Merge branch 'master' of https://github.com/clrozeboom/YAMS

Author: clrozeboom

.github/workflows/release.yml

@@ -6,17 +6,25 @@ on:
         description: "Release version number"
         type: string
         required: true
+      publish:
+        type: boolean
+        description: "Publish to WPILib"
+        default: false
 jobs:
   build:
     runs-on: ubuntu-latest
     permissions:
       contents: write
       actions: read
-      pages: read
+      pages: write
       deployments: read
+      id-token: write
     env:
       releaseVersion: ${{ inputs.releaseVersion }}
       workingDirectory: ${{github.workspace}}/vendordep
+      name: github-pages
+      #url: ${{steps.deployment.outputs.page_url}}
+    
     steps:
       - run: git config --global user.name "thenetworkgrinch" && git config --global user.email "thenetworkgrinch@noreply.users.github.com"
       - uses: actions/checkout@v4
@@ -42,17 +50,6 @@ jobs:
         working-directory: ${{ env.workingDirectory }}
       - name: Create new vendor JSON
         run: cp ${{ env.workingDirectory }}/build/maven/yams.json ${{ env.workingDirectory }}/build/maven/yams-${{inputs.releaseVersion}}.json
-      - name: Create Vendor JSON Repo PR
-        uses: wpilibsuite/vendor-json-repo/.github/actions/add_vendordep@main
-        with:
-          repo: Yet-Another-Software-Suite/vendor-json-repo
-          token: ${{ secrets.PUBLISH_VENDOR_JSON_TOKEN }}
-          vendordep_file: ${{ env.workingDirectory }}/build/maven/yams-${{inputs.releaseVersion}}.json
-          pr_title: "Automatically add YAMS version ${{inputs.releaseVersion}}"
-          pr_branch: "publish_yams_${{inputs.releaseVersion}}"
-        continue-on-error: true
-      - name: Output Pages Tree
-        run: find ${{ env.workingDirectory }}/build/maven/ -type f
       - name: Upload pages
         run: git add . && git commit -m "Automatically add YAMS version ${{inputs.releaseVersion}}" && git push
         working-directory: ${{ env.workingDirectory }}/build/maven/
@@ -65,18 +62,37 @@ jobs:
           name: 'github-pages'
           retention-days: '90'
           path: ${{ env.workingDirectory }}/build/maven/
-
-  deploy:
-    permissions:
-      contents: write
-      pages: write
-      id-token: write
-    environment:
-      name: github-pages
-      url: ${{steps.deployment.outputs.page_url}}
-    runs-on: ubuntu-latest
-    needs: build
-    steps:
       - name: Deploy to GitHub Pages
         id: deployment
         uses: actions/deploy-pages@v4
+      - name: Output Pages Tree
+        run: find ${{ env.workingDirectory }}/build/maven/ -type f
+      - name: Create Vendor JSON Repo PR
+        if: ${{ inputs.publish == true }}
+        uses: wpilibsuite/vendor-json-repo/.github/actions/add_vendordep@main
+        with:
+          repo: Yet-Another-Software-Suite/vendor-json-repo
+          token: ${{ secrets.PUBLISH_VENDOR_JSON_TOKEN }}
+          vendordep_file: ${{ env.workingDirectory }}/build/maven/yams-${{inputs.releaseVersion}}.json
+          pr_title: "Automatically add YAMS version ${{inputs.releaseVersion}}"
+          pr_branch: "publish_yams_${{inputs.releaseVersion}}"
+        continue-on-error: true
+  #deploy:
+    #permissions:
+      #contents: write
+      #pages: write
+      #id-token: write
+    #environment:
+      #name: github-pages
+      #url: ${{steps.deployment.outputs.page_url}}
+    #runs-on: ubuntu-latest
+    #needs: build
+    #steps:
+  ##    - name: Deploy to GitHub Pages
+   ##     id: deployment
+   #     uses: actions/deploy-pages@v4
+
+
+
+
+

.gitignore

@@ -354,3 +354,7 @@ compile_commands.json
 
 # End entries from WPI Lib team
 
+/yams/.idea
+/examples/swerve_drive_maplesim/.idea
+/examples/swerve_drive/.idea
+/examples/swerve_drive/.idea

docs/README.md

@@ -46,7 +46,7 @@ YAMS provides an effortless programming experience by neatly dividing the proces
 SmartMotorControllerConfig motorConfig = new SmartMotorControllerConfig(this)
       .withClosedLoopController(4, 0, 0, DegreesPerSecond.of(180), DegreesPerSecondPerSecond.of(90))
       .withSoftLimit(Degrees.of(-30), Degrees.of(100))
-      .withGearing(gearing(gearbox(3, 4)))
+      .withGearing(new MechanismGearing(GearBox.fromReductionStages(3, 4)))
       .withIdleMode(MotorMode.BRAKE)
       .withTelemetry("ArmMotor", TelemetryVerbosity.HIGH)
       .withStatorCurrentLimit(Amps.of(40))