2024 update

[markzakharyan]

Hi, thank you for maintaining this fork of sds swervelib!

I wanted to ask if there were any plans to update this for the 2024 motor libraries and 2024 wpilib?

Thanks!
Mark

[democat3457]

yup, working on it!

edit: realized i'm actually waiting on CTRE to release their 2024 update first

[markzakharyan]

I think they have it updated (still beta though). i spent a while trying to change the dependencies but jeez they completely rewrote the library with phoenix6 haha

https://software-metadata.revrobotics.com/REVLib-2024.json
https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-beta-latest.json

[democat3457]

Ok, I just released a beta version that has an updated WPILib and REVLib and the latest beta release of Phoenix
https://github.com/democat3457/swerve-lib/releases/tag/2024.0.1.0

[hollisms]

With the upgrade to Pheonix 6 do you think the CANcoder abs mode stuff is resolved?

[democat3457]

Looking at the API, it seems so- the getPosition() method now always returns an absolute value, and there's a separate explicit call to get the relative position.

Also, it seems CTRE just made the official release, I'll upgrade to that later today and rerelease.

[democat3457]

Alright, I've released an update that upgrades Phoenix 6 to the latest release (2024.1.0) and fixes an issue with the CANcoder angle calculation:
https://github.com/democat3457/swerve-lib/releases/tag/2024.0.2.0

[markzakharyan]

awesome, thanks!

[democat3457]

With the release of 2024.0.3.1, I think Falcon steering is good now- has anyone tested with NEO steering? Seeing if someone can reproduce issues in this CD thread

[markzakharyan]

We're running the current beta swervelib (wpilib2024) with falcon drive motors and neo steer motors. There haven't been any issues for us yet (everything works as intended) @democat3457

[democat3457]

With the release of 2024.1.0.0 on prod, I think swerve-lib is stable enough for this issue to be closed. Thanks for the help, everyone!

[hollisms]

Thank you for all of your work supporting swervelib!