Changelog

YAGSL was rewritten as a JSON-config parser around YAMS's SwerveDrive between versions 2026.4.1 and 2026.8.05, and ported to WPILib 2027 and the SystemCore in 2026.10.08. Entries from 2026.8.05 onward describe the current architecture. Everything from 2026.4.1 down is the old, pre-rewrite library, kept under Pre-rewrite history.

Pull requests are reviewed

I highly encourage anyone who wants to help make YAGSL better to create pull requests with any modifications you have made that increases your quality of life.

Pull requests · Yet-Another-Software-Suite/YAGSLGitHub

Pull requests · Yet-Another-Software-Suite/YAGSL-ExampleGitHub

Contributing

YAGSL development is done on the main branch of the YAGSL repository, with the library source at yagsl/java/swervelib.

GitHub - Yet-Another-Software-Suite/YAGSL: Yet Another Generic Swerve LibraryGitHub

YAGSL repository

All PR's should be based off of and merged into main.

2026.10.09

Install from https://cdn.yassrobotics.com/yagsl_commands2.json or https://cdn.yassrobotics.com/yagsl_commands3.json. See Install YAGSL.

• Vendordeps and artifacts now come from cdn.yassrobotics.com, so networks that block github.io can still install, update and download YAGSL. The vendordep JSON URLs are https://cdn.yassrobotics.com/yagsl_commands2.json and https://cdn.yassrobotics.com/yagsl_commands3.json, and https://cdn.yassrobotics.com/ is the only maven URL. The old yet-another-software-suite.github.io/YAGSL vendordep and maven URLs are stale. (#57)

• The YAGSL vendordeps require only YAMS. yagsl_commands2.json requires YAMS (Commands v2) and yagsl_commands3.json requires YAMS (Commands v3). REVLib, Phoenix 6, ReduxLib and ThriftyLib are no longer required: YAGSL loads a vendor's device classes through reflection only when a JSON configuration uses that vendor's devices, so you install vendor libraries for the hardware you have.

• canbus is read the same way for every vendor through the new swervelib.core.parser.CANBuses. (#59)

  canbus	Bus
  "" (or missing)	can_s0 (bus 0)
  "0" to "4"	can_s0 to can_s4, so "1" is can_s1
  "5" to "24"	Motioncore can_d0 to can_d19
  anything else	passed to the vendor, such as a CANivore's name for CTRE devices

  • Behavior change: CTRE devices with an empty canbus are now on can_s0, like every other vendor. Before, Phoenix 6 put them on its SystemCore default, can_s2. Configurations whose CTRE devices are on can_s2 need "canbus": "2".

  • Behavior change: REV devices no longer take port names such as "CAN_S1". Use "1".

  • REV and Thrifty devices reject anything other than a bus number, with an error that explains the bus numbers. A bus number that does not exist, such as "25", also gives a clear error.

  • Redux devices take bus numbers too. ReduxLib bus strings such as "socketcan:can_s1" still work, since they are passed through.

• Thrifty Nova is supported again, through YAMS's NovaWrapper on ThriftyLib 2027. (#58)

  • Motor types are nova_<motor>: nova_minion and nova_pulsar select those motors on the Nova, and anything else, such as nova_neo, is run as a NEO.

  • An absolute encoder attached to the Nova's data port (revthroughbore_attached, canandmag_attached, srxmag_attached, thrifty_attached, andymarkhexbore_attached, dutycycle_attached) sets the Nova's absolute encoder type and direction, and is used as the external feedback encoder.

  • Attached analog_attached encoders are now supported on a Nova.

  • The canbus of a Nova must be empty or a bus number, since ThriftyLib does not take bus names.

• SystemCore IMU added as a gyro. Set the gyro type to systemcore_internal to use the IMU built into the SystemCore. It needs no vendordep, ignores id and canbus, and is created with a flat mount orientation. (#56)

• The Commands v2 and Commands v3 vendordeps are no longer listed as direct requirements of the YAGSL vendordeps. They come in through YAMS.

• Built against YAMS 2026.10.09.

2026.10.08

YAGSL 2027. The library, vendordep build and examples were ported to WPILib 2027 (2027_alpha7), Java 25 and the SystemCore, on top of YAMS's 2027 core/commands split. (#55)

Breaking changes for robot code:

• WPILib 2027. WPILib Java packages are org.wpilib.* (edu.wpi.first.* no longer exists), and several types were renamed. The ones you meet with YAGSL are ChassisSpeeds, now ChassisVelocities, and SwerveModuleState, now SwerveModuleVelocity.

