Changelog

Pull Requests are always reviewed!

I highly encourage anyone who wants to help make YAGSL better to create pull requests with any modifications you have made that increases your quality of life.

Pull requests · BroncBotz3481/YAGSL-ExampleGitHub

Contributing

YAGSL development is done on the dev branch of the YAGSL-Example repository here at src/main/java/swervelib.

GitHub - BroncBotz3481/YAGSL-Example at devGitHub

YAGSL-Example dev branch

All PR's should be based off of and merged into here. YAGSL is propagated often to the other repositories.

2025.8.0

• Fix attached absolute encoders with brushed SparkMAX's

2025.7.2

• fix setAbsoluteEncoderOffset() by @MEisSCAMMER in #338
• Enable Continuous Input for omegaPIDController by @Sate04 in #337
• Patched crash when starting while enabled.

2025.7.1

• Fixed SwerveInputStream.allianceRelativeControl

• Prevent crashing midmatch if robot code restarts.

• Added SwerveInputStream.translationHeadingOffset

• Removed gyro zeroing from YAGSL startup. You must now call gyro zero on autonomousInit or use the RobotModeTriggers

• Added RobotModeTriggers.autonomous().onTrue(Commands.runOnce(this::zeroGyroWithAlliance));to the example code.

2025.7.0

• Made the old method for conversion factors throw an exception instead of throwing a warning.

• Added TalonFXS Support.

• Renamed SwerveMotor.isAttachedAbsoluteEncoder to SwerveMotor.usingExternalFeedbackSensor.

• Deprecated SwerveDrive.pushOffsetsToEncoders in favor of SwerveDrive.useExternalFeedbackSensor.

• Deprecated SwerveDrive.restoreInternalOffset in favor of SwerveDrive.useInternalFeedbackSensor.

• Updated references from Shuffleboard to any dashboard by @DanPeled
• Fixed Absolute Encoders attached to SparkFlex's.

• Attached absolute encoders are no longer set as the feedback device, must be explicitly called.

• Added SwerveInputStream.driveToPose

• Add optional optimization of module states in drive function that uses feedforward by @clrozeboom in #314
• Make all closable items implement AutoClosable by @kytpbs in #317
• remove useless imports and variables by @kytpbs in #318
• Set IZone of PIDControllers created from PIDFConfigs by @CoffeeCoder1 in #319
• Fix typo by @fletch3555 in #323
• Rev Through bore via DIO by @wackyvert in #325
• stop setMotorBrake from constantly executing by @rakosi2 in #327
• Prevent rotation if controller heading inputs are not past axisDeadband by @MrFast-js in #328

2025.3.0

• Added SwerveDrive.setModuleStateOptimizationto allow for easier debugging.

• Fixed sparkmax_analog

• Null pointer crash when there have been no vision results by @jwt388 in #307
• Adding PigeonViaTalonSRX and attached SparkFlex by @konnorreynolds in #292
• Throw an error when module configs are incorrectly set to 0 by @wackyvert in #308
• Fixed rawAbsoluteEncoder position. by @konnorreynolds in #309

2025.2.2

• Fixed swerve/measuredChassisSpeedsto report both vx and vy.

• Fixed SwerveInputStream.robotRelative by Team 151

• Fixed SwerveDrive.drive fieldOriented parameter to be applied. Bug cuaght by WispySparks from team 2508!

• Added SwerveInputStream.headingOffset

2025.2.1

• Fixed optimization using the relative encoder

• Fix absolute encoders detection in SparkMaxSwerve.isAbsoluteEncoderAttached() by changing null check to Optional.isPresent() (Discovered by Team 217!)

• Changed absoluteEncoder to an Optional for SparkMax's (by Team 217)

• Added a way to sysId while spinning in place, changed parameters to SwerveDriveTest.setDriveSysIdRoutine(new Config(),this, swerveDrive, 12, true)

2025.2.0

• Disabled kA for the drive motor feedforward by default.

• Fix getMaxVelocity used in feedforward by @jwt388 in #286
• Maximum speed settings do not allow limiting robot to less than full speed by @clrozeboom in #277
• Sim modules SysId routines & New maple-sim version by @catr1xLiu in #288

2025.1.3

• Fixed Adjusted IMU Yaw and set it to publish under SmartDashboard

• Added simulation velocities and readings to module output.

