Skip to content

Commit be38174

Browse files
thenetworkgrinchthenetworkgrinch
authored
Updated simple_robot to 2026. Added limit switch enable. (#95)
Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com> Co-authored-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
1 parent d3b3ca4 commit be38174

File tree

6 files changed

+54
-40
lines changed

6 files changed

+54
-40
lines changed

‎examples/simple_robot/.wpilib/wpilib_preferences.json‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
{
22
"enableCppIntellisense": false,
33
"currentLanguage": "java",
4-
"projectYear": "2025",
4+
"projectYear": "2026",
55
"teamNumber": 3481
66
}

‎examples/simple_robot/vendordeps/REVLib.json‎

Lines changed: 9 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
11
{
22
"fileName": "REVLib.json",
33
"name": "REVLib",
4-
"version": "2026.0.0",
4+
"version": "2026.0.1",
55
"frcYear": "2026",
66
"uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
77
"mavenUrls": [
@@ -12,14 +12,14 @@
1212
{
1313
"groupId": "com.revrobotics.frc",
1414
"artifactId": "REVLib-java",
15-
"version": "2026.0.0"
15+
"version": "2026.0.1"
1616
}
1717
],
1818
"jniDependencies": [
1919
{
2020
"groupId": "com.revrobotics.frc",
2121
"artifactId": "REVLib-driver",
22-
"version": "2026.0.0",
22+
"version": "2026.0.1",
2323
"skipInvalidPlatforms": true,
2424
"isJar": false,
2525
"validPlatforms": [
@@ -34,7 +34,7 @@
3434
{
3535
"groupId": "com.revrobotics.frc",
3636
"artifactId": "RevLibBackendDriver",
37-
"version": "2026.0.0",
37+
"version": "2026.0.1",
3838
"skipInvalidPlatforms": true,
3939
"isJar": false,
4040
"validPlatforms": [
@@ -49,7 +49,7 @@
4949
{
5050
"groupId": "com.revrobotics.frc",
5151
"artifactId": "RevLibWpiBackendDriver",
52-
"version": "2026.0.0",
52+
"version": "2026.0.1",
5353
"skipInvalidPlatforms": true,
5454
"isJar": false,
5555
"validPlatforms": [
@@ -66,7 +66,7 @@
6666
{
6767
"groupId": "com.revrobotics.frc",
6868
"artifactId": "REVLib-cpp",
69-
"version": "2026.0.0",
69+
"version": "2026.0.1",
7070
"libName": "REVLib",
7171
"headerClassifier": "headers",
7272
"sharedLibrary": false,
@@ -83,7 +83,7 @@
8383
{
8484
"groupId": "com.revrobotics.frc",
8585
"artifactId": "REVLib-driver",
86-
"version": "2026.0.0",
86+
"version": "2026.0.1",
8787
"libName": "REVLibDriver",
8888
"headerClassifier": "headers",
8989
"sharedLibrary": false,
@@ -100,7 +100,7 @@
100100
{
101101
"groupId": "com.revrobotics.frc",
102102
"artifactId": "RevLibBackendDriver",
103-
"version": "2026.0.0",
103+
"version": "2026.0.1",
104104
"libName": "BackendDriver",
105105
"sharedLibrary": true,
106106
"skipInvalidPlatforms": true,
@@ -116,7 +116,7 @@
116116
{
117117
"groupId": "com.revrobotics.frc",
118118
"artifactId": "RevLibWpiBackendDriver",
119-
"version": "2026.0.0",
119+
"version": "2026.0.1",
120120
"libName": "REVLibWpi",
121121
"sharedLibrary": true,
122122
"skipInvalidPlatforms": true,

‎examples/simple_robot/vendordeps/ThriftyLib-2026.0.0.json‎

Lines changed: 0 additions & 18 deletions
This file was deleted.