• Two vendordeps, one per command framework. Install exactly one, they conflict with each other.

  Vendordep	Artifacts	Command framework
  yagsl_commands2.json	YAGSL-core, YAGSL-commands2	Commands v2
  yagsl_commands3.json	YAGSL-core, YAGSL-commands3	Commands v3

  YAGSL-java is replaced by YAGSL-core plus YAGSL-commands2 or YAGSL-commands3. Remove the old yagsl.json from your vendordeps folder.

• Packages. Command framework agnostic code moved to swervelib.core: swervelib.parser is now swervelib.core.parser, and swervelib.telemetry is now swervelib.core.telemetry.

• Entry point. Create the drive with swervelib.commands2.SwerveParser or swervelib.commands3.SwerveParser. They return the matching YAMS SwerveDrive (yams.commands2.swerve.SwerveDrive or yams.commands3.swerve.SwerveDrive). SwerveParser.parse(directory) works as before.

• YAMS packages. YAMS classes are now under yams.core.*, yams.commands2.* and yams.commands3.*. For example yams.mechanisms.config.SwerveDriveConfig is now yams.commands2.config.SwerveDriveConfig, yams.mechanisms.swerve.utility.SwerveInputStream is now yams.commands2.swerve.SwerveInputStream, and SmartMotorControllerConfig.TelemetryVerbosity is now yams.core.telemetry.enums.TelemetryVerbosity.

• Gyro API. SwerveDrive.getGyroAngle() is removed, use getGyroRotation3d(). SwerveDriveConfig.withGyro takes a Supplier<Rotation3d>, for example withGyro(gyro::getRotation3d).

Other changes:

• Gyros now hand YAMS their full Rotation3d attitude. The heading axis from gyroAxis is applied in one place (YAMS's GyroAxis, through withGyroHeadingAxis), and inversion is left to YAMS's withGyroInverted. This fixes the Canandgyro being inverted twice.

• JSON parsing moved from Jackson, which WPILib 2027 no longer ships, to WPILib's avaje-jsonb. The parsing code is generated at compile time and ships in YAGSL-core. Your JSON files do not change, and properties the schema does not know, such as $schema, are still ignored.

• The canbus field now selects the bus for REV devices as well (see 2026.10.09 for the final rules).

• The azimuth motor controller is created once per module. It was created twice before, which made YAMS register duplicate alerts and throw.

• Releases now attach <version>-YAGSL-Offline.zip, which extracts into the WPILib 2027_alpha7 home folder for offline installs, plus example-commands2.zip and example-commands3.zip.

• The example is now two projects, examples/commands2 and examples/commands3.

Not available yet on 2027_alpha7:

• StudicaLib and the AndyMark library have no 2027 vendordep, so the navx3_can gyro and the andymarkhexbore_can encoder fail at startup.

• YALL (Limelight) and PhotonLib have no 2027 vendordep, so the example's vision subsystems are parked outside the build.

• Thrifty Nova was unavailable in this release. It returned in 2026.10.09.

2026.10.03

• Fixed the maximum module speed calculation. The motor's free speed is now reduced through the drive gearing to get the wheel speed, and the drive desaturates towards the slowest module so every module can reach its commanded speed.

• Added simulation tests for the example's vision subsystem.

2026.9.27

• SwerveParser no longer forces module state optimization on. Control it with SwerveDriveConfig.withModuleStateOptimization(boolean).

2026.9.17

• SmartIO encoders (*_dio and *_analog absolute encoders) now read their port from the channel field, not id. (#54)

2026.9.16

• Fixed attached absolute encoders so absoluteEncoderOffset is applied as the external encoder's zero offset.

• Updated to YAMS 2026.9.16.

2026.9.02.1

• Telemetry settings from your SwerveDriveConfig are passed down to the modules and their motor controllers: the modules follow the drive's telemetry verbosity when one is given, and the DataLog names follow the drive's SwerveDriveTelemetryConfig.withDataLogName(...).

• Trimmed the per-motor telemetry. Drive motors publish stator and supply current plus measurement/position and measurement/velocity. Azimuth motors publish stator and supply current, mechanism/position and mechanism/velocity, and the external encoder position and velocity.