• Added srxmag_standaloneabsolute encoder type for SRX Mag Encoders attached to a stand alone TalonSRX.

2025.1.2

• Updated to WPILib 2025.1.1

• Updated CTRE/REV/Studica/Redux vendordeps.

• Fixed some javadocs failures.

• Touched up comments by @yapplejack in #278

2025.1.1

• Fixed telemetry publishing problem. Telemetry is now published under the SmartDashboard network table.

• Throw an error when SparkMAX or SparkFlex configuration changes are done while the robot is enabled.

• Changed example to not set the drive motor idle mode.

• Added ThirftyNova support.

• Added SwerveInputStream.robotRelativeand SwerveInputStream.allianceRelativeControl

2025.1.0.1

• Added configuration redundancy for SparkMAX, and SparkFlex.

• Fix loop time and use field oriented control for driveWithSetpointGenerator (PR #271 by @jwt388)
• Added cycle times to telemetry.

• Optimized telemetry to only post settings when SwerveDriveTelemetry.updateSettingsis true.

• Reduced retry delay for SparkMAX and SparkFlex to 5ms from 10ms.

• Reduced on the fly configuration delay to 10ms from 100ms.

• Added warning for on the fly configuration delay past init.

• Fixed SimpleMotorFeedForward.calculateto use only the velocity. This ignores acceleration unfortunately.

• Changed SmartDashboard.putto NT4 Publishers

• Removed IMUVelocityin favor of using library velocity fetches.

• Renamed SwerveIMU.getRate()-> SwerveIMU.getYawAngularVelocity()and made it return an AngularVelocityobject.

• Added SwerveInputStreamobject for easy controller conversions.

2025.1.0

• Fixed vision file null-ptr exception.

• Updated to Maple-Sim 0.2.4; added SwerveDrive.getMapleSimDrive() by @catr1xLiu in #262
• Fixed spark max brushed motor controller encoder null-ptr exceptions

• Fixed SwerveMath.scaleTranslationissue

• Fixed Visionupdate with resultListscheck by @jwt388 FRC Team 151

• Changed SwerveDrive.getMaximumVelocity()-> SwerveDrive.getMaximumChassisVelocity()

• Changed SwerveDrive.getMaximumAngularVelocity() -> SwerveDrive.getMaximumChassisAngularVelocity()

• Used known motor types to calculate the drive motor feedforward.

• Extended the parser to know the motor type attached to the motor controller. (Except brushed)

• Separated chassis maximum velocity from module maximum velocity.

• Added navx_mxp_serial back.

• Added motor specifiers krakenx60foc, krakenx60, falcon500foc, falcon500, sparkmax_neo550, sparkmax_neo, sparkflex_neo, sparkflex_vortex, sparkflex_neo550

• Create the drive motor feedforward in SwerveModule constructor.

• Added module max speeds to SwerveModule.maxDriveVelocity and SwerveModule.maxAngularVelocity

• Updated the web configuration

2025.0.0

• AHRS imu variable is lost after constructor scope ends by @clrozeboom in #254
• Add Maple-Sim by @catr1xLiu in #251
• Implement support for kA by @Etaash-mathamsetty in #258
• Update to WPILIb 2025 Beta-2 by @thenetworkgrinch in #257
• Add support to Talon SRX for an integrated absolute encoder by @WispySparks in #208
• Implemented Path Planner DriveFeedForward using DCMotor modeling by @catr1xLiu in #260
• Fixed NavX inversion.

• Fixed Absolute Encoder issue on MAXSwerve with help from Team 457 Grease Monkeys

2024.7.0 - Last version for 2024 WPILib

• Added inversion redundancy check to SparkMAX and SparkFlex.

• Add Warmup for Pathfinding (PR #241 by TechnologyMan00)

2024.6.1.0

• Added Canandgyro support.

• A tiny bug fix in the aim-at-speaker command of the example swerve subsystem code by (PR #239 by catr1xLiu)

2024.6.0.0

• Merge Swerve configuration test changes (PR #228 by clrozeboom)
• Angular velocity correction (huge update that massively improves YAGSL!) (PR #231 by yapplejack)
• Sparkmax optimizations, changes to avg filter etc (PR #233 by yapplejack)
• Addded sparkmax_analog5v as a valid absolute encoder type.

