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Updated Motors.java to have TalonFX configs and updated StuyLib version #6

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Merged
k4limul merged 2 commits into from
May 7, 2025
Merged

Updated Motors.java to have TalonFX configs and updated StuyLib version #6

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6e5ec47
Updated Motors.java to have TalonFX configs and updated StuyLib version
Rahuldeb5 May 7, 2025
ce036cc
Updated vendor deps
Rahuldeb5 May 7, 2025
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2 changes: 1 addition & 1 deletion build.gradle
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@ allprojects {

// Set this to the latest version of StuyLib.
// You can check here: https://github.com/StuyPulse/StuyLib/releases.
final String STUYLIB_VERSION = 'v2025.1.1'
final String STUYLIB_VERSION = 'v2025.1.2'

def ROBOT_MAIN_CLASS = "com.stuypulse.robot.Main"

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222 changes: 173 additions & 49 deletions src/main/java/com/stuypulse/robot/constants/Motors.java
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Expand Up @@ -5,9 +5,21 @@

package com.stuypulse.robot.constants;

import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;
import com.ctre.phoenix6.configs.ClosedLoopRampsConfigs;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.configs.FeedbackConfigs;
import com.ctre.phoenix6.configs.MotionMagicConfigs;
import com.ctre.phoenix6.configs.MotorOutputConfigs;
import com.ctre.phoenix6.configs.OpenLoopRampsConfigs;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.configs.Slot1Configs;
import com.ctre.phoenix6.configs.Slot2Configs;
import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.FeedbackSensorSourceValue;
import com.ctre.phoenix6.signals.GravityTypeValue;
import com.ctre.phoenix6.signals.InvertedValue;
import com.ctre.phoenix6.signals.NeutralModeValue;

/*-
* File containing all of the configurations that different motors require.
Expand All @@ -22,64 +34,176 @@ public interface Motors {

/** Classes to store all of the values a motor needs */

public static class TalonSRXConfig {
public final boolean INVERTED;
public final NeutralMode NEUTRAL_MODE;
public final int PEAK_CURRENT_LIMIT_AMPS;
public final double OPEN_LOOP_RAMP_RATE;

public TalonSRXConfig(
boolean inverted,
NeutralMode neutralMode,
int peakCurrentLimitAmps,
double openLoopRampRate) {
this.INVERTED = inverted;
this.NEUTRAL_MODE = neutralMode;
this.PEAK_CURRENT_LIMIT_AMPS = peakCurrentLimitAmps;
this.OPEN_LOOP_RAMP_RATE = openLoopRampRate;
public static class TalonFXConfig {
private final TalonFXConfiguration configuration = new TalonFXConfiguration();
private final Slot0Configs slot0Configs = new Slot0Configs();
private final Slot1Configs slot1Configs = new Slot1Configs();
private final Slot2Configs slot2Configs = new Slot2Configs();
private final MotorOutputConfigs motorOutputConfigs = new MotorOutputConfigs();
private final ClosedLoopRampsConfigs closedLoopRampsConfigs = new ClosedLoopRampsConfigs();
private final OpenLoopRampsConfigs openLoopRampsConfigs = new OpenLoopRampsConfigs();
private final CurrentLimitsConfigs currentLimitsConfigs = new CurrentLimitsConfigs();
private final FeedbackConfigs feedbackConfigs = new FeedbackConfigs();
private final MotionMagicConfigs motionMagicConfigs = new MotionMagicConfigs();

public void configure(TalonFX motor) {
motor.getConfigurator().apply(configuration);
}

public TalonSRXConfig(boolean inverted, NeutralMode neutralMode, int peakCurrentLimitAmps) {
this(inverted, neutralMode, peakCurrentLimitAmps, 0.0);
// SLOT 0 CONFIGS

public TalonFXConfig withPIDConstants(double kP, double kI, double kD, int slot) {
switch (slot) {
case 0:
slot0Configs.kP = kP;
slot0Configs.kI = kI;
slot0Configs.kD = kD;
configuration.withSlot0(slot0Configs);
break;
case 1:
slot1Configs.kP = kP;
slot1Configs.kI = kI;
slot1Configs.kD = kD;
configuration.withSlot1(slot1Configs);
break;
case 2:
slot2Configs.kP = kP;
slot2Configs.kI = kI;
slot2Configs.kD = kD;
configuration.withSlot2(slot2Configs);
break;
}
return this;
}