2026.8.31

• Telemetry is configured with YAMS's SwerveDriveTelemetryConfig and SwerveModuleTelemetryConfig. When you only give a telemetry verbosity, YAGSL still writes the DataLog under Swerve/.

• The example gained vision simulation, with telemetry fixes from YAMS.

2026.8.25

• SwerveParser methods are static: call SwerveParser.parse(directory) and then SwerveParser.createSwerveDrive(config), with no instance to create. By @DanPeled in #52

• Added SwerveParser.createSwerveDriveDevices(config), which returns the SwerveDrive together with the raw vendor devices YAGSL created (motor controllers, absolute encoders and the gyro). See Access raw hardware devices.

• The examples were merged into a single example project, which now includes vision and autonomous.

2026.8.18

• Added the custom gyro type, for supplying your own gyro in code. See Use a custom gyro.

2026.8.17

• SwerveParser now controls which telemetry fields the swerve drive exposes.

• Fixed the DataLog location.

2026.8.05

First release of the rewritten YAGSL: a JSON configuration parser that builds a YAMS SwerveDrive. The JSON schema changed, see Schema Changes.

• Cleaned up createSwerveDrive by @DanPeled in #48

• Fixed to use correct imports by @DanPeled in #49

• Added cosine compensation, drive and angle feedforward support, and an automatic theoretical drive feedforward when the drive v gain is 0.

• Added pidfproperties_sim.json, which replaces pidfproperties.json in simulation.

• Module telemetry names no longer include the .json suffix.

• Added attached absolute encoder support for REV, CTRE and Thrifty Nova motor controllers, plus the analog, analog5v, dutycycle and splineencoder encoder types.

• All vendor devices are created through reflection.

Pre-rewrite history

Every entry below this notice describes the old, pre-rewrite architecture (a self-contained SwerveDrive/SwerveModule/SwerveController implementation, controllerproperties.json, imu/encoder-named JSON fields, etc.). None of it reflects the current API. If you're trying to understand what changed in the rewrite itself, see Schema Changes instead. This history is kept for archaeology: understanding why a given behavior exists, and crediting the contributors who built it.

2026.4.1

• setActiveOverride should be public, not protected. by @twisterjafla in #43

2026.3.12

• Adds overrides to activity when shouldClock is set to false. by @twisterjafla in #34

• Fix drive base to vision pose fusion by @Chris7898 in #36

• EmptyOpponent by @konnorreynolds in #38

• Alert fix in #41

• Change aimTarget to use Supplier<Pose2d> by @Hello2Krish19 in #40

2026.3.5

• Fixed SparkFlex sim motor issue in #29

• Added offset to calculateAngularVelocity by @Kfir-bot in #30

• An offset can be added to the aiming functionality by @J-Kistner in #32

• Studica update and REV fix in #33

2026.2.21

• Do not round location values parsed from JSON by @Scaratech in #22

• Update incorrect default command by @XM2TBE in #25

• Refactor blueAlliance variable initialization by @XM2TBE in #24

• Fix some simulation issues by @clrozeboom in #26

• Fix broken link in README by @nickmcski in #18

2026.2.03

• Fix ThriftyLib crash in #17

• Made CTRE device creation reflective in #20

2026.1.24

• Removed an extra println by @twisterjafla in #11

• Changes where MapleSim publishes goal poses by @twisterjafla in #13

• Disable bump collision by @konnorreynolds in #16

2026.1.14

• Updated vendordep error messages for clarity by @twisterjafla in #10

• Made Studica device creation reflective.

2026.1.13

• Additional example projects, reworked alliance based gyro zeroing by @HolyArtist31656 in #1

• Fixed unneeded alliance flipping by @HolyArtist31656 in #2

• Updates to Thrifty API for ThriftyNova code by @clrozeboom in #4

• MapleSim update by @konnorreynolds in #8

• Adds rebuilt by @twisterjafla in #9

2025.8.0

• Fix attached absolute encoders with brushed SparkMAX's

2025.7.2

• fix setAbsoluteEncoderOffset() by @MEisSCAMMER in #338

• Enable Continuous Input for omegaPIDController by @Sate04 in #337

• Patched crash when starting while enabled.

2025.7.1

• Fixed SwerveInputStream.allianceRelativeControl

• Prevent crashing midmatch if robot code restarts.

