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mwitcpalekmwitcpalek
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Merge pull request #115 from strykeforce/2025-initial
2025 Updates
2 parents 043bb03 + 6327a99 commit 888845a

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4 files changed

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-35
lines changed

4 files changed

+45
-35
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‎build.gradle‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -11,7 +11,7 @@ plugins {
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}
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group = "org.strykeforce"
14-
version = "25.0.1"
14+
version = "25.0.2"
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java {
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targetCompatibility = JavaVersion.VERSION_17

‎src/main/java/org/strykeforce/gyro/SF_PIGEON2.java‎

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Original file line numberDiff line numberDiff line change
@@ -18,6 +18,8 @@ public class SF_PIGEON2 implements Gyro {
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public SF_PIGEON2(int deviceId) {
1919
pigeon2 = new Pigeon2(deviceId);
2020
configurator = pigeon2.getConfigurator();
21+
yawGetter = pigeon2.getYaw();
22+
yawRateGetter = pigeon2.getAngularVelocityZWorld();
2123
}
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public SF_PIGEON2(int deviceId, String canbus) {

‎src/main/kotlin/org/strykeforce/telemetry/measurable/TalonFXSMeasureable.kt‎

Lines changed: 9 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -56,6 +56,10 @@ import org.strykeforce.telemetry.talon.VEL_SCALE
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internal const val ANCILLARY_DEVICE_TEMP = "ANCILLARY_DEVICE_TEMP"
5858
internal const val EXT_MOTOR_TEMP = "EXT_MOTOR_TEMP"
59+
internal const val RAW_PULSE_WIDTH_POS = "Raw Pulse Width Pos"
60+
internal const val RAW_QUADRATURE_POS = "Raw Quadrature Pos"
61+
internal const val RAW_PULSE_WIDTH_VEL = "Raw Pulse Width Vel"
62+
internal const val RAW_QUAD_VEL = "Raw Quadrature Vel"
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6064
class TalonFXSMeasureable @JvmOverloads constructor(
6165
private val talonFXS: TalonFXS,
@@ -86,6 +90,8 @@ class TalonFXSMeasureable @JvmOverloads constructor(
8690
Measure(MOTOR_VOLTAGE, "Motor Voltage"){talonFXS.motorVoltage.valueAsDouble},
8791
Measure(POSITION, "Position"){talonFXS.position.valueAsDouble},
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Measure(POS_SCALE, "Pos. scaled"){talonFXS.position.valueAsDouble * scaleFactor},
93+
Measure(RAW_PULSE_WIDTH_POS, "Raw Pulse Width Pos"){talonFXS.rawPulseWidthPosition.valueAsDouble},
94+
Measure(RAW_QUADRATURE_POS, "Raw Quad Pos"){talonFXS.rawQuadraturePosition.valueAsDouble},
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Measure(PROCESSOR_TEMP, "Processor Temp"){talonFXS.processorTemp.valueAsDouble},
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Measure(HAS_RESET_OCCURRED, "Has Reset Occurred"){talonFXS.hasResetOccurred().toDouble()},
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Measure(REV_LIM, "Reverse Limit Switch Closed"){talonFXS.reverseLimit.valueAsDouble},
@@ -99,6 +105,8 @@ class TalonFXSMeasureable @JvmOverloads constructor(
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Measure(TORQUE_CURRENT, "Torque Current"){talonFXS.torqueCurrent.valueAsDouble},
100106
Measure(VELOCITY, "Velocity"){talonFXS.velocity.valueAsDouble},
101107
Measure(VEL_SCALE, "Vel. scaled"){talonFXS.velocity.valueAsDouble * scaleFactor},
108+
Measure(RAW_PULSE_WIDTH_VEL, "Raw Pulse Width Vel"){talonFXS.rawPulseWidthVelocity.valueAsDouble},
109+
Measure(RAW_QUAD_VEL, "Raw Quad Vel"){talonFXS.rawQuadratureVelocity.valueAsDouble},
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Measure(CLOSED_LOOP_D_OUTPUT, "Closed Loop Derivative Output"){talonFXS.closedLoopDerivativeOutput.valueAsDouble},
104112
Measure(CLOSED_LOOP_ERROR, "Closed Loop Error"){talonFXS.closedLoopError.valueAsDouble},
@@ -118,7 +126,7 @@ class TalonFXSMeasureable @JvmOverloads constructor(
118126
Measure(DIFF_CLOSED_LOOP_REF, "Differential Closed Loop Reference"){talonFXS.differentialClosedLoopReference.valueAsDouble},
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Measure(DIFF_CLOSED_LOOP_REF_SLOPE, "Differential Closed Loop Reference Slope"){talonFXS.differentialClosedLoopReferenceSlope.valueAsDouble},
120128
Measure(DIFF_CLOSED_LOOP_SLOT, "Differential Closed Loop Slot"){talonFXS.differentialClosedLoopSlot.valueAsDouble},
121-
Measure(PULSE_WIDTH_POSITION, "Pulse Width Position") {((talonFXS.position.valueAsDouble * 4096.0).toInt() and 0xFFF).toDouble()}
129+
Measure(PULSE_WIDTH_POSITION, "Pulse Width Position") {((talonFXS.rawPulseWidthPosition.valueAsDouble).toInt() and 0xFFF).toDouble()}
122130
)
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124132
override fun equals(other: Any?): Boolean {

