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@@ -4,46 +4,59 @@ All notable changes to this project will be documented in this file.
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The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/) and this project adheres to [Calendar Versioning](http://calver.org/).
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## [Unreleased]
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### Added
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- Compensation for angle aliasing during field-oriented driving.
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- Add some additional drive modes for swerve.
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### Changed
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- Allow for arbitrarily rotated auton starting position.
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- Turn off logging if gyro not connected.
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- Log warning for TalonSRX encoder phase reversal.
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## [18.3.1] - 2018-02-23
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### Added
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- Implement drive closed-loop gain scaling by subclassing Wheel with a custom implementation.
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- Grapher support for PathFinder controller.
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- Added methods to `SwerveDrive` to support azimuth belt slip correction.
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-Implement drive closed-loop gain scaling by subclassing Wheel with a custom implementation.
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-Grapher support for PathFinder controller.
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-Added methods to `SwerveDrive` to support azimuth belt slip correction.
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### Changed
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- Moved the `tct` command-line utility to its own repo and removed `sim` development tool.
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-Moved the `tct` command-line utility to its own repo and removed `sim` development tool.
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## [18.3.0] - 2018-02-13
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### Added
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- Swerve drive `Wheel` class now has basic support for a pluggable implementation of drive wheel "driver" to allow different control strategies, for example, open-loop vs gain-scheduled closed-loop.
-Swerve drive `Wheel` class now has basic support for a pluggable implementation of drive wheel "driver" to allow different control strategies, for example, open-loop vs gain-scheduled closed-loop.
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-Ultrasonic Rangefinder grapher telemetry `Item`.
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### Changed
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- Talons are now configured with Quad encoder by default if no other sensor selected.
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- Gyro logging can be turned off in config file.
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- Config file location is now passed in as a URL to allow embedding in JAR.
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-Talons are now configured with Quad encoder by default if no other sensor selected.
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-Gyro logging can be turned off in config file.
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-Config file location is now passed in as a URL to allow embedding in JAR.
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### Fixed
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- Telemetry now reports lower 12 bits of absolute encoder position (pulse width position).
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-Telemetry now reports lower 12 bits of absolute encoder position (pulse width position).
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## [18.2.0] - 2018-02-03
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### Changed
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- Complete re-write of TalonSRX handling code to incorporate rest of Phoenix update. We now utilize profile slots and selecting the control mode through the Talon's `set()` method. Additionally, all Talon configuration is done at startup as Talon IDs are identified in the config file. Backwards incompatible changes to the config file format and API.
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-Complete re-write of TalonSRX handling code to incorporate rest of Phoenix update. We now utilize profile slots and selecting the control mode through the Talon's `set()` method. Additionally, all Talon configuration is done at startup as Talon IDs are identified in the config file. Backwards incompatible changes to the config file format and API.
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## [18.0.5] - 2018-01-24
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### Changed
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- Updated TalonSRX status frame rates for 2018.
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-Updated TalonSRX status frame rates for 2018.
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## [18.0.4] - 2018-01-20
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### Added
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- New "Default Status Frame Rates" and "Grapher (high speed) Status Frame Rates" commands for `tct` to set common configurations for Talons.
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- Launch script `tct.sh` is in `tct/script`, copy to the same directory on the roboRIO you installed `tct.jar` to.
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- Third Coast Java core library now published to [Bintray jcenter](https://bintray.com/strykeforce/maven/thirdcoast).
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- Made swerve drive implementation support graphing and added gyro example measurements.
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-New "Default Status Frame Rates" and "Grapher (high speed) Status Frame Rates" commands for `tct` to set common configurations for Talons.
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-Launch script `tct.sh` is in `tct/script`, copy to the same directory on the roboRIO you installed `tct.jar` to.
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-Third Coast Java core library now published to [Bintray jcenter](https://bintray.com/strykeforce/maven/thirdcoast).
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-Made swerve drive implementation support graphing and added gyro example measurements.
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### Changed
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- Talons are now set to the default set of frame rate when initialized by the Talon provisioner. See `StatusFrameRate`[javadoc](https://strykeforce.github.io/thirdcoast/javadoc/org/strykeforce/thirdcoast/talon/StatusFrameRate.html) for defaults.
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- For better visibility and to better manage CAN bus utilization, we not longer adjust the Talon frame rates automatically when registering for Telemetry or when using `tct`.
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-Talons are now set to the default set of frame rate when initialized by the Talon provisioner. See `StatusFrameRate`[javadoc](https://strykeforce.github.io/thirdcoast/javadoc/org/strykeforce/thirdcoast/talon/StatusFrameRate.html) for defaults.
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-For better visibility and to better manage CAN bus utilization, we not longer adjust the Talon frame rates automatically when registering for Telemetry or when using `tct`.
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## [17.1.4] - 2017-12-04
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### Added
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- Added Motion Magic data to grapher:
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-Added Motion Magic data to grapher:
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- Motion Magic Acceleration
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- Motion Magic Trajectory Point Target Position
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- Motion Magic Trajectory Point Target Velocity
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- Motion Magic Cruise Velocity
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- Motion Magic Acceleration
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- Motion Magic Trajectory Point Target Position
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- Motion Magic Trajectory Point Target Velocity
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- Motion Magic Cruise Velocity
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### Changed
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- Moved example robot into `org.team2767.thirdcoast` since it isn't part of the library.
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-Moved example robot into `org.team2767.thirdcoast` since it isn't part of the library.
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## [17.1.3] - 2017-12-02
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### Added
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- Added this changelog.
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- You can now use the `B` key in the `tct` utility to go back while running Talons, Servos or Digital Outputs.
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-Added this changelog.
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-You can now use the `B` key in the `tct` utility to go back while running Talons, Servos or Digital Outputs.
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### Changed
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- Linefeeds added to `tct` utility menus to improve readability.
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-Linefeeds added to `tct` utility menus to improve readability.
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## [17.1.2] - 2017-11-27
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### Fixed
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-`tct` utility was not saving configuration for settings that had forwardLimits and reverseLimits double values, for example **peak voltage**.
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-`tct` utility was not saving configuration for settings that had forwardLimits and reverseLimits double values, for example **peak voltage**.
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## [17.1.1] - 2017-11-27
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### Added
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-`tct` utility added **brake in neutral** configuration.
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- Added `MotionMagicTalonConfiguration` to Talon provisioning and ability to control its **acceleration** and **cruise velocity** in `tct` utility.
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-`tct` utility added **brake in neutral** configuration.
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-Added `MotionMagicTalonConfiguration` to Talon provisioning and ability to control its **acceleration** and **cruise velocity** in `tct` utility.
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### Changed
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-`tct` utility allows digital inputs to be reconfigured as outputs.
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-`tct` utility logging level increased to warn.
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-`tct` utility allows digital inputs to be reconfigured as outputs.
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-`tct` utility logging level increased to warn.
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### Fixed
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-**voltage ramp rate** was not configuring a new `TalonConfigurationBuilder` from an existing `TalonConfiguration`.
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-**voltage ramp rate** was not configuring a new `TalonConfigurationBuilder` from an existing `TalonConfiguration`.
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## [17.1.0] - 2017-11-16
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### Added
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- Released `tct` utility for Talons, digital outputs and servos.
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-Released `tct` utility for Talons, digital outputs and servos.
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