2025.2.0

What's Changed

• 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

Full Changelog: 2025.1.2...2025.2.0

2025.1.2

What's Changed

• touched up comments by @yapplejack in #278
• Updated to WPILib 2025.1.1 and all dependencies

Full Changelog: 2025.1.1...2025.1.2

2025.1.1

What's Changed

• ThriftyNova updated to 2025 by @clrozeboom in #263

• 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

Full Changelog: 2025.1.0.1...2025.1.1

2025.1.0.1

What's Changed

• Fix loop time and use field oriented control for driveWithSetpointGenerator by @jwt388 in #271

New Contributors

• @jwt388 made their first contribution in #271
• Added configuration redundancy for SparkMAX, and SparkFlex.
• 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.put to 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.

Full Changelog: 2025.1.0...2025.1.0.1

2025.1.0

What's Changed

• maple-sim new version by @catr1xLiu in #262
• Fixed vision file null-ptr exception.
• Updated to Maple-Sim 0.2.4; added SwerveDrive.getMapleSimDrive() by @catr1xLiu in [#262](https://github.com/BroncBotz3481/YAGSL-* Example/pull/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

Full Changelog: 2025.0.0...2025.1.0

2025.0.0 Beta

What's Changed

• AHRS imu variable is lost after constructor scope ends by @clrozeboom in #254
• Add Maple-Sim by @thenetworkgrinch 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.

New Contributors

• @Etaash-mathamsetty made their first contribution in #258
• @WispySparks made their first contribution in #208

Full Changelog: 2024.7.0...2025.0.0

2024.7.0

This is the final version for WPILib 2024. All future releases are going to be for WPILib 2025 beta!

What's Changed

• Add Warmup for Pathfinding by @Technologyman00 in #241
• Fixed REVLib inversion randomly reverting

Full Changelog: 2024.6.1.0...2024.7.0

2024.6.1.0

What's Changed

• A tiny bug fix in the aim-at-speaker command of the example swerve subsystem code by @catr1xLiu in #239
• Added Canandgyro support.

New Contributors

• @catr1xLiu made their first contribution in #239

Full Changelog: 2024.6.0.0...2024.6.1.0

2024.6.0.0

What's Changed

• Sparkmax optimizations by @yapplejack in #233
• Merge Swerve configuration test changes by @clrozeboom in #228
• Suggestion for desaturateWheelSpeeds() to use desiredChassisSpeeds by @yapplejack in #232
• Angular velocity correction by @yapplejack in #231
• Made auto synchronization optional and configurable by SwerveDrive.setModuleEncoderAutoSynchronize
• Addded sparkmax_analog5v as a valid absolute encoder type.
• Fixed configurator for TalonFX

New Contributors

• @yapplejack made their first contribution in #233

Full Changelog: 2024.5.0.4...2024.6.0.0

2024.5.0.4

What's Changed

• Update the vision simulation on Vision#updatePoseEstimation by @brandonzx3 in #224
• Added getAprilTagPose method to Vision by @kreidljj in #226
• Add Standard Deviations for YAGSL SwerveDrive Pose Estimator by @maxikyuu in #222

New Contributors

• @brandonzx3 made their first contribution in #224
• @kreidljj made their first contribution in #226
• @maxikyuu made their first contribution in #222

Full Changelog: 2024.5.0.1...2024.5.0.4