‎vendordeps/Phoenix6-replay-25.2.0.json‎

Lines changed: 33 additions & 33 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
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{
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"fileName": "Phoenix6-replay-frc2025-latest.json",
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"fileName": "Phoenix6-replay-25.2.2.json",
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"name": "CTRE-Phoenix (v6) Replay",
4-
"version": "25.2.1",
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"version": "25.2.2",
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"frcYear": "2025",
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"uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
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"mavenUrls": [
@@ -19,14 +19,14 @@
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{
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"groupId": "com.ctre.phoenix6",
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"artifactId": "wpiapi-java",
22-
"version": "25.2.1"
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"version": "25.2.2"
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}
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],
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"jniDependencies": [
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{
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"groupId": "com.ctre.phoenix6",
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"artifactId": "api-cpp",
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"version": "25.2.1",
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"version": "25.2.2",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
@@ -37,7 +37,7 @@
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{
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"groupId": "com.ctre.phoenix6",
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"artifactId": "tools",
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"version": "25.2.1",
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"version": "25.2.2",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
@@ -48,7 +48,7 @@
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{
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"groupId": "com.ctre.phoenix6.replay",
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"artifactId": "api-cpp-replay",
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"version": "25.2.1",
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"version": "25.2.2",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
@@ -62,7 +62,7 @@
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{
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"groupId": "com.ctre.phoenix6.replay",
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"artifactId": "tools-replay",
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"version": "25.2.1",
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"version": "25.2.2",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
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{
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"groupId": "com.ctre.phoenix6.sim",
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"artifactId": "api-cpp-sim",
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"version": "25.2.1",
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"version": "25.2.2",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
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{
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"groupId": "com.ctre.phoenix6.sim",
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"artifactId": "tools-sim",
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"version": "25.2.1",
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"version": "25.2.2",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
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{
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"groupId": "com.ctre.phoenix6.sim",
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"artifactId": "simTalonSRX",
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"version": "25.2.1",
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"version": "25.2.2",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
@@ -118,7 +118,7 @@
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{
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"groupId": "com.ctre.phoenix6.sim",
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"artifactId": "simVictorSPX",
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"version": "25.2.1",
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"version": "25.2.2",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
@@ -132,7 +132,7 @@
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{
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"groupId": "com.ctre.phoenix6.sim",
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"artifactId": "simPigeonIMU",
135-
"version": "25.2.1",
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"version": "25.2.2",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
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{
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"groupId": "com.ctre.phoenix6.sim",
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"artifactId": "simCANCoder",
149-
"version": "25.2.1",
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"version": "25.2.2",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
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{
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"groupId": "com.ctre.phoenix6.sim",
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"artifactId": "simProTalonFX",
163-
"version": "25.2.1",
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"version": "25.2.2",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
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{
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"groupId": "com.ctre.phoenix6.sim",
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"artifactId": "simProTalonFXS",
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"version": "25.2.1",
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"version": "25.2.2",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
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{
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"groupId": "com.ctre.phoenix6.sim",
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"artifactId": "simProCANcoder",
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"version": "25.2.1",
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"version": "25.2.2",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
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{
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"groupId": "com.ctre.phoenix6.sim",
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"artifactId": "simProPigeon2",
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"version": "25.2.1",
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"version": "25.2.2",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
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{
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"groupId": "com.ctre.phoenix6.sim",
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"artifactId": "simProCANrange",
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"version": "25.2.1",
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"version": "25.2.2",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
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{
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"groupId": "com.ctre.phoenix6",
