Merge branch 'main' into auton

Author: mwitcpalek

src/main/java/frc/robot/subsystems/algae/AlgaeSubsystem.java

@@ -1,19 +1,3 @@
 package frc.robot.subsystems.algae;
 
-import edu.wpi.first.units.measure.AngularVelocity;
-
-public class AlgaeSubsystem {
-
-  public void setSpeed(AngularVelocity speed) {}
-  ;
-
-  public AngularVelocity getSpeed() {
-    return null;
-  }
-  ;
-
-  public boolean atSpeed() {
-    return true;
-  }
-  ;
-}
+public class AlgaeSubsystem {}

src/main/java/frc/robot/subsystems/algae/algaeIOFX.java

@@ -1,48 +1,3 @@
 package frc.robot.subsystems.algae;
 
-import com.ctre.phoenix6.StatusSignal;
-import com.ctre.phoenix6.configs.TalonFXConfigurator;
-import com.ctre.phoenix6.controls.MotionMagicDutyCycle;
-import com.ctre.phoenix6.hardware.TalonFX;
-import com.ctre.phoenix6.signals.ReverseLimitValue;
-import edu.wpi.first.units.measure.AngularVelocity;
-import frc.robot.constants.AlgaeConstants;
-import org.slf4j.Logger;
-import org.slf4j.LoggerFactory;
-// import org.strykeforce.IOInputsAutoLogged;
-import org.strykeforce.telemetry.TelemetryService;
-
-public class algaeIOFX implements algaeIO {
-  private Logger logger;
-  private final TalonFX talonFX;
-  private IOInputs inputs;
-
-  // FX Access objects
-  TalonFXConfigurator configurator;
-  private MotionMagicDutyCycle positionRequest =
-      new MotionMagicDutyCycle(0).withEnableFOC(false).withFeedForward(0).withSlot(0);
-  StatusSignal<AngularVelocity> currVelocity;
-  StatusSignal<ReverseLimitValue> reverseLimitSwitch;
-
-  public algaeIOFX() {
-    // final IOInputsAutoLogged inputs = new IOInputsAutoLogged();
-    logger = LoggerFactory.getLogger(this.getClass());
-    talonFX = new TalonFX(AlgaeConstants.kFxId);
-    reverseLimitSwitch = talonFX.getReverseLimit();
-    currVelocity = talonFX.getVelocity();
-    reverseLimitSwitch = talonFX.getReverseLimit();
-  }
-
-  public void updateInputs(IOInputs inputs) {
-    inputs.velocity = currVelocity.refresh().getValue();
-  }
-
-  public void setPosition(double position) {
-    // Set the Talon FX to position control mode and set the target position
-    talonFX.setPosition(position);
-  }
-
-  public void zero() {}
-
-  public void registerWith(TelemetryService telemetryService) {}
-}
+public class algaeIOFX {}

src/main/java/frc/robot/subsystems/elevator/ElevatorIO.java

@@ -1,3 +1,3 @@
 package frc.robot.subsystems.elevator;
 
-public class ElevatorIO {}
+public interface ElevatorIO {}

src/main/java/frc/robot/subsystems/elevator/ElevatorIOFX.java

@@ -1,3 +1,3 @@
 package frc.robot.subsystems.elevator;
 
-public class ElevatorIOFX {}
+public class ElevatorIOFX implements ElevatorIO {}

src/main/java/frc/robot/subsystems/example/ExampleIOFX.java

@@ -1,5 +1,6 @@
 package frc.robot.subsystems.example;
 
+import com.ctre.phoenix6.BaseStatusSignal;
 import com.ctre.phoenix6.StatusSignal;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.configs.TalonFXConfigurator;
@@ -63,8 +64,9 @@ public void setPosition(Angle position) {
 
   @Override
   public void updateInputs(ExampleIOInputs inputs) {
-    inputs.velocity = currVelocity.refresh().getValue();
-    inputs.position = currPosition.refresh().getValue().minus(relSetpointOffset);
+    BaseStatusSignal.refreshAll(currVelocity, currPosition);
+    inputs.velocity = currVelocity.getValue();
+    inputs.position = currPosition.getValue().minus(relSetpointOffset);
   }
 
   @Override

src/main/java/frc/robot/subsystems/example/ExampleSubsystem.java

@@ -58,6 +58,7 @@ public boolean isFinished() {
   public void periodic() {
     // Read Inputs
     io.updateInputs(inputs);
+    Logger.processInputs(getName(), inputs);
 
     // State Machine
     switch (curState) {

vendordeps/Phoenix5-replay-5.35.0.json renamed to vendordeps/Phoenix5-replay-5.35.1.json

@@ -1,7 +1,7 @@
 {
-    "fileName": "Phoenix5-replay-5.35.0.json",
+    "fileName": "Phoenix5-replay-5.35.1.json",
     "name": "CTRE-Phoenix (v5)",
-    "version": "5.35.0",
+    "version": "5.35.1",
     "frcYear": "2025",
     "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df",
     "mavenUrls": [
@@ -32,19 +32,19 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-java",
-            "version": "5.35.0"
+            "version": "5.35.1"
         },
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-java",
-            "version": "5.35.0"
+            "version": "5.35.1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.35.0",
+            "version": "5.35.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -55,7 +55,7 @@
         {
             "groupId": "com.ctre.phoenix.replay",
             "artifactId": "cci-replay",
-            "version": "5.35.0",
+            "version": "5.35.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -69,7 +69,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "cci-sim",
-            "version": "5.35.0",
+            "version": "5.35.1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -85,7 +85,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-cpp",
-            "version": "5.35.0",
+            "version": "5.35.1",
             "libName": "CTRE_Phoenix_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -98,7 +98,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-cpp",
-            "version": "5.35.0",
+            "version": "5.35.1",
             "libName": "CTRE_Phoenix",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -111,7 +111,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.35.0",
+            "version": "5.35.1",
             "libName": "CTRE_PhoenixCCI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -124,7 +124,7 @@
         {
             "groupId": "com.ctre.phoenix.replay",
             "artifactId": "wpiapi-cpp-replay",
-            "version": "5.35.0",
+            "version": "5.35.1",
             "libName": "CTRE_Phoenix_WPIReplay",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -140,7 +140,7 @@
         {
             "groupId": "com.ctre.phoenix.replay",
             "artifactId": "api-cpp-replay",
-            "version": "5.35.0",
+            "version": "5.35.1",
             "libName": "CTRE_PhoenixReplay",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -156,7 +156,7 @@
         {
             "groupId": "com.ctre.phoenix.replay",
             "artifactId": "cci-replay",
-            "version": "5.35.0",
+            "version": "5.35.1",
             "libName": "CTRE_PhoenixCCIReplay",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -172,7 +172,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "5.35.0",
+            "version": "5.35.1",
             "libName": "CTRE_Phoenix_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -188,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "api-cpp-sim",
-            "version": "5.35.0",
+            "version": "5.35.1",
             "libName": "CTRE_PhoenixSim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -204,7 +204,7 @@
         {
             "groupId": "com.ctre.phoenix.sim",
             "artifactId": "cci-sim",
-            "version": "5.35.0",
+            "version": "5.35.1",
             "libName": "CTRE_PhoenixCCISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,