PurpleLib

Custom library for 418 Purple Haze

Note: CTRE will not be as well supported as REV products as our team primarily lives in the REV Robotics ecosystem

Features

• Hardware wrappers with built-in AdvantageKit logging
  • REV Robotics
    • Spark Max with SmoothMotion^TM
    • Spark Flex with SmoothMotion^TM
    • Through bore encoder connected to Spark Max/Flex in absolute mode ONLY!
    • Spark Flex and NEO Vortex MUST be paired together!
    • 3-way communication to ensure parameters are set
    • Improved velocity PID performance
    • More accurate velocity readings
  • CTRE
    • CANivore
    • Pidgeon 2.0
    • CANCoder
    • VictorSPX
    • TalonSRX
  • Kauai Labs
    • NavX2 (MXP port only)
  • Generic
    • Analog sensor
    • Compressor
    • Single and double solenoid
    • Limit switch
    • Servo
• MAXSwerve module support
  • Supports NEO v1.0/1.1 or NEO Vortex + NEO 550 configuration only
  • REV through bore encoder must be used
  • Module must be calibrated using REV MAXSwerve calibration tool
• Robot rotation PID
• Traction control
• Swerve second order kinematics correction
• Configurable input maps
• LED strip support
• JSON read/write
• Battery scanning and tracking

Installing

Add the following dependencies to your project:

• AdvantageKit - https://github.com/Mechanical-Advantage/AdvantageKit/blob/main/docs/INSTALLATION.md
• NavX - https://dev.studica.com/releases/2024/NavX.json
• REVLib - https://software-metadata.revrobotics.com/REVLib-2024.json
• CTRE Phoenix5 - https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json
• CTRE Phoenix6 - https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json

Add the following to build.gradle where VERSION is the release version, e.g. 2023.0.0

repositories {
  maven { url "https://jitpack.io" }
}
dependencies {
  implementation 'org.apache.commons:commons-math3:3.+'
  implementation 'com.github.lasarobotics:PurpleLib:VERSION'
}

Releasing

Create a release in GitHub. JitPack does the rest.

Examples

Usage examples can be found here

An example swerve project is here

Documentation

Javadocs available here