public TalonSRXConfig(boolean inverted, NeutralMode neutralMode) {
this(inverted, neutralMode, 80);
public TalonFXConfig withFFConstants(double kS, double kV, double kA, int slot) {
return withFFConstants(kS, kV, kA, 0, slot);
}

public void configure(WPI_TalonSRX motor) {
motor.setInverted(INVERTED);
motor.setNeutralMode(NEUTRAL_MODE);
motor.configContinuousCurrentLimit(PEAK_CURRENT_LIMIT_AMPS - 10, 0);
motor.configPeakCurrentLimit(PEAK_CURRENT_LIMIT_AMPS, 0);
motor.configPeakCurrentDuration(100, 0);
motor.enableCurrentLimit(true);
motor.configOpenloopRamp(OPEN_LOOP_RAMP_RATE);
public TalonFXConfig withFFConstants(double kS, double kV, double kA, double kG, int slot) {
switch (slot) {
case 0:
slot0Configs.kS = kS;
slot0Configs.kV = kV;
slot0Configs.kA = kA;
slot0Configs.kG = kG;
configuration.withSlot0(slot0Configs);
break;
case 1:
slot1Configs.kS = kS;
slot1Configs.kV = kV;
slot1Configs.kA = kA;
slot1Configs.kG = kG;
configuration.withSlot1(slot1Configs);
break;
case 2:
slot2Configs.kS = kS;
slot2Configs.kV = kV;
slot2Configs.kA = kA;
slot2Configs.kG = kG;
configuration.withSlot2(slot2Configs);
break;
}
return this;
}
}

public static class VictorSPXConfig {
public final boolean INVERTED;
public final NeutralMode NEUTRAL_MODE;
public final double OPEN_LOOP_RAMP_RATE;

public VictorSPXConfig(
boolean inverted,
NeutralMode neutralMode,
double openLoopRampRate) {
this.INVERTED = inverted;
this.NEUTRAL_MODE = neutralMode;
this.OPEN_LOOP_RAMP_RATE = openLoopRampRate;
public TalonFXConfig withGravityType(GravityTypeValue gravityType) {
slot0Configs.GravityType = gravityType;
slot1Configs.GravityType = gravityType;
slot2Configs.GravityType = gravityType;

configuration.withSlot0(slot0Configs);
configuration.withSlot1(slot1Configs);
configuration.withSlot2(slot2Configs);

return this;
}

// MOTOR OUTPUT CONFIGS

public TalonFXConfig withInvertedValue(InvertedValue invertedValue) {
motorOutputConfigs.Inverted = invertedValue;

configuration.withMotorOutput(motorOutputConfigs);

return this;
}

public VictorSPXConfig(boolean inverted, NeutralMode neutralMode) {
this(inverted, neutralMode, 0.0);
public TalonFXConfig withNeutralMode(NeutralModeValue neutralMode) {
motorOutputConfigs.NeutralMode = neutralMode;

configuration.withMotorOutput(motorOutputConfigs);

return this;
}

// RAMP RATE CONFIGS

public TalonFXConfig withRampRate(double rampRate) {
closedLoopRampsConfigs.DutyCycleClosedLoopRampPeriod = rampRate;
closedLoopRampsConfigs.TorqueClosedLoopRampPeriod = rampRate;
closedLoopRampsConfigs.VoltageClosedLoopRampPeriod = rampRate;

openLoopRampsConfigs.DutyCycleOpenLoopRampPeriod = rampRate;
openLoopRampsConfigs.TorqueOpenLoopRampPeriod = rampRate;
openLoopRampsConfigs.VoltageOpenLoopRampPeriod = rampRate;

configuration.withClosedLoopRamps(closedLoopRampsConfigs);
configuration.withOpenLoopRamps(openLoopRampsConfigs);

return this;
}

public void configure(WPI_VictorSPX motor) {
motor.setInverted(INVERTED);
motor.setNeutralMode(NEUTRAL_MODE);
motor.configOpenloopRamp(OPEN_LOOP_RAMP_RATE);
// CURRENT LIMIT CONFIGS

public TalonFXConfig withCurrentLimitAmps(double currentLimitAmps) {
currentLimitsConfigs.StatorCurrentLimit = currentLimitAmps;
currentLimitsConfigs.StatorCurrentLimitEnable = true;

configuration.withCurrentLimits(currentLimitsConfigs);

