Update CTRE libraries to phoenix 6 alpha-2
Change-Id: I1772d79a19c2c32c3a750fbaf0bf38fb217a5d32
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/WORKSPACE b/WORKSPACE
index ad59314..6fd635e 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -702,14 +702,16 @@
cc_library(
name = 'api-cpp',
visibility = ['//visibility:public'],
- hdrs = glob(['ctre/phoenix6/**/*.hpp']),
+ hdrs = glob(['ctre/phoenix6/**/*.hpp', 'ctre/unit/**/*.h']),
includes = ["."],
- deps = ["@//third_party/allwpilib/wpimath"],
+ deps = ["@//third_party/allwpilib/wpimath",
+ "@ctre_phoenix6_tools_headers//:tools",
+ ],
)
""",
- sha256 = "1b9295ac868d619d0263f285b372a22297798e45c8fdeb83ca99154a097c5c98",
+ sha256 = "67fdd9a4bf275c69666bbc8bf38312eea8a85bf9fda3901d02af3a18136ffb3e",
urls = [
- "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/api-cpp/24.1.0/api-cpp-24.1.0-headers.zip",
+ "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/api-cpp/24.50.0-alpha-2/api-cpp-24.50.0-alpha-2-headers.zip",
],
)
@@ -731,9 +733,9 @@
target_compatible_with = ['@//tools/platforms/hardware:roborio'],
)
""",
- sha256 = "51f4921f8995e3e80ba347a90f6fa5c0cb7d0e438923a1a736554f263e2d5b8e",
+ sha256 = "00da14f437cfeb2c344674dee59fe70477a3a0d612eb93a1441188dc94a5136f",
urls = [
- "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/api-cpp/24.1.0/api-cpp-24.1.0-linuxathena.zip",
+ "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/api-cpp/24.50.0-alpha-2/api-cpp-24.50.0-alpha-2-linuxathena.zip",
],
)
@@ -743,12 +745,12 @@
cc_library(
name = 'tools',
visibility = ['//visibility:public'],
- hdrs = glob(['ctre/**/*.h', 'ctre/**/*.hpp']),
+ hdrs = glob(['ctre/**/*.h', 'ctre/phoenix/**/*.hpp', 'ctre/phoenix6/**/*.hpp']),
)
""",
- sha256 = "72be3e50205e2546736361e3aba9c0de5d5318b263c195600f9b558c3d92cb9e",
+ sha256 = "77624291ec19a03c9e068347ef800e435782444722793d56c9e39f6108da33a8",
urls = [
- "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/tools/24.1.0/tools-24.1.0-headers.zip",
+ "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/tools/24.50.0-alpha-2/tools-24.50.0-alpha-2-headers.zip",
],
)
@@ -770,9 +772,9 @@
target_compatible_with = ['@//tools/platforms/hardware:roborio'],
)
""",
- sha256 = "76d30cb8c0988eb6accab10e77ceae492782edb64c06f7df628b8c161cf0220a",
+ sha256 = "217bcd6aecb71224fd32725f857da58e61a6ea451ca07f85fb55e49f83dbf113",
urls = [
- "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/tools/24.1.0/tools-24.1.0-linuxathena.zip",
+ "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/tools/24.50.0-alpha-2/tools-24.50.0-alpha-2-linuxathena.zip",
],
)
@@ -782,12 +784,13 @@
cc_library(
name = 'api-cpp',
visibility = ['//visibility:public'],
- hdrs = glob(['ctre/phoenix/**/*.h']),
+ hdrs = glob(['ctre/phoenix/**/*.h', 'ctre/unit/**/*.h']),
+ includes = ["."]
)
""",
- sha256 = "d2790e2495a59a3b14ab4b0fd03c2e25292d6874168f5642165acb0d1bab2f99",
+ sha256 = "4fba20441ea1d61f8487897682c723a48ee2c2741946eab4062b4248434c0afc",
urls = [
- "https://maven.ctr-electronics.com/release/com/ctre/phoenix/api-cpp/5.33.0/api-cpp-5.33.0-headers.zip",
+ "https://maven.ctr-electronics.com/release/com/ctre/phoenix/api-cpp/5.34.0-alpha-1/api-cpp-5.34.0-alpha-1-headers.zip",
],
)
@@ -824,9 +827,9 @@
hdrs = glob(['ctre/phoenix/**/*.h']),
)
""",
- sha256 = "56cb8272d623721560eea360730d2508f4f365e2ac1060aec5fbd546cffc0771",
+ sha256 = "cd39f32341037a7ec1074710044b332db6ca607dfd548b5f951c75f7a8506ab5",
urls = [
- "https://maven.ctr-electronics.com/release/com/ctre/phoenix/cci/5.33.0/cci-5.33.0-headers.zip",
+ "https://maven.ctr-electronics.com/release/com/ctre/phoenix/cci/5.34.0-alpha-1/cci-5.34.0-alpha-1-headers.zip",
],
)
@@ -867,6 +870,7 @@
target_compatible_with = ['@platforms//cpu:arm64'],
)
