2025 - draft by FriedLongJohns · Pull Request #107 · DeepBlueRobotics/lib199

FriedLongJohns · 2025-01-15T01:15:59Z

@brettle pls review
also @CoolSpy3 thanks!!

sobbing

sim is still broken tests are still broken also I probably broke some functionality somewhere

build.gradle

src/main/java/org/carlmontrobotics/lib199/CachedSparkMax.java

src/main/java/org/carlmontrobotics/lib199/DummySparkMaxAnswer.java

src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java

src/main/java/org/carlmontrobotics/lib199/MotorErrors.java

src/main/java/org/carlmontrobotics/lib199/swerve/SwerveModule.java

src/main/java/org/carlmontrobotics/lib199/swerve/SwerveModuleSim.java

vendordeps/Studica-2025.0.0.json

build.gradle

src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java

src/main/java/org/carlmontrobotics/lib199/MotorErrors.java

src/main/java/org/carlmontrobotics/lib199/SparkVelocityPIDController.java

#107 (comment) Co-authored-by: CoolSpy3 <55305038+CoolSpy3@users.noreply.github.com>

1. duplicatestrategy to fail 2. no more CachedSparkMax 2. motorcontrollerfactory now configures sparks!! 3. motorErrors checks for null faults 4. swap from smartMotion to MAXmotion in mockedsparkmaxpidcontroller.java 5. cleaner builder pid configs in sparkvelocitypidcontroller.java 6. change from deprecated calculate(double, double) to calculateWithVelocities() in swervemodule and don't persist configs

src/main/java/org/carlmontrobotics/lib199/path/DifferentialDriveInterface.java

src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java

src/main/java/org/carlmontrobotics/lib199/swerve/SwerveModule.java

timtogan · 2026-01-01T15:06:51Z

@CoolSpy3 Alr I am pretty sure I addresed pretty much all your comments if you could if you check everything that would be awesome :D

CoolSpy3

Awesome! I think all of the major stuff has been addressed. Just two more minor comments. I'll start re-reading everything for anything else that should be fixed before this merges.

src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java

…d organized MotorContollerFactory imports

CoolSpy3

Alright, here's the last batch of changes. After this, I might just run through and fix some formatting things, and then this should be good to merge!

src/main/java/org/carlmontrobotics/lib199/swerve/SwerveModule.java

src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java

src/main/java/org/carlmontrobotics/lib199/SparkVelocityPIDController.java

…id controller use correct config

timtogan · 2026-01-11T06:45:45Z

Ok, I basically finished on this batch! Just need to get back to you on this: #107 (comment) I'll prob do it today or tommorow morning. (Also fyi the javadoc doesn't build rn only because ctre javadocs are down)

CoolSpy3

Sounds good! Here are a couple of additional notes on the past two commits. Also, this comment still appears unresolved.

src/main/java/org/carlmontrobotics/lib199/swerve/SwerveModule.java

src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java

src/main/java/org/carlmontrobotics/lib199/SparkVelocityPIDController.java

build.gradle

CoolSpy3 · 2026-01-15T07:51:51Z

Alright, this looks good! Just pending on the last couple threads.

(and make SwerveModule.moduleString global)

timtogan · 2026-01-15T08:23:45Z

Just resolved the remaining threads!

CoolSpy3

Alright, that's all my comments addressed! Normally, I'd recommend testing this on a robot before merging, but given that we just updated everything to 2026 and dismantled Leviathan, that might be difficult, so I'm fine with just merging this in 🚀

Thank you for all the work you put into polishing this up (and working around all of the REV changes 👀 ) :D
LEZZGO 2025!!! 🎉 🤖 🥳

timtogan · 2026-01-15T08:41:29Z

Amazing 🎉 Thanks for reviewing all the code!!! :D. Just as a quick question how should I merge it should I just merge it directly or should I squash everything given the amount of commits?

CoolSpy3 · 2026-01-15T08:57:47Z

General practice for lib199 has been to just merge normally. (And, in fact, it looks like the other options have been disabled.) Normally, the PRs are small-enough/our commit messages are descriptive enough that it's not an issue. (That is to say, we benefit more from the commit history than the cleanliness of squashed merges.) Ultimately, you're programming lead, so afaik, it's your call to make, but unless you have a good reason, I'd just do a normal merge.

