3061 Lib v2025.2.1

[gcschmit]

Drive To Pose

• Increase the acceleration of the slew rate limiter to 4 m/s/s.
• Replace ProfiledPIDController with PIDController. The slew rate limiter is a better solution for drive-to-pose to ensure that there is a smooth transition from an auto path or driver control to drive-to-pose. The profiled controller assumes that the robot is at rest at the start of the profile, which is not the case.
• Add a timeout to the constructor such that different instances of drive-to-pose can have different timeouts. For example, the timeout in auto can be less than the timeout during tele-op.
• A a consumer to the constructor that will be invoked when the drive-to-pose is at the specified target pose (within the specified tolerance). This is useful for indicating this state with LEDs.
• Fix the rotation of the velocity vector into the reef frame as it was done in the opposite direction.
• Fix bug where the tolerance wasn't rotated into the reef face's frame of reference when checking against the target pose.
• Tune PID based on new controllers.

Fault Reporter

• Only check for faults when the robot is disabled. This improves loop times as checking for faults may take quite some time.

Drivetrain

• Fix bug where average current was not calculated correctly.

Vision

• Enable updating CTRE's pose estimator with vision by default. It is helpful to disable this when tuning vision, but should be enabled after that to ensure CTRE's pose estimator matches 3061-lib's pose estimator.

LEDs

• Add aligned-for-auto state.
• Disable mirroring LEDs.

Misc

• Update AdvantageScope layout files.
• Update vendor deps and WPILib
• Update PathPlanner setting to reflect this year's competition robot.
• Add simulation class for elevators.
• Increase speed when characterizing the swerve wheel radius.

What's Changed

• Update from frc-software-2025 by @gcschmit in Update from frc-software-2025 #139

Full Changelog: v2025.2.0...v2025.2.1

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This discussion was created from the release 3061 Lib v2025.2.1.