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Update to use WPILib 2020.1.2 #151

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Update to use WPILib 2020.1.2 #151

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4 changes: 2 additions & 2 deletions gradle5k/gradle5k.gradle
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@ def versions = [

// Core FRC libraries
// Using a "+" here will allow you to use beta versions of libraries
wpilib: "2021.1.1-alpha-1" // See: https://github.com/wpilibsuite/allwpilib/releases
wpilib: "2021.1.2" // See: https://github.com/wpilibsuite/allwpilib/releases
// ctre "5.+" // See: http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/wpiapi-java/
// navx "3.+" // See: https://www.kauailabs.com/dist/frc/2020/navx_frc.json (Check ["javaDependencies"][0]["version"])
// rev_color "1.+" // See: https://github.com/REVrobotics/Color-Sensor-v3/releases
Expand Down Expand Up @@ -139,4 +139,4 @@ tasks.withType(Test) {
}
}
}
}
}
4 changes: 2 additions & 2 deletions lib5k/src/main/java/io/github/frc5024/lib5k/bases/drivetrain/AbstractDriveTrain.java
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Expand Up @@ -3,7 +3,7 @@
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.simulation.Field2d;
import edu.wpi.first.wpilibj.smartdashboard.Field2d;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import io.github.frc5024.common_drive.gearing.Gear;
import io.github.frc5024.lib5k.bases.drivetrain.commands.PathFollowerCommand;
Expand Down Expand Up @@ -283,4 +283,4 @@ public void close() throws Exception {

}

}
}
16 changes: 8 additions & 8 deletions lib5k/src/main/java/io/github/frc5024/lib5k/control_loops/models/DCBrushedMotor.java
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Expand Up @@ -25,11 +25,11 @@ public class DCBrushedMotor extends DCMotor {
*/
private DCBrushedMotor(double nominalVoltage, double stallTorque, double stallCurrent, double freeCurrent,
double freeSpeed) {
super(nominalVoltage, stallCurrent, stallCurrent, freeCurrent, freeSpeed);
super(nominalVoltage, stallTorque, stallCurrent, freeCurrent, freeSpeed, 1);

// Add a few extra fields
this.Kv = Units.radiansPerSecondToRotationsPerMinute(super.m_KvRadPerSecPerVolt);
this.freeSpeedRPM = Units.radiansPerSecondToRotationsPerMinute(super.m_freeSpeedRadPerSec);
this.Kv = Units.radiansPerSecondToRotationsPerMinute(super.KvRadPerSecPerVolt);
this.freeSpeedRPM = Units.radiansPerSecondToRotationsPerMinute(super.freeSpeedRadPerSec);

}

Expand All @@ -38,8 +38,8 @@ private DCBrushedMotor(double nominalVoltage, double stallTorque, double stallCu
* @param motor DCMotor
*/
public DCBrushedMotor(DCMotor motor) {
this(motor.m_nominalVoltageVolts, motor.m_stallTorqueNewtonMeters, motor.m_stallCurrentAmps,
motor.m_freeCurrentAmps, motor.m_freeSpeedRadPerSec);
this(motor.nominalVoltageVolts, motor.stallTorqueNewtonMeters, motor.stallCurrentAmps,
motor.freeCurrentAmps, motor.freeSpeedRadPerSec);
}

/**
Expand All @@ -49,7 +49,7 @@ public DCBrushedMotor(DCMotor motor) {
*/
public double getFreeSpeedRPM() {
if (this.freeSpeedRPM == null) {
this.freeSpeedRPM = Units.radiansPerSecondToRotationsPerMinute(super.m_freeSpeedRadPerSec);
this.freeSpeedRPM = Units.radiansPerSecondToRotationsPerMinute(super.freeSpeedRadPerSec);
}
return this.freeSpeedRPM.doubleValue();
}
Expand All @@ -61,7 +61,7 @@ public double getFreeSpeedRPM() {
*/
public double getKv() {
if (this.Kv == null) {
this.Kv = Units.radiansPerSecondToRotationsPerMinute(super.m_KvRadPerSecPerVolt);
this.Kv = Units.radiansPerSecondToRotationsPerMinute(super.KvRadPerSecPerVolt);
}
return this.Kv.doubleValue();
}
Expand All @@ -75,4 +75,4 @@ public DCMotor toDCMotor() {
return (DCMotor) this;
}

}
}