FriedLongJohns added 4 commits January 12, 2025 15:16

initial

517ae75

sobbing

fix swerve stuff

d279fe3

sim is still broken tests are still broken also I probably broke some functionality somewhere

that wasn't supposed to be commented out!

c52cbd7

make it build (when tests excluded)

5d10c7f

FriedLongJohns requested a review from a team as a code owner January 15, 2025 01:16

CoolSpy3 requested changes Jan 15, 2025

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brettle reviewed Jan 25, 2025

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sofiebudman and others added 8 commits February 7, 2025 17:30

update swerve modueljava

67bac62

0

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b546166

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remove comment

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#107 (comment) Co-authored-by: CoolSpy3 <55305038+CoolSpy3@users.noreply.github.com>

remove space

b712b84

#107 (comment) Co-authored-by: CoolSpy3 <55305038+CoolSpy3@users.noreply.github.com>

FriedLongJohns requested review from CoolSpy3 and brettle February 8, 2025 21:10

FriedLongJohns assigned FriedLongJohns and sofiebudman Feb 8, 2025

CoolSpy3 requested changes Feb 8, 2025

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FriedLongJohns added 5 commits February 8, 2025 23:04

revert gradle to before initial commit

f6017cb

delete lib199/path*

e3f8b5c

check raw bits instead of pointer values

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add baseSparkConfig and deriatives

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update calculateWithVelocities

0e27e13

CoolSpy3 reviewed Feb 10, 2025

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src/main/java/org/carlmontrobotics/lib199/swerve/SwerveModule.java Outdated Show resolved Hide resolved

FriedLongJohns added 2 commits February 11, 2025 08:45

factor in antiGravitationalAcceleration into drivePeriodic

dbfca96

add comments to baseSparkXConfig methods

a7a4b9b

FriedLongJohns mentioned this pull request Feb 14, 2025

Use persistent alerts api instead of revLibErrors #109

Open

remove dummySparkMaxAnswer

90fc642

timtogan added 3 commits December 29, 2025 14:41

resolved more comments

b4d6e0b

Merge pull request #114 from DeepBlueRobotics/limelight

cf28366

made MotorErrorsTest use sparkSimFaultManager

413cbba

CoolSpy3 requested changes Jan 2, 2026

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src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java Outdated Show resolved Hide resolved

src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java Outdated Show resolved Hide resolved

timtogan added 6 commits January 3, 2026 10:03

removed a spark null check and replaced a switch with createConfig()

cc1795d

added back configAccessor

7b2bf1b

resloved comment

b82dd2f

fixed big oppise

374ed92

Completely removed Victor motors as they are not supported anymore an…

54ccade

…d organized MotorContollerFactory imports

fixed another oppsie

30e2947

timtogan mentioned this pull request Jan 4, 2026

Are REV and CTRE devices on spec for sim. #117

Open

updated all vendorlibs

b8896bb

CoolSpy3 requested changes Jan 10, 2026

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timtogan added 2 commits January 10, 2026 22:23

made a getConfigAccessor method for MotorControllerFactory and made p…

d2a0df1

…id controller use correct config

moved back drive/turnMotorType

a62be8b

CoolSpy3 requested changes Jan 11, 2026

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CoolSpy3 reviewed Jan 12, 2026

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build.gradle Outdated Show resolved Hide resolved

timtogan added 2 commits January 14, 2026 08:09

resolved comments

6a60bf8

phoenix java docs

628b00c

CoolSpy3 and others added 2 commits January 15, 2026 00:01

organize imports

7051ae1

(and make SwerveModule.moduleString global)

resolved more comments

aed08b5

CoolSpy3 approved these changes Jan 15, 2026

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timtogan merged commit 87145e6 into master Jan 15, 2026
3 checks passed

timtogan deleted the 2025 branch January 15, 2026 09:00

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FriedLongJohns commented Jan 15, 2025

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