• Suggestion for desaturateWheelSpeeds() to use desiredChassisSpeeds (PR #232 by yapplejack)
• Made auto synchronization optional and configurable by SwerveDrive.setModuleEncoderAutoSynchronize

• Fixed configurator problem for TalonFXSwerve

2024.5.0.4

• Added PhotonVision Vision class to example and integrate it with the example code.

• Added getAprilTagPose method to Vision (PR #226 by kreidljj)
• Update the vision simulation on Vision.updatePoseEstimation (PR #224 by brandonzx3)
• Add Standard Deviations for YAGSL SwerveDrive Pose Estimator (PR #222 by maxikyuu)
• Updating Vendordeps and renaming CanandCoders to CanandMags (PR #219 by Turbojax07 and YAGSL devs)
• Fixed documentation issue with SwerveDriveTelemetry (Issue #233 by DanPeled )
• Fixed AbsoluteEncoders attached to the SparkMAX like Throughbores.

2024.5.0.3

• Fixed SparkMaxAnalogEncoder wrapper to work. The expected read values are in volts, 3.3v max. (Found and fixed by team Austin from team 2377)

• Fixed CanandCoder to CanandMag due to product rename. (Credit to TurboJax07)
• Changed default behavior of setting an attached absolute encoder up without calling SwerevDrive.pushOffsetsToEncoders which is now an optional optimization for MAX Swerve modules instead of a requirement. MAX Swerve no longer need to use 360 as the conversion factor IF they do not use SwerveDrive.pushOffsetsToEncoders

2024.5.0.1

• Added SwerveDrive.setVisionMeasurementStdDevs(Matrix<N3, N1> visionMeasurementStdDevs)

• Add ability to get the rotation rate from the IMU (PR #216 by @clrozeboom)

2024.5.0.0

• Changed input scaling to utilize Polar coordinate magnitude multiplication.

• Simplify placeInAppropriate0To360Scope (PR #213 by GoldenStack)
• Added auto-centering modules setting.

• Added back composite conversion factors.

2024.4.8.7

• Increased logging verbosity to introduce logging modes for the field and data. (PR #185 by 5010)
• Added SwerveDrive.setChassisDiscretization to allow for changing of the discrete value between cycle times which can be tuned to reduce drift. (PR #194 by TechnologyMan00)
• Renamed SwerveDrive.pushOffsetsToControllers to SwerveDrive.pushOffsetsToEncoders. (PR #194 by TechnologyMan00)
• Changed Module[...] to swerve/modules in Telemetry.

2024.4.8.6

• Added PIDF helper functions SwerveModule.setDrivePIDF and SwerveModule.setAnglePIDF alongside SwerveModule.getDrivePIDF and SwerveModule.getAnglePIDF.

• Changed feedforward around to use SwerveModule.setFeedforward instead of directly modifying SwerveModule.feedforward

• Renamed SwerveModule.feedforward to SwerveModule.driveFeedforward.

• Added anti-jitter disabling option via SwerveModule.setAntiJitter which also modifies the encoder offsets that are pushed to the motor controllers.

• Updated vendordeps

2024.4.8.5

• Fixed NavX inversion state not taking any affect on the robot.

2024.4.8.4

• Updated anti jitter to run before cosine compensation.

2024.4.8.3

• Updated Pigeon2Swerve to use imu.getRotation3d() instead of handling the CAN timeouts.

• Massively reduced memory footprint required. (with help from @TheGamer1002)

2024.4.8.2

• Made CTRE wait for status times static for user modification. CANCoderSwerve.STATUS_TIMEOUT_SECONDS,TalonFXSwerve.STATUS_TIMEOUT_SECONDS, and Pigeon2Swerve.STATUS_TIMEOUT_SECONDS can be modified for desired use case.

2024.4.8.1

• Added SwerveDrive.setCosineCompensation function which can enable and disable cosine compensation as desired, disabled by default in sim because of discrepancies with real robots.

2024.4.8

• Added SysId support. (PR #160 and #165 by Team 5010)
• waitForStatusUpdate is used instead of refresh with default timeouts of 20ms.

• Added Cache class to cache variables over a validityPeriod which will speed up processing and reduce CAN utilization.

