thirdcoast

Added

• Swerve drive Wheel class now has basic support for a pluggable implementation of drive wheel "driver" to allow different control strategies, for example, open-loop vs gain-scheduled closed-loop.
• Ultrasonic Rangefinder grapher telemetry Item.

Improvements

• Talons are now configured with Quad encoder by default if no other sensor selected.
• Gyro logging can be turned off in config file.
• Config file location is now passed in as a URL to allow embedding in JAR.

Fixed

• Telemetry now reports lower 12 bits of absolute encoder position (pulse width position).

Added

• Implement drive closed-loop gain scaling by subclassing Wheel with a custom implementation.
• Grapher support for PathFinder controller.
• Added methods to SwerveDrive to support azimuth belt slip correction.

Improvements

• Moved the tct command-line utility to its own repo and removed sim development tool.

New

• Compensation for angle aliasing during field-oriented driving.
• Add some additional drive modes for swerve.

Improvements

• Allow for arbitrarily rotated autonomous starting position. Use gyro.setAngleAdjustment(double) when robot has a rotated starting position.
• Turn off logging if gyro not connected.
• Log warning for TalonSRX encoder phase reversal.

New

• Convenience method to get multiple Talons.

Improvements

• Sort grapher inventory list consistently.

Fixed

• Default value for Talon velocity measurement window.

Complete re-write of TalonSRX handling code to incorporate rest ofPhoenix update. We now utilize profile slots and selecting the control mode through the Talon's set() method. Additionally, all Talon configuration is done at startup as Talon IDs are identified in the config file.

Backwards incompatible changes to the config file format and API.

This version does not include the tct utility. See version 18.0.5 for tct download.

This command-line utility runs on your robot's hardware or a bench system. When run manually, it will run in the place of your robot program. When not being run manually, it will not interfere with normal robot program execution.

Any commands below run in a SSH session on the roboRIO.

1. Download tct.jar and the tct.sh shell script from above and copy to the same directory on the roboRIO, for example /home/admin
2. Make the tct.sh shell script executable with chmod +x tct.sh.
3. Optional, but recommended, stop the auto-run of any existing robot code on the roboRIO with /etc/init.d/nilvrt stop. Reboot the roboRIO to restore auto-run.
4. Run with ./tct.sh

This command-line utility runs on your robot's hardware or a bench system. When run manually, it will run in the place of your robot program. When not being run manually, it will not interfere with normal robot program execution.

Any commands below run in a SSH session on the roboRIO.

1. Download tct.jar and the tct.sh shell script from above and copy to the same directory on the roboRIO, for example /home/admin
2. Make the tct.sh shell script executable with chmod +x tct.sh.
3. Optional, but recommended, stop the auto-run of any existing robot code on the roboRIO with /etc/init.d/nilvrt stop. Reboot the roboRIO to restore auto-run.
4. Run with ./tct.sh

This command-line utility runs on your robot's hardware or a bench system. When run manually, it will run in the place of your robot program. When not being run manually, it will not interfere with normal robot program execution.

Any commands below run in a SSH session on the roboRIO.

1. Download tct.jar and the tct.sh shell script from above and copy to the same directory on the roboRIO, for example /home/admin
2. Make the tct.sh shell script executable with chmod +x tct.sh.
3. Optional, but recommended, stop the auto-run of any existing robot code on the roboRIO with /etc/init.d/nilvrt stop. Reboot the roboRIO to restore auto-run.
4. Run with ./tct.sh

This command-line utility runs on your robot's hardware or a bench system. When run manually, it will run in the place of your robot program. When not being run manually, it will not interfere with normal robot program execution.

Any commands below run in a SSH session on the roboRIO.

1. Download tct.jar and the tct.sh shell script from above and copy to the same directory on the roboRIO, for example /home/admin
2. Make the tct.sh shell script executable with chmod +x tct.sh.
3. Optional, but recommended, stop the auto-run of any existing robot code on the roboRIO with /etc/init.d/nilvrt stop. Reboot the roboRIO to restore auto-run.
4. Run with ./tct.sh