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"artifactId": "wpiapi-cpp",
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"version": "25.2.1",
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"version": "25.2.2",
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"libName": "CTRE_Phoenix6_WPI",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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{
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"groupId": "com.ctre.phoenix6",
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"artifactId": "tools",
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"version": "25.2.1",
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"version": "25.2.2",
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"libName": "CTRE_PhoenixTools",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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{
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"groupId": "com.ctre.phoenix6.replay",
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"artifactId": "wpiapi-cpp-replay",
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"version": "25.2.1",
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"version": "25.2.2",
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"libName": "CTRE_Phoenix6_WPIReplay",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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{
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"groupId": "com.ctre.phoenix6.replay",
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"artifactId": "tools-replay",
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"version": "25.2.1",
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"version": "25.2.2",
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"libName": "CTRE_PhoenixTools_Replay",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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{
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"groupId": "com.ctre.phoenix6.sim",
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"artifactId": "wpiapi-cpp-sim",
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"version": "25.2.1",
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"version": "25.2.2",
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"libName": "CTRE_Phoenix6_WPISim",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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{
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"groupId": "com.ctre.phoenix6.sim",
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"artifactId": "tools-sim",
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"version": "25.2.1",
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"version": "25.2.2",
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"libName": "CTRE_PhoenixTools_Sim",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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322322
{
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"groupId": "com.ctre.phoenix6.sim",
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"artifactId": "simTalonSRX",
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"version": "25.2.1",
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"version": "25.2.2",
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"libName": "CTRE_SimTalonSRX",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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{
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"groupId": "com.ctre.phoenix6.sim",
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"artifactId": "simVictorSPX",
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"version": "25.2.1",
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"version": "25.2.2",
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"libName": "CTRE_SimVictorSPX",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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{
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"groupId": "com.ctre.phoenix6.sim",
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"artifactId": "simPigeonIMU",
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"version": "25.2.1",
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"version": "25.2.2",
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"libName": "CTRE_SimPigeonIMU",
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"headerClassifier": "headers",
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"sharedLibrary": true,
@@ -370,7 +370,7 @@
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{
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"groupId": "com.ctre.phoenix6.sim",
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"artifactId": "simCANCoder",
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"version": "25.2.1",
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"version": "25.2.2",
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"libName": "CTRE_SimCANCoder",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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{
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"groupId": "com.ctre.phoenix6.sim",
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"artifactId": "simProTalonFX",
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"version": "25.2.1",
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"version": "25.2.2",
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"libName": "CTRE_SimProTalonFX",
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"headerClassifier": "headers",
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"sharedLibrary": true,
@@ -402,7 +402,7 @@
402402
{
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"groupId": "com.ctre.phoenix6.sim",
404404
"artifactId": "simProTalonFXS",
405-
"version": "25.2.1",
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"version": "25.2.2",
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"libName": "CTRE_SimProTalonFXS",
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"headerClassifier": "headers",
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"sharedLibrary": true,
@@ -418,7 +418,7 @@
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{
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"groupId": "com.ctre.phoenix6.sim",
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"artifactId": "simProCANcoder",
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"version": "25.2.1",
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"version": "25.2.2",
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"libName": "CTRE_SimProCANcoder",
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"headerClassifier": "headers",
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"sharedLibrary": true,
@@ -434,7 +434,7 @@
434434
{
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"groupId": "com.ctre.phoenix6.sim",
436436
"artifactId": "simProPigeon2",
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"version": "25.2.1",
437+
"version": "25.2.2",
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"libName": "CTRE_SimProPigeon2",
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"headerClassifier": "headers",
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"sharedLibrary": true,
@@ -450,7 +450,7 @@
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{
451451
"groupId": "com.ctre.phoenix6.sim",
452452
"artifactId": "simProCANrange",
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"version": "25.2.1",
453+
"version": "25.2.2",
454454
"libName": "CTRE_SimProCANrange",
455455
"headerClassifier": "headers",
456456
"sharedLibrary": true,

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