2025 - draft #107
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2025 - draft #107
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sim is still broken tests are still broken also I probably broke some functionality somewhere
CoolSpy3
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Jan 15, 2025
src/main/java/org/carlmontrobotics/lib199/DummySparkMaxAnswer.java
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src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java
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src/main/java/org/carlmontrobotics/lib199/swerve/SwerveModuleSim.java
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brettle
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Jan 25, 2025
src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java
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src/main/java/org/carlmontrobotics/lib199/SparkVelocityPIDController.java
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#107 (comment) Co-authored-by: CoolSpy3 <55305038+CoolSpy3@users.noreply.github.com>
#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
CoolSpy3
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Feb 8, 2025
src/main/java/org/carlmontrobotics/lib199/path/DifferentialDriveInterface.java
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CoolSpy3
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Feb 10, 2025
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timtogan
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Dec 21, 2025
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timtogan
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Dec 21, 2025
…ade createSparkFlex(int) return createSparkFlex(id, sparkConfig(SparkMotorType.VORTEX)); and deleted old SparkConfig methods
This reverts commit 158c96e.
…ed VarType and fixed MotorErrorTest
CoolSpy3
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Dec 28, 2025
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Alright! Just a few more notes on how motors are handled. After this, I think I'll do another dive through the whole PR, look for any final bugs, apply some formatting fixes, and (barring any other major snags) this should be good to go! Home stretch now!
That being said, simulation is still probably in need of a pretty deep rewrite. I don't think that needs to be part of this PR though, I'd rather get polished 2025 code merged to master, and then sim can be tackled separately.
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CoolSpy3
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@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
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Jan 2, 2026
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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.
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…d organized MotorContollerFactory imports
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@brettle pls review
also @CoolSpy3 thanks!!