2025.8.0

Full Changelog: 2025.7.2...2025.8.0

• Fixed attached encoders on Brushed SparkMax's.

2025.7.2

What's Changed

• fix setAbsoluteEncoderOffset() by @MEisSCAMMER in #338
• Enable Continuous Input for omegaPIDController by @Sate04 in #337

New Contributors

• @MEisSCAMMER made their first contribution in #338
• @Sate04 made their first contribution in #337

Full Changelog: 2025.7.1...2025.7.2

2025.7.1

• Fixed SwerveInputStream.allianceRelativeControl
• Prevent crashing midmatch if robot code restarts.
• Added SwerveInputStream.translationHeadingOffset
• Removed gyro zeroing from YAGSL startup. You must now call gyro zero on autonomousInit or use the RobotModeTriggers
• Added RobotModeTriggers.autonomous().onTrue(Commands.runOnce(this::zeroGyroWithAlliance)); to SwerveSubsystem

Full Changelog: 2025.7.0...2025.7.1

2025.7.0

What's Changed

• Add optional optimization of module states in drive function that uses feedforward by @clrozeboom in #314
• Make all closable items implement AutoClosable by @kytpbs in #317
• remove useless imports and variables by @kytpbs in #318
• Set IZone of PIDControllers created from PIDFConfigs by @CoffeeCoder1 in #319
• Fix typo by @fletch3555 in #323
• Rev Through bore via DIO by @wackyvert in #325
• stop setMotorBrake from constantly executing by @rakosi2 in #327
• Prevent rotation if controller heading inputs are not past axisDeadband by @MrFast-js in #328
• Renamed SwerveMotor.isAttachedAbsoluteEncoder to SwerveMotor.usingExternalFeedbackSensor.
• Deprecated SwerveDrive.pushOffsetsToEncoders in favor of SwerveDrive.useExternalFeedbackSensor.
• Deprecated SwerveDrive.restoreInternalOffset in favor of SwerveDrive.useInternalFeedbackSensor.
• Updated references from Shuffleboard to any dashboard by @DanPeled
• Fixed Absolute Encoders attached to SparkFlex's.
• Attached absolute encoders are no longer set as the feedback device, must be explicitly called.
• Added SwerveInputStream.driveToPose

New Contributors

• @kytpbs made their first contribution in #317
• @CoffeeCoder1 made their first contribution in #319
• @fletch3555 made their first contribution in #323
• @rakosi2 made their first contribution in #327
• @MrFast-js made their first contribution in #328

Full Changelog: 2025.3.0...2025.7.0

2025.3.0

What's Changed

• Null pointer crash when there have been no vision results by @jwt388 in #307
• Adding PigeonViaTalonSRX and attached SparkFlex by @konnorreynolds in #292
• Throw an error when module configs are incorrectly set to 0 by @wackyvert in #308
• Fixed rawAbsoluteEncoder position. by @konnorreynolds in #309

New Contributors

• @konnorreynolds made their first contribution in #292
• @wackyvert made their first contribution in #308

Full Changelog: 2025.2.2...2025.3.0

2025.2.2

What's Changed

• Add an option for a Robot Relative drive command by @jwt388 in #303

Fixed swerve/measuredChassisSpeedsto report both vx and vy.

Fixed SwerveInputStream.robotRelative by Team 151

Fixed SwerveDrive.drive fieldOriented parameter to be applied. Bug cuaght by WispySparks from team 2508!

Added SwerveInputStream.headingOffset

Full Changelog: 2025.2.1...2025.2.2

2025.2.1

What's Changed

• Spinning mode for drive characterization by @catr1xLiu in #295
• Fix optional absolute encoder for Spark devices by @MetabolicCloth in #298
• Fixed conversion factor application

New Contributors

• @MetabolicCloth made their first contribution in #298

Full Changelog: 2025.2.0...2025.2.1

2025.2.0

What's Changed

• Fix getMaxVelocity used in feedforward by @jwt388 in #286
• Maximum speed settings do not allow limiting robot to less than full speed by @clrozeboom in #277
• Sim modules SysId routines & New maple-sim version by @catr1xLiu in #288

Full Changelog: 2025.1.2...2025.2.0

2025.1.2

What's Changed

• touched up comments by @yapplejack in #278
• Updated to WPILib 2025.1.1 and all dependencies

Full Changelog: 2025.1.1...2025.1.2

2025.1.1

What's Changed

• ThriftyNova updated to 2025 by @clrozeboom in #263

• Fixed telemetry publishing problem. Telemetry is now published under the SmartDashboard network table.
• Throw an error when SparkMAX or SparkFlex configuration changes are done while the robot is enabled.
• Changed example to not set the drive motor idle mode.
• Added ThirftyNova support.
• Added SwerveInputStream.robotRelativeand SwerveInputStream.allianceRelativeControl

Full Changelog: 2025.1.0.1...2025.1.1