+
# TODO(max): Use cc_import once they add a defines property.
# See: https://github.com/bazelbuild/bazel/issues/19753
cc_library(
@@ -891,9 +895,9 @@
],
)
""",
- sha256 = "635b19f019d1283749fb23a95ad9e13ddd9d5013cff4c838303d898e7d9556bd",
+ sha256 = "0f1312f39eacc490fb253198c2d0e61e48ae00eff6a87cfd362358b1ad36a930",
urls = [
- "https://software.frc971.org/Build-Dependencies/phoenix6_24.2.0_5.4.2024.tar.gz",
+ "https://software.frc971.org/Build-Dependencies/phoenix6_24.50.0-alpha-2_arm64-2024.10.26.tar.gz",
],
)
diff --git a/frc971/wpilib/talonfx.cc b/frc971/wpilib/talonfx.cc
index 4338cfd..0da7603 100644
--- a/frc971/wpilib/talonfx.cc
+++ b/frc971/wpilib/talonfx.cc
@@ -58,11 +58,12 @@
void TalonFX::WriteConfigs() {
ctre::phoenix6::configs::CurrentLimitsConfigs current_limits;
- current_limits.StatorCurrentLimit = stator_current_limit_;
+ current_limits.StatorCurrentLimit =
+ units::current::ampere_t{stator_current_limit_};
current_limits.StatorCurrentLimitEnable = true;
- current_limits.SupplyCurrentLimit = supply_current_limit_;
+ current_limits.SupplyCurrentLimit =
+ units::current::ampere_t{supply_current_limit_};
current_limits.SupplyCurrentLimitEnable = true;
- current_limits.SupplyTimeThreshold = 0.0;
ctre::phoenix6::configs::MotorOutputConfigs output_configs;
output_configs.NeutralMode = neutral_mode_;
diff --git a/y2020/wpilib_interface.cc b/y2020/wpilib_interface.cc
index 2213c16..8c8b480 100644
--- a/y2020/wpilib_interface.cc
+++ b/y2020/wpilib_interface.cc
@@ -123,9 +123,11 @@
void WriteConfigs(ctre::phoenix6::hardware::TalonFX *talon,
double stator_current_limit, double supply_current_limit) {
ctre::phoenix6::configs::CurrentLimitsConfigs current_limits;
- current_limits.StatorCurrentLimit = stator_current_limit;
+ current_limits.StatorCurrentLimit =
+ units::current::ampere_t{stator_current_limit};
current_limits.StatorCurrentLimitEnable = true;
- current_limits.SupplyCurrentLimit = supply_current_limit;
+ current_limits.SupplyCurrentLimit =
+ units::current::ampere_t{supply_current_limit};
current_limits.SupplyCurrentLimitEnable = true;
ctre::phoenix6::configs::TalonFXConfiguration configuration;
@@ -454,7 +456,8 @@
::std::unique_ptr<::ctre::phoenix6::hardware::TalonFX> t) {
climber_falcon_ = ::std::move(t);
ctre::phoenix6::configs::CurrentLimitsConfigs current_limits;
- current_limits.SupplyCurrentLimit = Values::kClimberSupplyCurrentLimit();
+ current_limits.SupplyCurrentLimit =
+ units::current::ampere_t{Values::kClimberSupplyCurrentLimit()};
current_limits.SupplyCurrentLimitEnable = true;
ctre::phoenix6::configs::TalonFXConfiguration configuration;
diff --git a/y2021_bot3/wpilib_interface.cc b/y2021_bot3/wpilib_interface.cc
index 4006736..f3c956e 100644
--- a/y2021_bot3/wpilib_interface.cc
+++ b/y2021_bot3/wpilib_interface.cc
@@ -119,9 +119,11 @@
void WriteConfigs(ctre::phoenix6::hardware::TalonFX *talon,
double stator_current_limit, double supply_current_limit) {
ctre::phoenix6::configs::CurrentLimitsConfigs current_limits;
- current_limits.StatorCurrentLimit = stator_current_limit;
+ current_limits.StatorCurrentLimit =
+ units::current::ampere_t{stator_current_limit};
current_limits.StatorCurrentLimitEnable = true;
- current_limits.SupplyCurrentLimit = supply_current_limit;
+ current_limits.SupplyCurrentLimit =
+ units::current::ampere_t{supply_current_limit};
current_limits.SupplyCurrentLimitEnable = true;
ctre::phoenix6::configs::TalonFXConfiguration configuration;
@@ -249,7 +251,8 @@
::std::unique_ptr<::ctre::phoenix6::hardware::TalonFX> t) {
climber_falcon_ = ::std::move(t);
ctre::phoenix6::configs::CurrentLimitsConfigs current_limits;
- current_limits.SupplyCurrentLimit = Values::kClimberSupplyCurrentLimit();
+ current_limits.SupplyCurrentLimit =
+ units::current::ampere_t{Values::kClimberSupplyCurrentLimit()};
current_limits.SupplyCurrentLimitEnable = true;