• Added SwerveInputStream.translationHeadingOffset

• Removed gyro zeroing from YAGSL startup. You must now call gyro zero on autonomousInit or use the RobotModeTriggers

• Added RobotModeTriggers.autonomous().onTrue(Commands.runOnce(this::zeroGyroWithAlliance));to the example code.

2025.7.0

• Made the old method for conversion factors throw an exception instead of throwing a warning.

• Added TalonFXS Support.

• Renamed SwerveMotor.isAttachedAbsoluteEncoder to SwerveMotor.usingExternalFeedbackSensor.

• Deprecated SwerveDrive.pushOffsetsToEncoders in favor of SwerveDrive.useExternalFeedbackSensor.

• Deprecated SwerveDrive.restoreInternalOffset in favor of SwerveDrive.useInternalFeedbackSensor.

• Updated references from Shuffleboard to any dashboard by @DanPeled

• Fixed Absolute Encoders attached to SparkFlex's.

• Attached absolute encoders are no longer set as the feedback device, must be explicitly called.

• Added SwerveInputStream.driveToPose

• Add optional optimization of module states in drive function that uses feedforward by @clrozeboom in #314

• Make all closable items implement AutoClosable by @kytpbs in #317

• remove useless imports and variables by @kytpbs in #318

• Set IZone of PIDControllers created from PIDFConfigs by @CoffeeCoder1 in #319

• Fix typo by @fletch3555 in #323

• Rev Through bore via DIO by @wackyvert in #325

• stop setMotorBrake from constantly executing by @rakosi2 in #327

• Prevent rotation if controller heading inputs are not past axisDeadband by @MrFast-js in #328

2025.3.0

• Added SwerveDrive.setModuleStateOptimizationto allow for easier debugging.

• Fixed sparkmax_analog

• Null pointer crash when there have been no vision results by @jwt388 in #307

• Adding PigeonViaTalonSRX and attached SparkFlex by @konnorreynolds in #292

• Throw an error when module configs are incorrectly set to 0 by @wackyvert in #308

• Fixed rawAbsoluteEncoder position. by @konnorreynolds in #309

2025.2.2

• Fixed swerve/measuredChassisSpeedsto report both vx and vy.

• Fixed SwerveInputStream.robotRelative by Team 151

• Fixed SwerveDrive.drive fieldOriented parameter to be applied. Bug cuaght by WispySparks from team 2508!

• Added SwerveInputStream.headingOffset

2025.2.1

• Fixed optimization using the relative encoder

• Fix absolute encoders detection in SparkMaxSwerve.isAbsoluteEncoderAttached() by changing null check to Optional.isPresent() (Discovered by Team 217!)

• Changed absoluteEncoder to an Optional for SparkMax's (by Team 217)

• Added a way to sysId while spinning in place, changed parameters to SwerveDriveTest.setDriveSysIdRoutine(new Config(),this, swerveDrive, 12, true)

2025.2.0

• Disabled kA for the drive motor feedforward by default.

• 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

2025.1.3

• Fixed Adjusted IMU Yaw and set it to publish under SmartDashboard

• Added simulation velocities and readings to module output.

• Added srxmag_standaloneabsolute encoder type for SRX Mag Encoders attached to a stand alone TalonSRX.

2025.1.2

• Updated to WPILib 2025.1.1

• Updated CTRE/REV/Studica/Redux vendordeps.

• Fixed some javadocs failures.

• Touched up comments by @yapplejack in #278

2025.1.1

• 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

2025.1.0.1

• Added configuration redundancy for SparkMAX, and SparkFlex.

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

• 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.putto 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.

2025.1.0

• Fixed vision file null-ptr exception.

• Updated to Maple-Sim 0.2.4; added SwerveDrive.getMapleSimDrive() by @catr1xLiu in #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

2025.0.0

• AHRS imu variable is lost after constructor scope ends by @clrozeboom in #254

• Add Maple-Sim by @catr1xLiu 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.

• Fixed Absolute Encoder issue on MAXSwerve with help from Team 457 Grease Monkeys

2024.7.0 - Last version for 2024 WPILib

• Added inversion redundancy check to SparkMAX and SparkFlex.

• Add Warmup for Pathfinding (PR #241 by TechnologyMan00)

2024.6.1.0

• Added Canandgyro support.