‎examples/simple_robot/vendordeps/ThriftyLib-2026.json‎

Lines changed: 20 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,20 @@
1+
{
2+
"fileName": "ThriftyLib-2026.json",
3+
"name": "ThriftyLib",
4+
"version": "2026.0.1",
5+
"frcYear": "2026",
6+
"uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0",
7+
"mavenUrls": [
8+
"https://docs.home.thethriftybot.com"
9+
],
10+
"jsonUrl": "https://docs.home.thethriftybot.com/ThriftyLib-2026.json",
11+
"javaDependencies": [
12+
{
13+
"groupId": "com.thethriftybot.frc",
14+
"artifactId": "ThriftyLib-java",
15+
"version": "2026.0.1"
16+
}
17+
],
18+
"jniDependencies": [],
19+
"cppDependencies": []
20+
}

‎yams/java/yams/motorcontrollers/remote/TalonFXSWrapper.java‎

Lines changed: 12 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -747,11 +747,13 @@ public boolean applyConfig(SmartMotorControllerConfig config)
747747
// Soft limit
748748
if (config.getMechanismUpperLimit().isPresent())
749749
{
750-
m_talonConfig.SoftwareLimitSwitch.withForwardSoftLimitThreshold(config.getMechanismUpperLimit().get());
750+
m_talonConfig.SoftwareLimitSwitch.withForwardSoftLimitThreshold(config.getMechanismUpperLimit().get())
751+
.withForwardSoftLimitEnable(true);
751752
}
752753
if (config.getMechanismLowerLimit().isPresent())
753754
{
754-
m_talonConfig.SoftwareLimitSwitch.withReverseSoftLimitThreshold(config.getMechanismLowerLimit().get());
755+
m_talonConfig.SoftwareLimitSwitch.withReverseSoftLimitThreshold(config.getMechanismLowerLimit().get())
756+
.withReverseSoftLimitEnable(true);
755757
}
756758

757759
// Configure external encoders
@@ -1339,7 +1341,8 @@ public void setMeasurementUpperLimit(Distance upperLimit)
13391341
if (m_config.getMechanismCircumference().isPresent() && m_config.getMechanismLowerLimit().isPresent())
13401342
{
13411343
m_config.withSoftLimit(m_config.convertFromMechanism(m_config.getMechanismLowerLimit().get()), upperLimit);
1342-
m_talonConfig.SoftwareLimitSwitch.withForwardSoftLimitThreshold(m_config.convertToMechanism(upperLimit));
1344+
m_talonConfig.SoftwareLimitSwitch.withForwardSoftLimitThreshold(m_config.convertToMechanism(upperLimit))
1345+
.withForwardSoftLimitEnable(true);
13431346
forceConfigApply();
13441347
}
13451348
}
@@ -1350,7 +1353,8 @@ public void setMeasurementLowerLimit(Distance lowerLimit)
13501353
if (m_config.getMechanismCircumference().isPresent() && m_config.getMechanismUpperLimit().isPresent())
13511354
{
13521355
m_config.withSoftLimit(lowerLimit, m_config.convertFromMechanism(m_config.getMechanismUpperLimit().get()));
1353-
m_talonConfig.SoftwareLimitSwitch.withReverseSoftLimitThreshold(m_config.convertToMechanism(lowerLimit));
1356+
m_talonConfig.SoftwareLimitSwitch.withReverseSoftLimitThreshold(m_config.convertToMechanism(lowerLimit))
1357+
.withReverseSoftLimitEnable(true);
13541358
forceConfigApply();
13551359
}
13561360
}
@@ -1361,7 +1365,8 @@ public void setMechanismUpperLimit(Angle upperLimit)
13611365
m_config.getMechanismLowerLimit().ifPresent(lowerLimit -> {
13621366
m_config.withSoftLimit(lowerLimit, upperLimit);
13631367
});
1364-
m_talonConfig.SoftwareLimitSwitch.withForwardSoftLimitThreshold(upperLimit);
1368+
m_talonConfig.SoftwareLimitSwitch.withForwardSoftLimitThreshold(upperLimit)
1369+
.withForwardSoftLimitEnable(true);
13651370
forceConfigApply();
13661371
}
13671372

@@ -1371,7 +1376,8 @@ public void setMechanismLowerLimit(Angle lowerLimit)
13711376
m_config.getMechanismUpperLimit().ifPresent(upperLimit -> {
13721377
m_config.withSoftLimit(lowerLimit, upperLimit);
13731378
});
1374-
m_talonConfig.SoftwareLimitSwitch.withReverseSoftLimitThreshold(lowerLimit);
1379+
m_talonConfig.SoftwareLimitSwitch.withReverseSoftLimitThreshold(lowerLimit)
1380+
.withReverseSoftLimitEnable(true);
13751381
forceConfigApply();
13761382
}
13771383

