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2026 ThriftyBot Beta Software

ThriftyLib API (v2026.0.0)

Installation

To use the 2026 Beta, use following URL:

Vendor JSON URL:

https://docs.home.thethriftybot.com/ThriftyLib-2026.0.0-beta-1.json

Migration Guide (v2025 → v2026)

1. PID Units Change (Breaking)

The most significant change is the move to Rotational Units.

  • Position: Now uses Rotations instead of raw ticks.
  • Velocity: Now uses Rotations per Second instead of ticks per 100ms.

Example Update:

// Old (v2025)
motor.setPosition(4096); // Move 1 rotation on SRX Mag

// New (v2026)
motor.setPosition(1.0); // Move 1 rotation regardless of encoder

2. Package Reorganization

Update your imports to reflect the new structure:

  • com.thethriftybot.devices.ThriftyNova
  • com.thethriftybot.util.Conversion

3. New Configuration Pattern

We recommend using the new ThriftyNovaConfig class for cleaner initialization:

ThriftyNovaConfig config = new ThriftyNovaConfig();
config.brakeMode = true;
config.maxCurrent = 40.0;
motor.applyConfig(config);

ThriftyConfig App (v2.0.0-beta.3)

Download for Windows

Key Features:

  • Swerve Project Generator
  • Multi-controller Graphing and control
  • Nova Configuration over CAN

Nova Firmware (v1.2.0-beta.1)

Download Firmware Required for 2026 API and App features.

System Requirements

  • Windows 10 or later (64-bit)
  • macOS support is planned for a future release

Additional Resources