3061 Lib v2025.4.0

[gcschmit]

This release is the first of the 2025 preseason. The major new feature is support for the XRP. It is built against the 2025 WPILib release.

Example Subsystems

• Add example subsystems for an arm, elevator, manipulator (intake), and shooter. This code is for example purposes only. It will not work with a physical mechanism without changes. These are derived from Huskie Robotics 2024 and 2025 subsystems and simplified to highlight select best practices. Refer to the comments at the top of each example subsystem for specific features highlighted.

XRP

• Add support for XRP.
• Add Differential Drivetrain subsystem to support XRP (and other robots with differential drivetrains)
• Several other changes to required to support both swerve and differential drivetrains.

Vision

• Log that vision is not being updated only when not updated for at least 0.1 secs.

Fault Detection

• Check for sticky faults on Phoenix Devices
• Simplify FaultReporter to generate alerts from faults, which will be logged, and not report faults via SmartDashboard.

Video Playlist

• 3061-lib Detailed Walkthrough Playlist

What's Changed

• Add example subsystems. by @gcschmit in Add example subsystems. #146
• Fault Reporter Updates by @gcschmit in Fault Reporter Updates #145
• Log that vision is not being updated only when not updated for at lea… by @gcschmit in Log that vision is not being updated only when not updated for at lea… #143
• Add XRP support by @gcschmit in Add XRP support #144
• Improve consistency by @gcschmit in Improve consistency #148

Full Changelog: v2025.3.0...v2025.4.0

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This discussion was created from the release 3061 Lib v2025.4.0.