Update to revlib beta-2

snobotsim · Nov 9, 2024 · 70c3dd4 · 70c3dd4
1 parent 44ce09c
commit 70c3dd4
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Showing 13 changed files with 102 additions and 77 deletions.
diff --git a/MODULE.bazel b/MODULE.bazel
@@ -8,7 +8,7 @@ bazel_dep(name = "bzlmodrio-allwpilib", version = "2025.1.1-beta-1")
 bazel_dep(name = "bzlmodrio-navx", version = "2025.1.1-beta-1")
 bazel_dep(name = "bzlmodrio-phoenix", version = "5.34.0-beta-2")
 bazel_dep(name = "bzlmodrio-phoenix6", version = "25.0.0-beta-2")
-bazel_dep(name = "bzlmodrio-revlib", version = "2025.0.0-beta-1")
+bazel_dep(name = "bzlmodrio-revlib", version = "2025.0.0-beta-2")
 
 archive_override(
     module_name = "rules_bzlmodrio_jdk",

diff --git a/MODULE.bazel.lock b/MODULE.bazel.lock
diff --git a/build_scripts/base_java.gradle b/build_scripts/base_java.gradle
@@ -46,7 +46,7 @@ ext {
     opencvVersion = '4.8.0-1'
     phoenix5Version = '5.34.0-beta-2'
     phoenix6Version = "25.0.0-beta-2"
-    revVersion = '2025.0.0-beta-1'
+    revVersion = '2025.0.0-beta-2'
     navxVersion = '2025.1.1-beta-1'
 
     nativeOs = getCurrentOs() + getCurrentArch()

diff --git a/build_scripts/bazel/deps/download_external_archives.bzl b/build_scripts/bazel/deps/download_external_archives.bzl
@@ -2,8 +2,8 @@ load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 
 def download_external_archives():
     # Download bzlmodRio <3
-    BZLMODRIO_COMMITISH = "c5af12728e5d28d455f1b3451bb1a11bd4e98d57"
-    BZLMODRIO_SHA256 = "13fe9597bc1a516d16d7aed6f39ba9413ef6241e7172d3e8551506503cd51fb4"
+    BZLMODRIO_COMMITISH = "7d8a344b5e139e51ff33c9d16c6bb02e2affe7a3"
+    BZLMODRIO_SHA256 = "fc1624bfd989071da9f01f91680916d88bd50f2f26ee1238391f1b76a71432ed"
     http_archive(
         name = "bzlmodrio",
         url = "https://github.com/bzlmodRio/bzlmodRio/archive/{}.tar.gz".format(BZLMODRIO_COMMITISH),

diff --git a/build_scripts/bazel/deps/setup_dependencies.bzl b/build_scripts/bazel/deps/setup_dependencies.bzl
@@ -6,7 +6,7 @@ def setup_dependencies():
         allwpilib_version = "2025.1.1-beta-1",
         # ni_version = "2024.1.1",
         # opencv_version = "2024.4.8.0-1",
-        revlib_version = "2025.0.0-beta-1",
+        revlib_version = "2025.0.0-beta-2",
         phoenix_version = "5.34.0-beta-2",
         phoenix6_version = "25.0.0-beta-2",
         navx_version = "2025.1.1-beta-1",

diff --git a/...t_robot_base/src/main/java/org/snobotv2/examples/base/subsystems/DrivetrainSubsystem.java b/...t_robot_base/src/main/java/org/snobotv2/examples/base/subsystems/DrivetrainSubsystem.java
@@ -58,6 +58,8 @@ interface DrivetrainConstants
         double getkWheelDiameterMeters();
 
         DifferentialDrivetrainSim createSim();
+
+        DCMotor getMotor();
     }
 
     final class CimDrivetrainConstants implements DrivetrainConstants
@@ -128,6 +130,12 @@ public DifferentialDriveKinematics getKinematics()
         {
             return kDriveKinematics;
         }
+
+        @Override
+        public DCMotor getMotor()
+        {
+            return kDriveGearbox;
+        }
     }
 
 
@@ -200,5 +208,11 @@ public DifferentialDriveKinematics getKinematics()
         {
             return kDriveKinematics;
         }
+
+        @Override
+        public DCMotor getMotor()
+        {
+            return kDriveGearbox;
+        }
     }
 }
diff --git a/...ples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevDrivetrain.java b/...ples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevDrivetrain.java
@@ -115,8 +115,8 @@ public RevDrivetrain()
         {
             mSimulator = new DifferentialDrivetrainSimWrapper(
                     DRIVETRAIN_CONSTANTS.createSim(),
-                    new RevMotorControllerSimWrapper(mLeadLeft),
-                    new RevMotorControllerSimWrapper(mLeadRight),
+                    new RevMotorControllerSimWrapper(mLeadLeft, DRIVETRAIN_CONSTANTS.getMotor()),
+                    new RevMotorControllerSimWrapper(mLeadRight, DRIVETRAIN_CONSTANTS.getMotor()),
                     RevEncoderSimWrapper.create(mLeadLeft),
                     RevEncoderSimWrapper.create(mLeadRight),
                     new NavxWrapper().getYawGyro());

diff --git a/...st_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevElevatorSubsystem.java b/...st_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevElevatorSubsystem.java
@@ -60,7 +60,7 @@ public RevElevatorSubsystem()
         if (RobotBase.isSimulation())
         {
             mElevatorSim = new ElevatorSimWrapper(ElevatorSimConstants.createSim(),
-                    new RevMotorControllerSimWrapper(mLeadMotor),
+                    new RevMotorControllerSimWrapper(mLeadMotor, ElevatorSimConstants.kElevatorGearbox),
                     RevEncoderSimWrapper.create(mLeadMotor));
         }
     }

