Made studicalib reflective.

Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>

Author: thenetworkgrinch

vendordep/yagsl.json

@@ -47,18 +47,6 @@
       "offlineFileName": "Phoenix5-replay-5.36.0.json",
       "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-latest.json"
     },
-    {
-      "uuid": "963ef341-8abd-4981-a969-c8ae3f592e82",
-      "errorMessage": "Studica Lib is required!",
-      "offlineFileName": "StudicaLib.json",
-      "onlineUrl": "https://dev.studica.com/maven/release/2026/json/StudicaLib-2026.0.0.json"
-    },
-    {
-      "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
-      "errorMessage": "Studica is required!",
-      "offlineFileName": "Studica.json",
-      "onlineUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0.json"
-    },
     {
       "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0",
       "errorMessage": "ThriftyLib is required!",

yagsl/java/swervelib/imu/NavXSwerve.java

@@ -60,6 +60,28 @@ public NavXSwerve(NavXComType port)
     }
   }
 
+  /**
+   * Constructor for the NavX({@link AHRS}) swerve.
+   *
+   * @param port Serial Port to connect to.
+   */
+  public NavXSwerve(String port)
+  {
+    navXError = new Alert("IMU", "Error instantiating NavX.", AlertType.kError);
+    try
+    {
+      /* Communicate w/navX-MXP via the MXP SPI Bus.                                     */
+      /* Alternatively:  I2C.Port.kMXP, SerialPort.Port.kMXP or SerialPort.Port.kUSB     */
+      /* See http://navx-mxp.kauailabs.com/guidance/selecting-an-interface/ for details. */
+      imu = new AHRS(NavXComType.valueOf(port));
+      factoryDefault();
+    } catch (RuntimeException ex)
+    {
+      navXError.setText("Error instantiating NavX: " + ex.getMessage());
+      navXError.set(true);
+    }
+  }
+
   @Override
   public void close()
   {

yagsl/java/swervelib/parser/SwerveDriveConfiguration.java

@@ -6,7 +6,6 @@
 import swervelib.simulation.ironmaple.simulation.drivesims.COTS;
 import swervelib.simulation.ironmaple.simulation.drivesims.GyroSimulation;
 import swervelib.SwerveModule;
-//import swervelib.imu.NavXSwerve;
 import swervelib.imu.Pigeon2Swerve;
 import swervelib.imu.SwerveIMU;
 import swervelib.math.SwerveMath;
@@ -156,10 +155,6 @@ public Supplier<GyroSimulation> getGyroSim()
     {
       return COTS.ofPigeon2();
     }
-//    else if (imu instanceof NavXSwerve)
-//    {
-//      return COTS.ofNav2X();
-//    }
     return COTS.ofGenericGyro();
   }
 

yagsl/java/swervelib/parser/deserializer/ReflectionsManager.java

@@ -27,7 +27,8 @@ public enum VENDOR
     /**
      * StudicaLib
      */
-    STUDICA
+    STUDICA,
+    STUDICA2
   }
 
   /**
@@ -68,6 +69,11 @@ public static boolean checkIfVendorLibExists(VENDOR vendor)
           library = Class.forName("com.studica.frc.AHRS");
           break;
         }
+        case STUDICA2 ->
+        {
+          library = Class.forName("com.studica.frc.Navx");
+          break;
+        }
         default ->
         {
           return false;

yagsl/java/swervelib/parser/json/DeviceJson.java

@@ -5,7 +5,6 @@
 import static swervelib.telemetry.SwerveDriveTelemetry.serialCommsIssueWarning;
 
 import com.ctre.phoenix.motorcontrol.FeedbackDevice;
-import com.studica.frc.AHRS.NavXComType;
 
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.wpilibj.DriverStation;
@@ -23,8 +22,6 @@
 import swervelib.imu.ADXRS450Swerve;
 import swervelib.imu.AnalogGyroSwerve;
 import swervelib.imu.CanandgyroSwerve;
-import swervelib.imu.NavX3Swerve;
-import swervelib.imu.NavXSwerve;
 import swervelib.imu.Pigeon2Swerve;
 import swervelib.imu.PigeonSwerve;
 import swervelib.imu.PigeonViaTalonSRXSwerve;
@@ -158,25 +155,40 @@ public SwerveIMU createIMU()
         return new CanandgyroSwerve(id);
       case "navx":
       case "navx_spi":
-        return new NavXSwerve(NavXComType.kMXP_SPI);
+        return ReflectionsManager.<SwerveIMU>create(VENDOR.STUDICA,
+                                                                "swervelib.imu.NavXSwerve",
+                                                                new Class[]{String.class},
+                                                                new Object[]{"kMXP_SPI"});
       case "navx3":
-        return new NavX3Swerve(id);
+        return ReflectionsManager.<SwerveIMU>create(VENDOR.STUDICA2,
+                                                    "swervelib.imu.NavX3Swerve",
+                                                    new Class[]{Integer.class},
+                                                    new Object[]{id});
       case "navx_i2c":
         DriverStation.reportWarning(
             "WARNING: There exists an I2C lockup issue on the roboRIO that could occur, more information here: " +
             "\nhttps://docs.wpilib.org/en/stable/docs/yearly-overview/known-issues" +
             ".html#onboard-i2c-causing-system-lockups",
             false);
         i2cLockupWarning.set(true);
-        return new NavXSwerve(NavXComType.kI2C);
+        return ReflectionsManager.<SwerveIMU>create(VENDOR.STUDICA,
+                                                    "swervelib.imu.NavXSwerve",
+                                                    new Class[]{String.class},
+                                                    new Object[]{"kI2C"});
       case "navx_usb":
         DriverStation.reportWarning("WARNING: There is issues when using USB camera's and the NavX like this!\n" +
                                     "https://pdocs.kauailabs.com/navx-mxp/guidance/selecting-an-interface/", false);
         serialCommsIssueWarning.set(true);
-        return new NavXSwerve(NavXComType.kUSB1);
+        return ReflectionsManager.<SwerveIMU>create(VENDOR.STUDICA,
+                                                    "swervelib.imu.NavXSwerve",
+                                                    new Class[]{String.class},
+                                                    new Object[]{"kUSB1"});
       case "navx_mxp_serial":
         serialCommsIssueWarning.set(true);
-        return new NavXSwerve(NavXComType.kMXP_UART);
+        return ReflectionsManager.<SwerveIMU>create(VENDOR.STUDICA,
+                                                    "swervelib.imu.NavXSwerve",
+                                                    new Class[]{String.class},
+                                                    new Object[]{"kMXP_UART"});
       case "pigeon":
         return new PigeonSwerve(id);
       case "pigeon_via_talonsrx":