• Added SwerveDrive.updateCacheValidityPeriods so the user can change the cache validity period to their hearts desire.

• Added SwerveDrive.getModuleMap() which will fetch all of the SwerveModule's as a HashMap where the key is the module's filename without .json so frontleft.json would have the key of frontleft.

2024.4.7

• Modules will stay in the previous position if the desired velocity is 0.

• Cosine compensation is now reported through telemetry as expected.

2024.4.6.3

• Updated heading correction to use getOdometryHeading() instead of getYaw() (PR #150 by @Blargleflakes) This does impact heading correction PID values in controllerproperties.json and may NEED these value's increased by 50x.
• Added ability to disable the cosine compensator via config files. (PR #148 by @fovea1959)
• Added SwerveDrive.getGyro() to return SwerveIMU.

• Added SwerveMotor.setVoltage and SwerveMotor.getVoltage and SwerveMotor.getAppliledOutput to the SwerveMotor wrapper for future use with SysId.

• Added functions to test setting voltage of all swerve module motor.

• Added function to find coupling ratio of all swerve modules.

• Added function to set steering/azimuth/angle using of all swerve modules.

• Added function to find kV for drive motors to move.

• Set the angle motor relative encoder position AFTER changing the conversion factor. (Issue #155)
• Fixed module open loop control by sending maxSpeed to the module. (by @nstrike and @MarshallTappen)
• Fixed Pigeon2Swerve only using X acceleration (PR #146 by @dezash123)
• Prevent drive motors from moving when absoluteEncoderOffset is not tuned. (Found by @fovea1959)
• Updated javadocs for SwerveDrive.addVisionMeasurement so that they reflect the latest changes.

2024.4.6.1

• Fixed SwerveDrive.resetOdometry and utilize the pose estimation instead. (PR #142 by @MarshallTappen and @nstrike commit)
• Functionalize IMU inversion (PR #140 by @TechnologyMan00 and @nstrike)
• Added SwerveDrive.getOdometryHeading()

• Fixed SwerveDrive.addVisionMeasurement with vision standard deviations.

• Added IMU readings to SmartDashboard via Raw IMU Yaw (gyro with invert applied) and Adjusted IMU Yaw (pose estimation rotation).

• Changed navx_mxp to navx_mxp_serial to notate that it's serial over MXP.

• Added warning when using navx_mxp_serial or navx_usb.

• Added back wheel speed desaturation.

2024.4.6

• Simplified SwerveMath.calculateDegreesPerRotation and SwerveMath.calculateMetersPerRotation to exclude encoder resolution and add a default.

• Changed Module[...] Raw Motor Encoder to Module[...] Raw Angle Encoder.

• Added Module[...] Raw Drive Encoder

2024.4.5

• Fix for TalonFX Angle motor control (by @bhall-ctre, and @Wackyvert 2225 Mentor) .

  1. TalonFX's needed to use conversion factor as gear ratio rather than gear ratio + unit conversion.

  2. Conversion factor needed to be inverted.

  3. setPosition update to reflect current position.

• Changed ma3 encoders to be read via analog input. (Discovered by @CoZm0)
• Support 3 wheel swerve module setups with PathPlanner helper function. (PR #139 by @TechnologyMan00)
• Added SwerveModule.getAbsoluteEncoder() SwerveDrive.getMaximumVelocity() and SwerveDrive.getMaximumAngularVelocity().

• Reccommend Tuner X when a compatible Tuner X config is used.

• Added ability to change heading correction deadband.

2024.4.2

• Added feedforward to SparkMAX's.

• Added Network Alerts (made by @TheGamer1002 PR #136)
• Added feedforward to TalonFX's

• Fixed TalonFX conversion factor (made by @jkbo6 PR #128)
• CanAndCoder tweaks (made by @guineahawk PR #134)
• Added missing SparkMAX status frame's (made by @RoboPenguin7 PR #130)
• Heading Correction update to make it less sensitive (made by @balien-12 PR #132)
• Fixed cosine compensator error (made by @jkbo6 PR #129)
• Updated PathPlanner path based off of alliance (made by @MarshalTappen PR #122)
• Fixed Rotation being off, update getDriveBaseMeters (made by @TechnologyMan00)