v1.1.0

GitHub Release Notes: RobotCode2025 v1.1.0

We’re releasing v1.1.0 with major improvements to the drive subsystem, several bug fixes, and enhancements for code readability and consistency. This update improves both the functionality of our robot’s swerve modules and the maintainability of the codebase. Here's a detailed breakdown of the changes.

Changelog

🚀 New Features

• Abstract Drive Subsystem
  • Implemented a more flexible, modular design by abstracting the drive subsystem compared to last year.
  • This change simplifies the addition of new features and future maintenance.
• Turning Factor and Swerve Module Enhancements
  • Introduced a new constant for the turning factor, enabling easier tuning of swerve modules.
  • Improved logic in the SwerveModule class, including:
    • Position wrapping for better handling of turning angles.
    • Resetting encoder positions during initialization.
    • Optimized the setState method for smoother state transitions.

🛠️ Bug Fixes

• Drive Code Fixes
  • Updated the turning motor configuration to use absolute encoders, improving accuracy and eliminating reliance on relative encoders.
  • Fixed several inverted control issues, including:
    • Translation targeting.
    • Turning direction.
    • Rotational targeting.
  • Implemented a continuous PID controller for the turning modules, ensuring seamless transitions and better performance during movement.
  • Fully tested and verified for stability.
• Code Formatting and Consistency
  • Added missing braces to if statements to improve code readability and prevent potential logic errors.
  • Fixed errors introduced during prior merges, ensuring a functional and clean codebase.

🎨 Code Style Improvements

• Whitespace Cleanup
  • Removed unnecessary blank lines across multiple classes for cleaner formatting.

Usage Notes

For Drive Team:

• Improved Swerve Modules
  • Expect smoother and more reliable performance from the swerve drive, especially with turning and rotational movements.
  • Absolute encoders ensure accurate module positioning during operation.
• Testing Updates
  • The drive system has been fully tested and is ready for use in practice matches. Let autonomy know if any anomalies occur.

For Developers:

• Abstract Drive Subsystem
• This update modularizes the drive subsystem, making it easier to add new features or debug existing ones.
• Swerve Module Updates
  • Enhanced logic for state optimization and encoder handling improves reliability and performance.
• Code Quality Improvements
  • Formatting changes.
  • All major fixes have been thoroughly tested; additional testing for edge cases is always welcome.

v1.0.0

GitHub Release Notes: RobotCode2025 v1.0.0

We are excited to announce the release of v1.0.0 for RobotCode2025! This update lays the foundation for future development and introduces several new features and improvements aimed at streamlining autonomous configuration, enhancing vision processing, and ensuring code maintainability. Below is a detailed breakdown of the changes included in this release.

Changelog

🚀 New Features

• PhotonVisionCamera Subsystem
  • Added a new PhotonVisionCamera class to handle vision processing tasks.
  • Updated constants to include settings for AprilTag detection.
  • Improved vision capabilities for autonomous routines.
• Dashboard Selectors for Autonomous and Alliance
  • Integrated new selectors into the SmartDashboard for easy configuration of:
  • Autonomous Routines: Select your desired autonomous strategy directly from the dashboard.
  • Alliance Color: Choose between red or blue alliance configurations.
• Introduced Alliance and AutonomousRoutine enums for robust and clear configuration handling.
• Updated RobotContainer to dynamically use these inputs during initialization.

🛠️ Improvements

• Vendor Libraries Installation
  • Set up required vendor libraries to ensure the project is equipped with the latest tools and integrations.
  • No direct changes to functionality, but this step is vital for subsystem support.
• GradleRIO Plugin Update
  • Upgraded GradleRIO plugin to version 2025.2.1.

🎨 Code Style and Structure

• Variable Renaming
  • Standardized variable names across the codebase for improved readability and alignment with proper conventions.
• Package Naming Convention
  • Updated all package names to lowercase for consistency, as per Java naming standards.
  • Added relevant entries to .gitignore for better version control standards.

Usage Notes

For Drive Team:

• Dashboard Setup
  • Ensure the SmartDashboard is displayed on the driver station computer. Use the new selectors to configure the autonomous routine and alliance color before each match.
• Vision Processing
  • The improved vision system now supports AprilTag detection, which will enhance robot alignment during autonomous periods. Ensure the PhotonVision system is properly calibrated on the field.

For Developers:

• Subsystem Integration
  • The PhotonVisionCamera subsystem is ready to be expanded or fine-tuned based on competition requirements.
  • Constants for AprilTag detection are modular and can be updated easily.
• Dashboard Configuration
  • Enums for Alliance and AutonomousRoutine make it easy to add new routines or alliance-specific behaviors.
  • Modify RobotContainer to introduce additional logic based on dashboard inputs.
• Build System
  • The GradleRIO plugin upgrade ensures compatibility with the latest WPILib libraries. If you encounter issues, verify that your development environment is using the updated WPILib dependencies.