrorTest

made swerverModule work with any neo motor

88c7b6e

fix typo

c04004c

Co-authored-by: Copilot <[email protected]>

MotorErrorsTest

f6580af

moved Elastic to vendorLibs

bbe6188

CoolSpy3 requested changes Dec 28, 2025

View reviewed changes

timtogan added 4 commits December 28, 2025 02:03

Merge pull request #113 from DeepBlueRobotics/elastic

a96b9c8

Elastic

added LimelightHelpers as a vendorLib

3d7ceb3

make javadocs happy

3c3086e

resolved a few comments

c24939a

CoolSpy3 requested changes Dec 29, 2025

View reviewed changes

timtogan added 3 commits December 29, 2025 14:41

resolved more comments

b4d6e0b

Merge pull request #114 from DeepBlueRobotics/limelight

cf28366

made MotorErrorsTest use sparkSimFaultManager

413cbba

CoolSpy3 requested changes Jan 2, 2026

View reviewed changes

src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java Outdated Show resolved Hide resolved

src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java Outdated Show resolved Hide resolved

timtogan added 6 commits January 3, 2026 10:03

removed a spark null check and replaced a switch with createConfig()

cc1795d

added back configAccessor

7b2bf1b

resloved comment

b82dd2f

fixed big oppise

374ed92

Completely removed Victor motors as they are not supported anymore an…

54ccade

…d organized MotorContollerFactory imports

fixed another oppsie

30e2947

timtogan mentioned this pull request Jan 4, 2026

Are REV and CTRE devices on spec for sim. #117

Open

updated all vendorlibs

b8896bb

CoolSpy3 requested changes Jan 10, 2026

View reviewed changes

timtogan added 2 commits January 10, 2026 22:23

made a getConfigAccessor method for MotorControllerFactory and made p…

d2a0df1

…id controller use correct config

moved back drive/turnMotorType

a62be8b

		driveConfig = driveMotorType.createConfig();
		turnConfig = turnMotorType.createConfig();

2025 - draft #107

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2025 - draft #107

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FriedLongJohns commented Jan 15, 2025

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