3061 Lib v2025.3.0

[gcschmit]

This release incorporates all of the non-game-specific changes from the 2025 robot repository.

DriveToPose

• Dramatically extended functionality and customizability of class based on 2025 game-specific needs. The command can be customized via a variety of suppliers and consumers as well as by subclassing and overriding a few methods.
• Add example of using the drive-to-pose command.

Vision

• Add support for empirically determining the robot-to-camera transforms using a jig to place an AprilTag in a known location. Refer to the getPosesForRobotToCameraTransformCalibration method in RobotConfig and the CALIBRATE_CAMERA_TRANSFORMS constant in Vision for more information.
• Filter out vision pose estimates if the rotational component isn't close to gyro value.
• Reduce the maximum z offset allowed for a vision pose estimate to be valid.
• Fix bug where standard deviation was 0 (way to small) if the pose ambiguity was 0.
• Add feature to log current pose on button press. This may be useful for on-field calibration.
• Remove AprilTags that are mounted on the barge as they may not be positioned accurately and can lead to inaccurate vision pose estimates.

Auto

• Increase maximum acceleration to 6.0 m/s/s.
• Add alert and LED warning if no auto routine is selected.

Performance

• Incorporate 6328's approach to registering all signals and refreshing them all at the same time in order to improve loop performance.
• Change thread priority to increase performance during Robot class construction. Remove code that was changing thread priority every loop as this was determined to be a significant performance hit.
• Incorporate 6328's LoggedTracer class to help profile loop performance.
• Increase time limit that triggers loop overrun messages.

Drivetrain

• Increase limit for slew rate limiter.
• Remove slew rate limiter for rotational velocity (remains for x and y velocities).
• Add feature to detect if robot is tiled relative to the field and drive in a downhill direction to "untilt".
• Tune and refactor system test.

Fault Detection

• Fix bug where faults wouldn't be cleared when Clear All Faults command is executed.
• Only check for faults when robot is disabled to improve loop performance.
• Add dashboard button to check for faults (since now only done when disabled).

LEDs

• Remove support for specifying LED specific hardware in RobotConfig. Hardware is now hard-coded in LEDs.java. This allows access to LED subsystem before RobotConfig object is constructed which is useful to displaying the code-loading LED pattern.

Simulation

• Expand ArmSystemSim class to also support mechanisms with embedded encoder.

Miscellaneous

• Update AdvantageScope and Elastic layout files to reflect latest from 2025 season (with game-specific elements removed).
• Fixed bug where SysId-related selector commands would be constructed multiple times if the operator interface changed.
• Fix bug where the map of composed commands were cleared when the operator interface changes.
• Incorporate 6328's NTClientLogger class.
• Move registration of commands out of RobotContainer and into various CommandFactory classes (one per subsystem and one cross-subsystem factory).

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This discussion was created from the release 3061 Lib v2025.3.0.