diff --git a/...est_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevShooterSubsystem.java b/...est_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevShooterSubsystem.java
@@ -51,7 +51,7 @@ public RevShooterSubsystem()
         if (RobotBase.isSimulation())
         {
             mSimulator = new FlywheelSimWrapper(FlywheelSimConstants.createSim(),
-                    new RevMotorControllerSimWrapper(mLeadMotor),
+                    new RevMotorControllerSimWrapper(mLeadMotor, FlywheelSimConstants.kGearbox),
                     RevEncoderSimWrapper.create(mLeadMotor));
         }
     }

diff --git a/...ot_rev_swerve/src/main/java/org/snobotv2/examples/rev_swerve/subsystems/SwerveModule.java b/...ot_rev_swerve/src/main/java/org/snobotv2/examples/rev_swerve/subsystems/SwerveModule.java
@@ -112,8 +112,8 @@ public SwerveModule(
             );
             mSimWrapper = new SwerveModuleSimWrapper(
                     moduleSim,
-                    new RevMotorControllerSimWrapper(mDriveMotor),
-                    new RevMotorControllerSimWrapper(mAzimuthMotor),
+                    new RevMotorControllerSimWrapper(mDriveMotor, DCMotor.getNEO(1)),
+                    new RevMotorControllerSimWrapper(mAzimuthMotor, DCMotor.getNEO(1)),
                     RevEncoderSimWrapper.create(mDriveMotor),
                     RevEncoderSimWrapper.create(mAzimuthMotor),
                     DriveSubsystem.kWheelDiameterMeters * Math.PI);

diff --git a/...a_revlib/src/main/java/org/snobotv2/module_wrappers/rev/RevMotorControllerSimWrapper.java b/...a_revlib/src/main/java/org/snobotv2/module_wrappers/rev/RevMotorControllerSimWrapper.java
@@ -9,10 +9,16 @@ public class RevMotorControllerSimWrapper extends BaseMotorControllerWrapper
 {
     private final SparkSimHelper mSim;
 
+    @Deprecated
     public RevMotorControllerSimWrapper(SparkBase motorController)
+    {
+        this(motorController, DCMotor.getNEO(1));
+    }
+
+    public RevMotorControllerSimWrapper(SparkBase motorController, DCMotor gearbox)
     {
         super(motorController.getDeviceId(), motorController::getAppliedOutput);
-        mSim = new SparkSimHelper(motorController, DCMotor.getNEO(1));
+        mSim = new SparkSimHelper(motorController, gearbox);
     }
 
     @Override

diff --git a/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/TestRevCanSpark.java b/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/TestRevCanSpark.java
@@ -9,6 +9,7 @@
 import com.revrobotics.spark.config.SparkBaseConfigAccessor;
 import com.revrobotics.spark.config.SparkFlexConfig;
 import com.revrobotics.spark.config.SparkMaxConfig;
+import edu.wpi.first.math.system.plant.DCMotor;
 import org.junit.jupiter.api.Tag;
 import org.junit.jupiter.api.Test;
 
@@ -48,6 +49,7 @@ private <MotorType extends SparkBase, ConfigType extends SparkBaseConfig, Config
         config.closedLoop.maxMotion.maxAcceleration(.8);
         config.closedLoop.maxMotion.maxVelocity(.9);
         sparkMax.configure(config, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
+        follower.configure(config.follow(sparkMax), ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
 
         assertEquals(.4, configAccessor.closedLoop.getP(), DEFAULT_EPSILON);
         assertEquals(.5, configAccessor.closedLoop.getI(), DEFAULT_EPSILON);
@@ -56,11 +58,13 @@ private <MotorType extends SparkBase, ConfigType extends SparkBaseConfig, Config
         assertEquals(.8, configAccessor.closedLoop.maxMotion.getMaxAcceleration(), DEFAULT_EPSILON);
         assertEquals(.9, configAccessor.closedLoop.maxMotion.getMaxVelocity(), DEFAULT_EPSILON);
 
-        RevMotorControllerSimWrapper leaderWrapper = new RevMotorControllerSimWrapper(sparkMax);
-        RevMotorControllerSimWrapper followerWrapper = new RevMotorControllerSimWrapper(follower);
+        DCMotor gearbox = DCMotor.getNEO(1);
+        RevMotorControllerSimWrapper leaderWrapper = new RevMotorControllerSimWrapper(sparkMax, gearbox);
+        RevMotorControllerSimWrapper followerWrapper = new RevMotorControllerSimWrapper(follower, gearbox);
 
         sparkMax.set(.4);
         leaderWrapper.update();
+        followerWrapper.update();
         testVoltagePercentage(.4, leaderWrapper, followerWrapper);
         testVoltagePercentage(.4, sparkMax, follower);
 

diff --git a/...ot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/TestRevFlexEncoder.java b/...ot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/TestRevFlexEncoder.java
@@ -3,6 +3,7 @@
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.spark.SparkFlex;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
+import edu.wpi.first.math.system.plant.DCMotor;
 import org.junit.jupiter.api.Test;
 import org.snobotv2.sim_wrappers.InstantaneousMotorSim;
 
@@ -18,7 +19,7 @@ public void testEncoder()
             RelativeEncoder encoder = sparkFlex.getEncoder();
 
             InstantaneousMotorSim motorSim = new InstantaneousMotorSim(
-                    new RevMotorControllerSimWrapper(sparkFlex),
+                    new RevMotorControllerSimWrapper(sparkFlex, DCMotor.getNEO(1)),
                     RevEncoderSimWrapper.create(sparkFlex),
                     10);