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Gordon/port/swerve phoenix6 #6

Merged
merged 18 commits into from
Jan 17, 2024
Merged

Gordon/port/swerve phoenix6 #6

merged 18 commits into from
Jan 17, 2024

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gordonbchen
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Description

Port swerve to new Phoenix 6 API.

Type of change

  • Port
  • New feature (non-breaking change which adds functionality)
  • Breaking change (fix or feature that would cause existing functionality to not work as expected)
  • Bugfix (non-breaking change which fixes an issue, add DEF # above in description)
  • Environment change (changes to developer environment or CI configuration)
  • Documentation Update (if none of the other choices apply)

How Has This Been Tested?

Tested by running swerve drivetrain.

Author Checklist:

  • I have performed a self-review of my code
  • I have added 1-2 reviewers
  • I have @mentioned relevant non-reviewers as an FYI
  • I have included a detailed description of my changes and their motivations

James and others added 17 commits January 7, 2024 23:19
bring in code from https://github.com/applepi-2067/2023_Pure_Swerve
3f00207
@gordonbchen
update Pathplanner dependency version
b6e9d27
@gordonbchen
remove junit dependency
d46a24f
@gordonbchen
update logs in robot periodic
203b085
@gordonbchen
select integrated sensor before seeding
5791cd4 
- fixes bug where cancoder and seeded integrated disagree
@gordonbchen
remove auto pathweaver dev command
0939ca3
@gordonbchen
remove wheel offset-doubling todo
065331e
@gordonbchen
Merge branch 'main' into 2023_PureSwerve
f903d30
@gordonbchen
remove subsytem, command, and auto examples
b8ed514
@gordonbchen
port drive and steer motors to Phoenix 6 API
cbd6339
@gordonbchen
Merge branch 'main' into gordon/port/swerve_phoenix6
a5ac9fb
@gordonbchen
add bug todo where steer zero offset changes
61f40a4
@gordonbchen
move swerve module and motor code to own folder
03a830e
@gordonbchen
make swerve convention explicit, add CANCoder IDs
3b5dd60
@gordonbchen
add steer offset calibration procedure
fa48d3c
@gordonbchen
update steer offsets
9bdc13d
@gordonbchen
verify max translation velocity
d2cff6c
@gordonbchen gordonbchen linked an issue Jan 15, 2024 that may be closed by this pull request
Port swerve code to Phoenix 6 API #2
Closed
@gordonbchen gordonbchen self-assigned this Jan 16, 2024
@gordonbchen gordonbchen added the port Porting code to new API label Jan 16, 2024
@jcorcoran jcorcoran merged commit 09fb240 into main Jan 17, 2024
1 check passed
@jcorcoran jcorcoran deleted the gordon/port/swerve_phoenix6 branch January 17, 2024 21:46
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Reviewers

@jcorcoran jcorcoran jcorcoran approved these changes

@amoscao amoscao Awaiting requested review from amoscao

@Devallex Devallex Awaiting requested review from Devallex

@CJc318 CJc318 Awaiting requested review from CJc318

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@gordonbchen gordonbchen

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Successfully merging this pull request may close these issues.

Port swerve code to Phoenix 6 API
2 participants
@gordonbchen @jcorcoran