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Updated vendor deps, built main. Probably post battle cry. #316

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Updated vendor deps, built main. Probably post battle cry. #316

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7 changes: 6 additions & 1 deletion src/main/java/frc/robot/utils/motor/MotorSimulator.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,8 @@
import com.revrobotics.sim.SparkMaxSim;
import com.revrobotics.sim.SparkRelativeEncoderSim;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.config.SparkBaseConfig;
import com.revrobotics.spark.config.SparkMaxConfig;
import edu.wpi.first.math.system.plant.DCMotor;
import org.littletonrobotics.junction.mechanism.LoggedMechanismLigament2d;

Expand All @@ -19,14 +21,17 @@ public class MotorSimulator {
private final LoggedMechanismLigament2d ligament;
// The encoder simulator from the simulated motor
private final SparkRelativeEncoderSim encoderSim;
private final SparkBaseConfig config;

public MotorSimulator(SparkMax motor, LoggedMechanismLigament2d ligament) {
this.motor = motor;
motorSim = new SparkMaxSim(motor, gearbox);
this.ligament = ligament;
encoderSim = motorSim.getRelativeEncoderSim();

encoderSim.setPositionConversionFactor(1.0);
config = new SparkMaxConfig();
config.encoder.positionConversionFactor(1.0);
motor.configure(config, null, null);
encoderSim.setPosition(0.0);
encoderSim.setInverted(false);
}
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7 changes: 6 additions & 1 deletion src/main/java/frc/robot/utils/simulation/ArmSimulator.java
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,8 @@
import com.revrobotics.sim.SparkMaxSim;
import com.revrobotics.sim.SparkRelativeEncoderSim;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.config.SparkBaseConfig;
import com.revrobotics.spark.config.SparkMaxConfig;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.wpilibj.simulation.BatterySim;
Expand Down Expand Up @@ -40,6 +42,7 @@ public class ArmSimulator {
private final SingleJointedArmSim armSim;
private final double armGearing;
private final String name;
private final SparkBaseConfig config;

/** Constructor. */
public ArmSimulator(SparkMax motor, ArmParameters params, LoggedMechanismLigament2d ligament) {
Expand All @@ -61,7 +64,9 @@ public ArmSimulator(SparkMax motor, ArmParameters params, LoggedMechanismLigamen
encoderSim = motorSim.getRelativeEncoderSim();
forwardSwitchSim = motorSim.getForwardLimitSwitchSim();
reverseSwitchSim = motorSim.getReverseLimitSwitchSim();
encoderSim.setPositionConversionFactor(1.0);
config = new SparkMaxConfig();
config.encoder.positionConversionFactor(1.0);
motor.configure(config, null, null);
encoderSim.setPosition(0.0);
encoderSim.setInverted(false);
}
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7 changes: 6 additions & 1 deletion src/main/java/frc/robot/utils/simulation/ClimberSimulator.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,8 @@
import com.revrobotics.sim.SparkMaxSim;
import com.revrobotics.sim.SparkRelativeEncoderSim;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.config.SparkBaseConfig;
import com.revrobotics.spark.config.SparkMaxConfig;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.units.measure.Angle;
import org.littletonrobotics.junction.mechanism.LoggedMechanismLigament2d;
Expand Down Expand Up @@ -45,14 +47,17 @@ public class ClimberSimulator {
private final LoggedMechanismLigament2d ligament;
// The encoder simulator from the simulated motor
private final SparkRelativeEncoderSim encoderSim;
private SparkBaseConfig config;

public ClimberSimulator(SparkMax motor, LoggedMechanismLigament2d ligament) {
this.motor = motor;
motorSim = new SparkMaxSim(motor, gearbox);
this.ligament = ligament;
encoderSim = motorSim.getRelativeEncoderSim();

encoderSim.setPositionConversionFactor(1.0);
config = new SparkMaxConfig();
config.encoder.positionConversionFactor(1.0);
motor.configure(config, null, null);
encoderSim.setPosition(0.0);
encoderSim.setInverted(false);
}
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7 changes: 6 additions & 1 deletion src/main/java/frc/robot/utils/simulation/IntakeSimulator.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,8 @@
import com.revrobotics.sim.SparkMaxSim;
import com.revrobotics.sim.SparkRelativeEncoderSim;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.config.SparkBaseConfig;
import com.revrobotics.spark.config.SparkMaxConfig;
import edu.wpi.first.math.system.plant.DCMotor;
import org.littletonrobotics.junction.mechanism.LoggedMechanismLigament2d;

Expand Down Expand Up @@ -50,14 +52,17 @@ private enum Mode {
private Mode mode = Mode.EMPTY;
// Mode start point (encoder position when mode change)
private double startPoint = 0;
private final SparkBaseConfig config;

public IntakeSimulator(SparkMax motor, LoggedMechanismLigament2d ligament) {
this.motor = motor;
motorSim = new SparkMaxSim(motor, gearbox);
this.ligament = ligament;
encoderSim = motorSim.getRelativeEncoderSim();

encoderSim.setPositionConversionFactor(1.0);
config = new SparkMaxConfig();
config.encoder.positionConversionFactor(1.0);
motor.configure(config, null, null);
encoderSim.setPosition(0.0);
encoderSim.setInverted(false);
}
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6 changes: 3 additions & 3 deletions vendordeps/AdvantageKit.json
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
{
"fileName": "AdvantageKit.json",
"name": "AdvantageKit",
"version": "4.1.0",
"version": "4.1.2",
"uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
"frcYear": "2025",
"mavenUrls": [
Expand All @@ -12,14 +12,14 @@
{
"groupId": "org.littletonrobotics.akit",
"artifactId": "akit-java",
"version": "4.1.0"
"version": "4.1.2"
}
],
"jniDependencies": [
{
"groupId": "org.littletonrobotics.akit",
"artifactId": "akit-wpilibio",
"version": "4.1.0",
"version": "4.1.2",
"skipInvalidPlatforms": false,
"isJar": false,
"validPlatforms": [
Expand Down
8 changes: 4 additions & 4 deletions vendordeps/PathplannerLib-2025.2.3.json → vendordeps/PathplannerLib-2025.2.7.json
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
{
"fileName": "PathplannerLib-2025.2.3.json",
"fileName": "PathplannerLib-2025.2.7.json",
"name": "PathplannerLib",
"version": "2025.2.3",
"version": "2025.2.7",
"uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
"frcYear": "2025",
"mavenUrls": [
Expand All @@ -12,15 +12,15 @@
{
"groupId": "com.pathplanner.lib",
"artifactId": "PathplannerLib-java",
"version": "2025.2.3"
"version": "2025.2.7"
}
],
"jniDependencies": [],
"cppDependencies": [
{
"groupId": "com.pathplanner.lib",
"artifactId": "PathplannerLib-cpp",
"version": "2025.2.3",
"version": "2025.2.7",
"libName": "PathplannerLib",
"headerClassifier": "headers",
"sharedLibrary": false,
Expand Down
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