‎yams/java/yams/motorcontrollers/remote/TalonFXWrapper.java‎

Lines changed: 12 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -698,11 +698,13 @@ public boolean applyConfig(SmartMotorControllerConfig config)
698698
// Soft limit
699699
if (config.getMechanismUpperLimit().isPresent())
700700
{
701-
m_talonConfig.SoftwareLimitSwitch.withForwardSoftLimitThreshold(config.getMechanismUpperLimit().get());
701+
m_talonConfig.SoftwareLimitSwitch.withForwardSoftLimitThreshold(config.getMechanismUpperLimit().get())
702+
.withForwardSoftLimitEnable(true);
702703
}
703704
if (config.getMechanismLowerLimit().isPresent())
704705
{
705-
m_talonConfig.SoftwareLimitSwitch.withReverseSoftLimitThreshold(config.getMechanismLowerLimit().get());
706+
m_talonConfig.SoftwareLimitSwitch.withReverseSoftLimitThreshold(config.getMechanismLowerLimit().get())
707+
.withReverseSoftLimitEnable(true);
706708
}
707709

708710
// Configure external encoders
@@ -1318,7 +1320,8 @@ public void setMeasurementUpperLimit(Distance upperLimit)
13181320
if (m_config.getMechanismCircumference().isPresent() && m_config.getMechanismLowerLimit().isPresent())
13191321
{
13201322
m_config.withSoftLimit(m_config.convertFromMechanism(m_config.getMechanismLowerLimit().get()), upperLimit);
1321-
m_talonConfig.SoftwareLimitSwitch.withForwardSoftLimitThreshold(m_config.convertToMechanism(upperLimit));
1323+
m_talonConfig.SoftwareLimitSwitch.withForwardSoftLimitThreshold(m_config.convertToMechanism(upperLimit))
1324+
.withForwardSoftLimitEnable(true);
13221325
forceConfigApply();
13231326
}
13241327
}
@@ -1329,7 +1332,8 @@ public void setMeasurementLowerLimit(Distance lowerLimit)
13291332
if (m_config.getMechanismCircumference().isPresent() && m_config.getMechanismUpperLimit().isPresent())
13301333
{
13311334
m_config.withSoftLimit(lowerLimit, m_config.convertFromMechanism(m_config.getMechanismUpperLimit().get()));
1332-
m_talonConfig.SoftwareLimitSwitch.withReverseSoftLimitThreshold(m_config.convertToMechanism(lowerLimit));
1335+
m_talonConfig.SoftwareLimitSwitch.withReverseSoftLimitThreshold(m_config.convertToMechanism(lowerLimit))
1336+
.withReverseSoftLimitEnable(true);
13331337
forceConfigApply();
13341338
}
13351339
}
@@ -1340,7 +1344,8 @@ public void setMechanismUpperLimit(Angle upperLimit)
13401344
m_config.getMechanismLowerLimit().ifPresent(lowerLimit -> {
13411345
m_config.withSoftLimit(lowerLimit, upperLimit);
13421346
});
1343-
m_talonConfig.SoftwareLimitSwitch.withForwardSoftLimitThreshold(upperLimit);
1347+
m_talonConfig.SoftwareLimitSwitch.withForwardSoftLimitThreshold(upperLimit)
1348+
.withForwardSoftLimitEnable(true);
13441349
forceConfigApply();
13451350
}
13461351

@@ -1350,7 +1355,8 @@ public void setMechanismLowerLimit(Angle lowerLimit)
13501355
m_config.getMechanismUpperLimit().ifPresent(upperLimit -> {
13511356
m_config.withSoftLimit(lowerLimit, upperLimit);
13521357
});
1353-
m_talonConfig.SoftwareLimitSwitch.withReverseSoftLimitThreshold(lowerLimit);
1358+
m_talonConfig.SoftwareLimitSwitch.withReverseSoftLimitThreshold(lowerLimit)
1359+
.withReverseSoftLimitEnable(true);
13541360
forceConfigApply();
13551361
}
13561362

0 commit comments

Comments
 (0)