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Castor2026
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max linear velocity to 2.5 and angular to pi

This commit is contained in:
Greydman25 2026-02-12 20:49:16 -05:00
parent defa76eae0
commit f07655877e
3 changed files with 36 additions and 36 deletions
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4
src/main/java/frc/robot/subsystems/DriveSubsystem.java
View File

@ -34,8 +34,8 @@ public class DriveSubsystem extends TestableSubsystem {
driveSystem = swerveBuilder driveSystem = swerveBuilder
.withCanbusName("Drive") .withCanbusName("Drive")
.withPigeonId(20) .withPigeonId(20)
.withMaxLinearVelocity(3.0) .withMaxLinearVelocity(2.5)
.withMaxAngularVelocity(Math.PI * 2) .withMaxAngularVelocity(Math.PI)
.withSwerveModule( .withSwerveModule(
swerveBuilder.new SwerveModuleBuilder() swerveBuilder.new SwerveModuleBuilder()
.withDriveMotorId(12) .withDriveMotorId(12)

6
vendordeps/ChoreoLib2026.json
View File

@ -1,7 +1,7 @@
{ {
"fileName": "ChoreoLib2026.json", "fileName": "ChoreoLib2026.json",
"name": "ChoreoLib", "name": "ChoreoLib",
"version": "2026.0.0", "version": "2026.0.1",
"uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca", "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca",
"frcYear": "2026", "frcYear": "2026",
"mavenUrls": [ "mavenUrls": [
@ -13,7 +13,7 @@
{ {
"groupId": "choreo", "groupId": "choreo",
"artifactId": "ChoreoLib-java", "artifactId": "ChoreoLib-java",
"version": "2026.0.0" "version": "2026.0.1"
}, },
{ {
"groupId": "com.google.code.gson", "groupId": "com.google.code.gson",
@ -26,7 +26,7 @@
{ {
"groupId": "choreo", "groupId": "choreo",
"artifactId": "ChoreoLib-cpp", "artifactId": "ChoreoLib-cpp",
"version": "2026.0.0", "version": "2026.0.1",
"libName": "ChoreoLib", "libName": "ChoreoLib",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": false, "sharedLibrary": false,

