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@CameronMyhre CameronMyhre released this 09 Feb 03:42
· 290 commits to main since this release
v1.4.0
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GitHub Release Notes: RobotCode2025 v1.4.0

We are excited to announce v1.4.0, featuring a major rework of the drive subsystem with Kraken motor integration, improved PID tuning, and better motor control configurations. These enhancements improve drive performance, flexibility, and stability while keeping the code organized and maintainable. Below is a detailed breakdown of the updates.

Changelog

🚀 New Features

  • Kraken Motor Drive System
    • Introduced mid-match drive switching, allowing dynamic selection of different drive and turning motor types.
    • Implemented Field-Oriented Control (FOC) for more precise and efficient motor operation.
    • Added separate commands for manual driving, improving subsystem readability and modularity.
    • Created a configuration file to centralize and streamline motor configurations.

🛠️ Enhancements

  • Kraken Motor Behavior Fixes
    • Added feedforward compensation to reduce steady-state error and improve control stability.
    • Refined PID constants and conversion factors for better turning and driving motor performance.
  • Drive Subsystem Refinements
    • Improved turning motor control, fixing prior issues affecting responsiveness.
    • Adjusted motor IDs to match original configurations, ensuring proper mapping across the system.

📝 Code Quality

  • Refactored Configurations
    • Organized configurations into a dedicated file, improving maintainability and reducing redundancy.
    • Enhanced command structure for better separation of manual and automated drive handling.

Usage Notes

For Drive Team:

  • Drive System Adjustments
    • The ability to switch drive and turning motors mid-match allows greater adaptability during competition.
    • Expect smoother and more responsive motor performance due to feedforward improvements and PID tuning.
    • Field-Oriented Control (FOC) should provide better handling, particularly in high-precision scenarios.

For Developers:

  • Subsystem Improvements
    • The drive system now follows a cleaner, more modular structure, making further adjustments easier.
    • The new config file simplifies tuning and modification of motor settings.
    • Refactored Kraken motor behavior ensures long-term reliability and flexibility in future updates.
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