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!
- 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
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

Examples can be found here

Documentation