return this;
}

public TalonFXConfig withSupplyCurrentLimitAmps(double currentLimitAmps) {
currentLimitsConfigs.SupplyCurrentLimit = currentLimitAmps;
currentLimitsConfigs.SupplyCurrentLimitEnable = true;

configuration.withCurrentLimits(currentLimitsConfigs);

return this;
}

// MOTION MAGIC CONFIGS

public TalonFXConfig withMotionProfile(double maxVelocity, double maxAcceleration) {
motionMagicConfigs.MotionMagicCruiseVelocity = maxVelocity;
motionMagicConfigs.MotionMagicAcceleration = maxAcceleration;

configuration.withMotionMagic(motionMagicConfigs);

return this;
}

// FEEDBACK CONFIGS

public TalonFXConfig withRemoteSensor(
int ID, FeedbackSensorSourceValue source, double rotorToSensorRatio) {
feedbackConfigs.FeedbackRemoteSensorID = ID;
feedbackConfigs.FeedbackSensorSource = source;
feedbackConfigs.RotorToSensorRatio = rotorToSensorRatio;

configuration.withFeedback(feedbackConfigs);

return this;
}

public TalonFXConfig withSensorToMechanismRatio(double sensorToMechanismRatio) {
feedbackConfigs.SensorToMechanismRatio = sensorToMechanismRatio;

configuration.withFeedback(feedbackConfigs);

return this;
}
}
}
8 changes: 4 additions & 4 deletions vendordeps/PathplannerLib.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.json",
"fileName": "PathplannerLib-2025.2.7.json",
"name": "PathplannerLib",
"version": "2025.1.1",
"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": "2025.1.1"
"version": "2025.2.7"
}
],
"jniDependencies": [],
"cppDependencies": [
{
"groupId": "com.pathplanner.lib",
"artifactId": "PathplannerLib-cpp",
"version": "2025.1.1",
"version": "2025.2.7",
"libName": "PathplannerLib",
"headerClassifier": "headers",
"sharedLibrary": false,
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24 changes: 12 additions & 12 deletions vendordeps/Phoenix5.json → vendordeps/Phoenix5-5.35.1.json
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@@ -1,7 +1,7 @@
{
"fileName": "Phoenix5-frc2025-latest.json",
"fileName": "Phoenix5-5.35.1.json",
"name": "CTRE-Phoenix (v5)",
"version": "5.35.0",
"version": "5.35.1",
"frcYear": "2025",
"uuid": "ab676553-b602-441f-a38d-f1296eff6537",
"mavenUrls": [
Expand Down Expand Up @@ -32,19 +32,19 @@
{
"groupId": "com.ctre.phoenix",
"artifactId": "api-java",
"version": "5.35.0"
"version": "5.35.1"
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "wpiapi-java",
"version": "5.35.0"
"version": "5.35.1"
}
],
"jniDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "cci",
"version": "5.35.0",
"version": "5.35.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -58,7 +58,7 @@
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "cci-sim",
"version": "5.35.0",
"version": "5.35.1",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
Expand All @@ -74,7 +74,7 @@
{
"groupId": "com.ctre.phoenix",
"artifactId": "wpiapi-cpp",
"version": "5.35.0",
"version": "5.35.1",
"libName": "CTRE_Phoenix_WPI",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -90,7 +90,7 @@
{
"groupId": "com.ctre.phoenix",
"artifactId": "api-cpp",
"version": "5.35.0",
"version": "5.35.1",
"libName": "CTRE_Phoenix",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -106,7 +106,7 @@
{
"groupId": "com.ctre.phoenix",
"artifactId": "cci",
"version": "5.35.0",
"version": "5.35.1",
"libName": "CTRE_PhoenixCCI",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -122,7 +122,7 @@
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "wpiapi-cpp-sim",
"version": "5.35.0",
"version": "5.35.1",
"libName": "CTRE_Phoenix_WPISim",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -138,7 +138,7 @@
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "api-cpp-sim",
"version": "5.35.0",
"version": "5.35.1",
"libName": "CTRE_PhoenixSim",
"headerClassifier": "headers",
"sharedLibrary": true,
Expand All @@ -154,7 +154,7 @@
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "cci-sim",
"version": "5.35.0",
"version": "5.35.1",
"libName": "CTRE_PhoenixCCISim",
"headerClassifier": "headers",
"sharedLibrary": true,
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