ctre::phoenix6::configs::TalonFXConfiguration configuration;
diff --git a/y2022/wpilib_interface.cc b/y2022/wpilib_interface.cc
index 1f82e91..469c93b 100644
--- a/y2022/wpilib_interface.cc
+++ b/y2022/wpilib_interface.cc
@@ -129,9 +129,11 @@
void WriteConfigs(ctre::phoenix6::hardware::TalonFX *talon,
double stator_current_limit, double supply_current_limit) {
ctre::phoenix6::configs::CurrentLimitsConfigs current_limits;
- current_limits.StatorCurrentLimit = stator_current_limit;
+ current_limits.StatorCurrentLimit =
+ units::current::ampere_t{stator_current_limit};
current_limits.StatorCurrentLimitEnable = true;
- current_limits.SupplyCurrentLimit = supply_current_limit;
+ current_limits.SupplyCurrentLimit =
+ units::current::ampere_t{supply_current_limit};
current_limits.SupplyCurrentLimitEnable = true;
ctre::phoenix6::configs::TalonFXConfiguration configuration;
@@ -483,10 +485,10 @@
for (auto &falcon : {catapult_falcon_1_can_, catapult_falcon_2_can_}) {
ctre::phoenix6::configs::CurrentLimitsConfigs current_limits;
current_limits.StatorCurrentLimit =
- Values::kIntakeRollerStatorCurrentLimit();
+ units::current::ampere_t{Values::kIntakeRollerStatorCurrentLimit()};
current_limits.StatorCurrentLimitEnable = true;
current_limits.SupplyCurrentLimit =
- Values::kIntakeRollerSupplyCurrentLimit();
+ units::current::ampere_t{Values::kIntakeRollerSupplyCurrentLimit()};
current_limits.SupplyCurrentLimitEnable = true;
ctre::phoenix6::configs::TalonFXConfiguration configuration;
diff --git a/y2023/wpilib_interface.cc b/y2023/wpilib_interface.cc
index bc14311..536f7bb 100644
--- a/y2023/wpilib_interface.cc
+++ b/y2023/wpilib_interface.cc
@@ -166,11 +166,11 @@
inverted_ = invert;
ctre::phoenix6::configs::CurrentLimitsConfigs current_limits;
- current_limits.StatorCurrentLimit =
- constants::Values::kDrivetrainStatorCurrentLimit();
+ current_limits.StatorCurrentLimit = units::current::ampere_t{
+ constants::Values::kDrivetrainStatorCurrentLimit()};
current_limits.StatorCurrentLimitEnable = true;
- current_limits.SupplyCurrentLimit =
- constants::Values::kDrivetrainSupplyCurrentLimit();
+ current_limits.SupplyCurrentLimit = units::current::ampere_t{
+ constants::Values::kDrivetrainSupplyCurrentLimit()};
current_limits.SupplyCurrentLimitEnable = true;
ctre::phoenix6::configs::MotorOutputConfigs output_configs;
@@ -196,11 +196,11 @@
void WriteRollerConfigs() {
ctre::phoenix6::configs::CurrentLimitsConfigs current_limits;
- current_limits.StatorCurrentLimit =
- constants::Values::kRollerStatorCurrentLimit();
+ current_limits.StatorCurrentLimit = units::current::ampere_t{
+ constants::Values::kRollerStatorCurrentLimit()};
current_limits.StatorCurrentLimitEnable = true;
- current_limits.SupplyCurrentLimit =
- constants::Values::kRollerSupplyCurrentLimit();
+ current_limits.SupplyCurrentLimit = units::current::ampere_t{
+ constants::Values::kRollerSupplyCurrentLimit()};
current_limits.SupplyCurrentLimitEnable = true;
ctre::phoenix6::configs::MotorOutputConfigs output_configs;
diff --git a/y2023_bot3/wpilib_interface.cc b/y2023_bot3/wpilib_interface.cc
index d8813be..0e43e10 100644
--- a/y2023_bot3/wpilib_interface.cc
+++ b/y2023_bot3/wpilib_interface.cc
@@ -147,11 +147,11 @@
inverted_ = invert;
ctre::phoenix6::configs::CurrentLimitsConfigs current_limits;
- current_limits.StatorCurrentLimit =
- constants::Values::kDrivetrainStatorCurrentLimit();
+ current_limits.StatorCurrentLimit = units::current::ampere_t{
+ constants::Values::kDrivetrainStatorCurrentLimit()};
current_limits.StatorCurrentLimitEnable = true;
- current_limits.SupplyCurrentLimit =
- constants::Values::kDrivetrainSupplyCurrentLimit();
+ current_limits.SupplyCurrentLimit = units::current::ampere_t{
+ constants::Values::kDrivetrainSupplyCurrentLimit()};
current_limits.SupplyCurrentLimitEnable = true;
ctre::phoenix6::configs::MotorOutputConfigs output_configs;