62
vendordeps/Phoenix6-26.1.0.json → vendordeps/Phoenix6-26.1.1.json
View File

@ -1,7 +1,7 @@
{ {
"fileName": "Phoenix6-26.1.0.json", "fileName": "Phoenix6-26.1.1.json",
"name": "CTRE-Phoenix (v6)", "name": "CTRE-Phoenix (v6)",
"version": "26.1.0", "version": "26.1.1",
"frcYear": "2026", "frcYear": "2026",
"uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
"mavenUrls": [ "mavenUrls": [
@ -19,14 +19,14 @@
{ {
"groupId": "com.ctre.phoenix6", "groupId": "com.ctre.phoenix6",
"artifactId": "wpiapi-java", "artifactId": "wpiapi-java",
"version": "26.1.0" "version": "26.1.1"
} }
], ],
"jniDependencies": [ "jniDependencies": [
{ {
"groupId": "com.ctre.phoenix6", "groupId": "com.ctre.phoenix6",
"artifactId": "api-cpp", "artifactId": "api-cpp",
"version": "26.1.0", "version": "26.1.1",
"isJar": false, "isJar": false,
"skipInvalidPlatforms": true, "skipInvalidPlatforms": true,
"validPlatforms": [ "validPlatforms": [
@ -40,7 +40,7 @@
{ {
"groupId": "com.ctre.phoenix6", "groupId": "com.ctre.phoenix6",
"artifactId": "tools", "artifactId": "tools",
"version": "26.1.0", "version": "26.1.1",
"isJar": false, "isJar": false,
"skipInvalidPlatforms": true, "skipInvalidPlatforms": true,
"validPlatforms": [ "validPlatforms": [
@ -54,7 +54,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "api-cpp-sim", "artifactId": "api-cpp-sim",
"version": "26.1.0", "version": "26.1.1",
"isJar": false, "isJar": false,
"skipInvalidPlatforms": true, "skipInvalidPlatforms": true,
"validPlatforms": [ "validPlatforms": [
@ -68,7 +68,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "tools-sim", "artifactId": "tools-sim",
"version": "26.1.0", "version": "26.1.1",
"isJar": false, "isJar": false,
"skipInvalidPlatforms": true, "skipInvalidPlatforms": true,
"validPlatforms": [ "validPlatforms": [
@ -82,7 +82,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simTalonSRX", "artifactId": "simTalonSRX",
"version": "26.1.0", "version": "26.1.1",
"isJar": false, "isJar": false,
"skipInvalidPlatforms": true, "skipInvalidPlatforms": true,
"validPlatforms": [ "validPlatforms": [
@ -96,7 +96,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simVictorSPX", "artifactId": "simVictorSPX",
"version": "26.1.0", "version": "26.1.1",
"isJar": false, "isJar": false,
"skipInvalidPlatforms": true, "skipInvalidPlatforms": true,
"validPlatforms": [ "validPlatforms": [
@ -110,7 +110,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simPigeonIMU", "artifactId": "simPigeonIMU",
"version": "26.1.0", "version": "26.1.1",
"isJar": false, "isJar": false,
"skipInvalidPlatforms": true, "skipInvalidPlatforms": true,
"validPlatforms": [ "validPlatforms": [
@ -124,7 +124,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFX", "artifactId": "simProTalonFX",
"version": "26.1.0", "version": "26.1.1",
"isJar": false, "isJar": false,
"skipInvalidPlatforms": true, "skipInvalidPlatforms": true,
"validPlatforms": [ "validPlatforms": [
@ -138,7 +138,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFXS", "artifactId": "simProTalonFXS",
"version": "26.1.0", "version": "26.1.1",
"isJar": false, "isJar": false,
"skipInvalidPlatforms": true, "skipInvalidPlatforms": true,
"validPlatforms": [ "validPlatforms": [
@ -152,7 +152,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANcoder", "artifactId": "simProCANcoder",
"version": "26.1.0", "version": "26.1.1",
"isJar": false, "isJar": false,
"skipInvalidPlatforms": true, "skipInvalidPlatforms": true,
"validPlatforms": [ "validPlatforms": [
@ -166,7 +166,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProPigeon2", "artifactId": "simProPigeon2",
"version": "26.1.0", "version": "26.1.1",
"isJar": false, "isJar": false,
"skipInvalidPlatforms": true, "skipInvalidPlatforms": true,
"validPlatforms": [ "validPlatforms": [
@ -180,7 +180,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANrange", "artifactId": "simProCANrange",
"version": "26.1.0", "version": "26.1.1",
"isJar": false, "isJar": false,
"skipInvalidPlatforms": true, "skipInvalidPlatforms": true,
"validPlatforms": [ "validPlatforms": [
@ -194,7 +194,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdi", "artifactId": "simProCANdi",
"version": "26.1.0", "version": "26.1.1",
"isJar": false, "isJar": false,
"skipInvalidPlatforms": true, "skipInvalidPlatforms": true,
"validPlatforms": [ "validPlatforms": [
@ -208,7 +208,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdle", "artifactId": "simProCANdle",
"version": "26.1.0", "version": "26.1.1",
