Add Advantage kit to Swerve and Update to 2024 Phoenix 6 (#205)

.gitignore

@@ -177,3 +177,5 @@ logs/
 
 # Folder that has CTRE Phoenix Sim device config storage
 ctre_sim/
+
+BuildConstants.java

build.gradle

@@ -1,6 +1,7 @@
 plugins {
     id "java"
     id "edu.wpi.first.GradleRIO" version "2024.2.1"
+    id "com.peterabeles.gversion" version "1.10"
 }
 
 java {
@@ -14,6 +15,27 @@ repositories {
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
+repositories {
+    maven {
+        url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit")
+        credentials {
+            username = "Mechanical-Advantage-Bot"
+            password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051"
+        }
+    }
+    mavenLocal()
+}
+
+configurations.all {
+    exclude group: "edu.wpi.first.wpilibj"
+}
+
+task(checkAkitInstall, dependsOn: "classes", type: JavaExec) {
+    mainClass = "org.littletonrobotics.junction.CheckInstall"
+    classpath = sourceSets.main.runtimeClasspath
+}
+compileJava.finalizedBy checkAkitInstall
+
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
 deploy {
@@ -74,6 +96,8 @@ dependencies {
     testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
     annotationProcessor 'com.github.Frc5572:RobotTools:main-SNAPSHOT'
 
+    def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
+    annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version"
 }
 
 test {
@@ -119,3 +143,14 @@ javadoc {
             "</script>"
     }
 }
+
+// Create version file
+project.compileJava.dependsOn(createVersionFile)
+gversion {
+    srcDir       = "src/main/java/"
+    classPackage = "frc.robot"
+    className    = "BuildConstants"
+    dateFormat   = "yyyy-MM-dd HH:mm:ss z"
+    timeZone     = "America/New_York"
+    indent       = "  "
+}

src/main/java/frc/lib/math/Conversions.java

@@ -3,93 +3,48 @@
 import edu.wpi.first.math.MathUtil;
 
 /**
- * Mathematical conversions for swerve calculations
+ * Static Conversion functions
  */
 public class Conversions {
 
     /**
-     * @param counts Falcon Counts
-     * @param gearRatio Gear Ratio between Falcon and Mechanism
-     * @return Degrees of Rotation of Mechanism falconToDegrees
+     * @param wheelRPS Wheel Velocity: (in Rotations per Second)
+     * @param circumference Wheel Circumference: (in Meters)
+     * @return Wheel Velocity: (in Meters per Second)
      */
-    public static double falconToDegrees(double counts, double gearRatio) {
-        return counts * (360.0 / (gearRatio * 2048.0));
-    }
-
-    /**
-     * @param degrees Degrees of rotation of Mechanism
-     * @param gearRatio Gear Ratio between Falcon and Mechanism
-     * @return Falcon Counts degreesToFalcon
-     */
-    public static double degreesToFalcon(double degrees, double gearRatio) {
-        double ticks = degrees / (360.0 / (gearRatio * 2048.0));
-        return ticks;
-    }
-
-    /**
-     * @param velocityCounts Falcon Velocity Counts
-     * @param gearRatio Gear Ratio between Falcon and Mechanism (set to 1 for Falcon RPM)
-     * @return RPM of Mechanism
-     */
-    public static double falconToRPM(double velocityCounts, double gearRatio) {
-        double motorRPM = velocityCounts * (600.0 / 2048.0);
-        double mechRPM = motorRPM / gearRatio;
-        return mechRPM;
-    }
-
-    /**
-     * @param rpm RPM of mechanism
-     * @param gearRatio Gear Ratio between Falcon and Mechanism (set to 1 for Falcon RPM)
-     * @return RPM of Mechanism
-     */
-    public static double rpmToFalcon(double rpm, double gearRatio) {
-        double motorRPM = rpm * gearRatio;
-        double sensorCounts = motorRPM * (2048.0 / 600.0);
-        return sensorCounts;
-    }
-
-    /**
-     * @param counts Falcon Counts
-     * @param gearRatio Gear Ratio between Falcon and Mechanism
-     * @return Degrees of Rotation of Mechanism falconToDegrees
-     */
-    public static double falconToMeters(double counts, double gearRatio, double circumference) {
-        return counts * circumference / (gearRatio * 2048.0);
+    public static double rpsToMPS(double wheelRPS, double circumference) {
+        double wheelMPS = wheelRPS * circumference;
+        return wheelMPS;
     }
 
     /**
-     * @param velocitycounts Falcon Velocity Counts
-     * @param circumference Circumference of Wheel
-     * @param gearRatio Gear Ratio between Falcon and Mechanism (set to 1 for Falcon RPM)
-     * @return Falcon Velocity Counts
+     * @param wheelMPS Wheel Velocity: (in Meters per Second)
+     * @param circumference Wheel Circumference: (in Meters)
+     * @return Wheel Velocity: (in Rotations per Second)
      */
-    public static double falconToMPS(double velocitycounts, double circumference,
-        double gearRatio) {
-        double wheelRPM = falconToRPM(velocitycounts, gearRatio);
-        double wheelMPS = (wheelRPM * circumference) / 60;
-        return wheelMPS;
+    public static double mpsToRPS(double wheelMPS, double circumference) {
+        double wheelRPS = wheelMPS / circumference;
+        return wheelRPS;
     }
 
     /**
-     * @param velocity Velocity MPS
-     * @param circumference Circumference of Wheel
-     * @param gearRatio Gear Ratio between Falcon and Mechanism (set to 1 for Falcon RPM)
-     * @return Falcon Velocity Counts
+     * @param wheelRotations Wheel Position: (in Rotations)
+     * @param circumference Wheel Circumference: (in Meters)
+     * @return Wheel Distance: (in Meters)
      */
-    public static double mpsToFalcon(double velocity, double circumference, double gearRatio) {
-        double wheelRPM = ((velocity * 60) / circumference);
-        double wheelVelocity = rpmToFalcon(wheelRPM, gearRatio);
-        return wheelVelocity;
+    public static double rotationsToMeters(double wheelRotations, double circumference) {
+        double wheelMeters = wheelRotations * circumference;
+        return wheelMeters;
     }
 
     /**
-     * Normalize angle to between 0 to 360
-     *
-     * @param goal initial angle
-     * @return normalized angle
+     * @param wheelMeters Wheel Distance: (in Meters)
+     * @param circumference Wheel Circumference: (in Meters)
+     * @return Wheel Position: (in Rotations)
      */
-    public static double reduceTo0_360(double goal) {
-        return goal % 360;
+    public static double metersToRotations(double wheelMeters, double circumference) {
+        double wheelRotations = wheelMeters / circumference;
+        return wheelRotations;
     }
 
     /**
@@ -113,7 +68,6 @@ public static double applySwerveCurve(double input, double deadband) {
             processedInput = Math.copySign(processedInput, input);
         }
         return MathUtil.clamp(processedInput, -1, 1);
-
     }
 
     /**