• A tiny bug fix in the aim-at-speaker command of the example swerve subsystem code by (PR #239 by catr1xLiu)

2024.6.0.0

• Merge Swerve configuration test changes (PR #228 by clrozeboom)

• Angular velocity correction (huge update that massively improves YAGSL!) (PR #231 by yapplejack)

• Sparkmax optimizations, changes to avg filter etc (PR #233 by yapplejack)

• Addded sparkmax_analog5v as a valid absolute encoder type.

• Suggestion for desaturateWheelSpeeds() to use desiredChassisSpeeds (PR #232 by yapplejack)

• Made auto synchronization optional and configurable by SwerveDrive.setModuleEncoderAutoSynchronize

• Fixed configurator problem for TalonFXSwerve

2024.5.0.4

• Added PhotonVision Vision class to example and integrate it with the example code.

• Added getAprilTagPose method to Vision (PR #226 by kreidljj)

• Update the vision simulation on Vision.updatePoseEstimation (PR #224 by brandonzx3)

• Add Standard Deviations for YAGSL SwerveDrive Pose Estimator (PR #222 by maxikyuu)

• Updating Vendordeps and renaming CanandCoders to CanandMags (PR #219 by Turbojax07 and YAGSL devs)

• Fixed documentation issue with SwerveDriveTelemetry (Issue #233 by DanPeled )

• Fixed AbsoluteEncoders attached to the SparkMAX like Throughbores.

2024.5.0.3

• Fixed SparkMaxAnalogEncoder wrapper to work. The expected read values are in volts, 3.3v max. (Found and fixed by team Austin from team 2377)

• Fixed CanandCoder to CanandMag due to product rename. (Credit to TurboJax07)

• Changed default behavior of setting an attached absolute encoder up without calling SwerevDrive.pushOffsetsToEncoders which is now an optional optimization for MAX Swerve modules instead of a requirement. MAX Swerve no longer need to use 360 as the conversion factor IF they do not use SwerveDrive.pushOffsetsToEncoders

2024.5.0.1

• Added SwerveDrive.setVisionMeasurementStdDevs(Matrix<N3, N1> visionMeasurementStdDevs)

• Add ability to get the rotation rate from the IMU (PR #216 by @clrozeboom)

2024.5.0.0

• Changed input scaling to utilize Polar coordinate magnitude multiplication.

• Simplify placeInAppropriate0To360Scope (PR #213 by GoldenStack)

• Added auto-centering modules setting.

• Added back composite conversion factors.

2024.4.8.7

• Increased logging verbosity to introduce logging modes for the field and data. (PR #185 by 5010)

• Added SwerveDrive.setChassisDiscretization to allow for changing of the discrete value between cycle times which can be tuned to reduce drift. (PR #194 by TechnologyMan00)

• Renamed SwerveDrive.pushOffsetsToControllers to SwerveDrive.pushOffsetsToEncoders. (PR #194 by TechnologyMan00)

• Changed Module[...] to swerve/modules in Telemetry.

2024.4.8.6

• Added PIDF helper functions SwerveModule.setDrivePIDF and SwerveModule.setAnglePIDF alongside SwerveModule.getDrivePIDF and SwerveModule.getAnglePIDF.

• Changed feedforward around to use SwerveModule.setFeedforward instead of directly modifying SwerveModule.feedforward

• Renamed SwerveModule.feedforward to SwerveModule.driveFeedforward.

• Added anti-jitter disabling option via SwerveModule.setAntiJitter which also modifies the encoder offsets that are pushed to the motor controllers.

• Updated vendordeps

2024.4.8.5

• Fixed NavX inversion state not taking any affect on the robot.

2024.4.8.4

• Updated anti jitter to run before cosine compensation.

2024.4.8.3

• Updated Pigeon2Swerve to use imu.getRotation3d() instead of handling the CAN timeouts.

• Massively reduced memory footprint required. (with help from @TheGamer1002)

2024.4.8.2

• Made CTRE wait for status times static for user modification. CANCoderSwerve.STATUS_TIMEOUT_SECONDS,TalonFXSwerve.STATUS_TIMEOUT_SECONDS, and Pigeon2Swerve.STATUS_TIMEOUT_SECONDS can be modified for desired use case.

2024.4.8.1

• Added SwerveDrive.setCosineCompensation function which can enable and disable cosine compensation as desired, disabled by default in sim because of discrepancies with real robots.

2024.4.8

• Added SysId support. (PR #160 and #165 by Team 5010)

• waitForStatusUpdate is used instead of refresh with default timeouts of 20ms.