"isJar": false, "isJar": false,
"skipInvalidPlatforms": true, "skipInvalidPlatforms": true,
"validPlatforms": [ "validPlatforms": [
@ -224,7 +224,7 @@
{ {
"groupId": "com.ctre.phoenix6", "groupId": "com.ctre.phoenix6",
"artifactId": "wpiapi-cpp", "artifactId": "wpiapi-cpp",
"version": "26.1.0", "version": "26.1.1",
"libName": "CTRE_Phoenix6_WPI", "libName": "CTRE_Phoenix6_WPI",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": true, "sharedLibrary": true,
@ -240,7 +240,7 @@
{ {
"groupId": "com.ctre.phoenix6", "groupId": "com.ctre.phoenix6",
"artifactId": "tools", "artifactId": "tools",
"version": "26.1.0", "version": "26.1.1",
"libName": "CTRE_PhoenixTools", "libName": "CTRE_PhoenixTools",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": true, "sharedLibrary": true,
@ -256,7 +256,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "wpiapi-cpp-sim", "artifactId": "wpiapi-cpp-sim",
"version": "26.1.0", "version": "26.1.1",
"libName": "CTRE_Phoenix6_WPISim", "libName": "CTRE_Phoenix6_WPISim",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": true, "sharedLibrary": true,
@ -272,7 +272,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "tools-sim", "artifactId": "tools-sim",
"version": "26.1.0", "version": "26.1.1",
"libName": "CTRE_PhoenixTools_Sim", "libName": "CTRE_PhoenixTools_Sim",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": true, "sharedLibrary": true,
@ -288,7 +288,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simTalonSRX", "artifactId": "simTalonSRX",
"version": "26.1.0", "version": "26.1.1",
"libName": "CTRE_SimTalonSRX", "libName": "CTRE_SimTalonSRX",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": true, "sharedLibrary": true,
@ -304,7 +304,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simVictorSPX", "artifactId": "simVictorSPX",
"version": "26.1.0", "version": "26.1.1",
"libName": "CTRE_SimVictorSPX", "libName": "CTRE_SimVictorSPX",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": true, "sharedLibrary": true,
@ -320,7 +320,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simPigeonIMU", "artifactId": "simPigeonIMU",
"version": "26.1.0", "version": "26.1.1",
"libName": "CTRE_SimPigeonIMU", "libName": "CTRE_SimPigeonIMU",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": true, "sharedLibrary": true,
@ -336,7 +336,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFX", "artifactId": "simProTalonFX",
"version": "26.1.0", "version": "26.1.1",
"libName": "CTRE_SimProTalonFX", "libName": "CTRE_SimProTalonFX",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": true, "sharedLibrary": true,
@ -352,7 +352,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFXS", "artifactId": "simProTalonFXS",
"version": "26.1.0", "version": "26.1.1",
"libName": "CTRE_SimProTalonFXS", "libName": "CTRE_SimProTalonFXS",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": true, "sharedLibrary": true,
@ -368,7 +368,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANcoder", "artifactId": "simProCANcoder",
"version": "26.1.0", "version": "26.1.1",
"libName": "CTRE_SimProCANcoder", "libName": "CTRE_SimProCANcoder",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": true, "sharedLibrary": true,
@ -384,7 +384,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProPigeon2", "artifactId": "simProPigeon2",
"version": "26.1.0", "version": "26.1.1",
"libName": "CTRE_SimProPigeon2", "libName": "CTRE_SimProPigeon2",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": true, "sharedLibrary": true,
@ -400,7 +400,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANrange", "artifactId": "simProCANrange",
"version": "26.1.0", "version": "26.1.1",
"libName": "CTRE_SimProCANrange", "libName": "CTRE_SimProCANrange",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": true, "sharedLibrary": true,
@ -416,7 +416,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdi", "artifactId": "simProCANdi",
"version": "26.1.0", "version": "26.1.1",
"libName": "CTRE_SimProCANdi", "libName": "CTRE_SimProCANdi",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": true, "sharedLibrary": true,
@ -432,7 +432,7 @@
{ {
"groupId": "com.ctre.phoenix6.sim", "groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdle", "artifactId": "simProCANdle",
"version": "26.1.0", "version": "26.1.1",
"libName": "CTRE_SimProCANdle", "libName": "CTRE_SimProCANdle",
"headerClassifier": "headers", "headerClassifier": "headers",
"sharedLibrary": true, "sharedLibrary": true,