Third Coast 18.7.4

Gradle

repositories {
    jcenter()
}
dependencies {
    compile 'org.strykeforce.thirdcoast:swerve:18.7.4'
    compile 'org.strykeforce.thirdcoast:telemetry:18.7.4'
}

Improvements

• Updated telemetry Measure enumeration with general types of measurements
  useful for writing custom graphable items.

Third Coast 18.7.3

Gradle

repositories {
    jcenter()
}
dependencies {
    compile 'org.strykeforce.thirdcoast:swerve:18.7.3'
    compile 'org.strykeforce.thirdcoast:telemetry:18.7.3'
}

Improvements

• TelemetryService dependency injection has been simplified.

Third Coast 18.7.2

Gradle

repositories {
    jcenter()
}
dependencies {
    compile 'org.strykeforce.thirdcoast:swerve:18.7.2'
    compile 'org.strykeforce.thirdcoast:telemetry:18.7.2'
}

Fixed

• SwerveDrive constructor is now public

Third Coast 18.7.1

Gradle

repositories {
    jcenter()
}
dependencies {
    compile 'org.strykeforce.thirdcoast:swerve:18.7.1'
    compile 'org.strykeforce.thirdcoast:telemetry:18.7.1'
}

Improvements

• replace nanohttpd with Jetty in telemetry module
• various clean-up and optimizations

Third Coast 18.7.0

This release removes our Talon provisioning library. With the additions made to the CTRE Phoenix libraries during the summer of 2018, especially TalonSRXConfiguration and friends, we no longer need to maintain our separate library for this.

It also removes the requirement for using the Dagger framework to manage dependency injection (DI). While DI is still useful and used by us, we find that manually managing DI provides a better learning experience for students during the season. You can still use your favorite DI framework if desired.

As a result of these changes, from 18.7.0 forward, use these as dependencies in Gradle:

repositories {
    jcenter()
}
dependencies {
    compile 'org.strykeforce.thirdcoast:swerve:18.7.0'
    compile 'org.strykeforce.thirdcoast:telemetry:18.7.0'
}

Improvements

• Talon provisioning library removed.
• Dagger dependency removed.

Third Coast 18.6.0

Improvements

• Example projects are now collected in their own repository at https://github.com/strykeforce/thirdcoast-examples
• Telemetry has been split out into separate module so projects can use swerve code without it
• Talon configuration errors can be summarized in log
• Talon configuration can be dumped to logs

Third Coast 18.5.0

New

• Convenience method to get multiple Talons.

Improvements

• Sort grapher inventory list consistently.

Fixed

• Default value for Talon velocity measurement window.

Third Coast 18.4.0

New

• Compensation for angle aliasing during field-oriented driving.
• Add some additional drive modes for swerve.

Improvements

• Allow for arbitrarily rotated autonomous starting position. Use gyro.setAngleAdjustment(double) when robot has a rotated starting position.
• Turn off logging if gyro not connected.
• Log warning for TalonSRX encoder phase reversal.

Third Coast 18.3.1

Added

• Implement drive closed-loop gain scaling by subclassing Wheel with a custom implementation.
• Grapher support for PathFinder controller.
• Added methods to SwerveDrive to support azimuth belt slip correction.

Improvements

• Moved the tct command-line utility to its own repo and removed sim development tool.

Third Coast 18.3.0

Added

• 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.
• Ultrasonic Rangefinder grapher telemetry Item.

Improvements

• Talons are now configured with Quad encoder by default if no other sensor selected.
• Gyro logging can be turned off in config file.
• Config file location is now passed in as a URL to allow embedding in JAR.

Fixed

• Telemetry now reports lower 12 bits of absolute encoder position (pulse width position).