• Added Cache class to cache variables over a validityPeriod which will speed up processing and reduce CAN utilization.

• Added SwerveDrive.updateCacheValidityPeriods so the user can change the cache validity period to their hearts desire.

• Added SwerveDrive.getModuleMap() which will fetch all of the SwerveModule's as a HashMap where the key is the module's filename without .json so frontleft.json would have the key of frontleft.

2024.4.7

• Modules will stay in the previous position if the desired velocity is 0.

• Cosine compensation is now reported through telemetry as expected.

2024.4.6.3

• Updated heading correction to use getOdometryHeading() instead of getYaw() (PR #150 by @Blargleflakes) This does impact heading correction PID values in controllerproperties.json and may NEED these value's increased by 50x.

• Added ability to disable the cosine compensator via config files. (PR #148 by @fovea1959)

• Added SwerveDrive.getGyro() to return SwerveIMU.

• Added SwerveMotor.setVoltage and SwerveMotor.getVoltage and SwerveMotor.getAppliledOutput to the SwerveMotor wrapper for future use with SysId.

• Added functions to test setting voltage of all swerve module motor.

• Added function to find coupling ratio of all swerve modules.

• Added function to set steering/azimuth/angle using of all swerve modules.

• Added function to find kV for drive motors to move.

• Set the angle motor relative encoder position AFTER changing the conversion factor. (Issue #155)

• Fixed module open loop control by sending maxSpeed to the module. (by @nstrike and @MarshallTappen)

• Fixed Pigeon2Swerve only using X acceleration (PR #146 by @dezash123)

• Prevent drive motors from moving when absoluteEncoderOffset is not tuned. (Found by @fovea1959)

• Updated javadocs for SwerveDrive.addVisionMeasurement so that they reflect the latest changes.

2024.4.6.1

• Fixed SwerveDrive.resetOdometry and utilize the pose estimation instead. (PR #142 by @MarshallTappen and @nstrike commit)

• Functionalize IMU inversion (PR #140 by @TechnologyMan00 and @nstrike)

• Added SwerveDrive.getOdometryHeading()

• Fixed SwerveDrive.addVisionMeasurement with vision standard deviations.

• Added IMU readings to SmartDashboard via Raw IMU Yaw (gyro with invert applied) and Adjusted IMU Yaw (pose estimation rotation).

• Changed navx_mxp to navx_mxp_serial to notate that it's serial over MXP.

• Added warning when using navx_mxp_serial or navx_usb.

• Added back wheel speed desaturation.

2024.4.6

• Simplified SwerveMath.calculateDegreesPerRotation and SwerveMath.calculateMetersPerRotation to exclude encoder resolution and add a default.

• Changed Module[...] Raw Motor Encoder to Module[...] Raw Angle Encoder.

• Added Module[...] Raw Drive Encoder

2024.4.5

• Fix for TalonFX Angle motor control (by @bhall-ctre, and @Wackyvert 2225 Mentor) .

  1. TalonFX's needed to use conversion factor as gear ratio rather than gear ratio + unit conversion.

  2. Conversion factor needed to be inverted.

  3. setPosition update to reflect current position.

• Changed ma3 encoders to be read via analog input. (Discovered by @CoZm0)

• Support 3 wheel swerve module setups with PathPlanner helper function. (PR #139 by @TechnologyMan00)

• Added SwerveModule.getAbsoluteEncoder() SwerveDrive.getMaximumVelocity() and SwerveDrive.getMaximumAngularVelocity().

• Reccommend Tuner X when a compatible Tuner X config is used.

• Added ability to change heading correction deadband.

2024.4.2

• Added feedforward to SparkMAX's.

• Added Network Alerts (made by @TheGamer1002 PR #136)

• Added feedforward to TalonFX's

• Fixed TalonFX conversion factor (made by @jkbo6 PR #128)

• CanAndCoder tweaks (made by @guineahawk PR #134)

• Added missing SparkMAX status frame's (made by @RoboPenguin7 PR #130)

• Heading Correction update to make it less sensitive (made by @balien-12 PR #132)

• Fixed cosine compensator error (made by @jkbo6 PR #129)

• Updated PathPlanner path based off of alliance (made by @MarshalTappen PR #122)

• Fixed Rotation being off, update getDriveBaseMeters (made by @TechnologyMan00)