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Add API to get the applied current of a motor #33

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Merged
cuttestkittensrule merged 7 commits into from
Jul 3, 2025
Merged

Add API to get the applied current of a motor #33

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37a70ec
Add method to get the current of the motor
cuttestkittensrule Mar 17, 2025
0f3e341
remove UnsupportedOperationException
cuttestkittensrule Apr 27, 2025
4da792c
fix javadoc
cuttestkittensrule Apr 27, 2025
6f7909e
Documented that getAppliedCurrent will be there from 1.3.0 onwards
cuttestkittensrule Jul 1, 2025
51b37d9
bump the version to 2.0.0-alpha.1
cuttestkittensrule Jul 3, 2025
00c0401
Merge branch 'main' into kyle/add-current-api
cuttestkittensrule Jul 3, 2025
c5c4fc2
update usages of since 1.3.0 to 2.0.0
cuttestkittensrule Jul 3, 2025
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2 changes: 1 addition & 1 deletion lib/build.gradle
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@ tasks.withType(JavaCompile) {
options.compilerArgs.add '-XDstringConcat=inline'
}

version = '1.3.0-alpha.1'
version = '2.0.0-alpha.1'

repositories {
// Use Maven Central for resolving dependencies.
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10 changes: 10 additions & 0 deletions lib/src/main/java/com/team2813/lib2813/control/Motor.java
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Original file line number Diff line number Diff line change
@@ -1,5 +1,7 @@
package com.team2813.lib2813.control;

import edu.wpi.first.units.measure.Current;

public interface Motor {
// motor control

Expand All @@ -19,4 +21,12 @@ public interface Motor {
* @param feedForward The feedForward to apply to the motor
*/
void set(ControlMode mode, double demand, double feedForward);

/**
* Gets the current that is being applied onto the motor
*
* @since 2.0.0
* @return The current applied current
*/
Current getAppliedCurrent();

@kcooney kcooney Apr 30, 2025 •
edited
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Note that this isn't a backwards-compatible change. Since the version of 'lib' specified in build.gradle is "1.3.0-alpha.1" I'm guessing that's okay with you.

Optional: Perhaps add @since 1.3.0 to the Javadoc?

@cuttestkittensrule cuttestkittensrule Jul 1, 2025

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Since it is backwards incompatible, shouldn't we bump the major version?
I could change the build.gradle version to 2.0.0-alpha.1, so that the next release is 2.0.0

@kcooney kcooney Jul 2, 2025

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Since it is backwards incompatible, shouldn't we bump the major version?

If you want to follow the recommendations at https://semver.org/ then yes. You don't have to (JUnit didn't).

}
6 changes: 6 additions & 0 deletions lib/src/main/java/com/team2813/lib2813/control/motors/SparkMaxWrapper.java
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Expand Up @@ -16,6 +16,7 @@
import edu.wpi.first.units.Units;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Current;
import java.util.ArrayList;
import java.util.List;

Expand Down Expand Up @@ -75,6 +76,11 @@ public Angle getPositionMeasure() {
return Units.Rotations.of(encoder.getPosition());
}

@Override
public Current getAppliedCurrent() {
return Units.Amps.of(motor.getOutputCurrent());
}

@Override
public void setPosition(double position) {
encoder.setPosition(position);
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6 changes: 6 additions & 0 deletions lib/src/main/java/com/team2813/lib2813/control/motors/TalonFXWrapper.java
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Expand Up @@ -17,6 +17,7 @@
import edu.wpi.first.units.Units;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Current;
import java.util.ArrayList;
import java.util.List;
import java.util.Objects;
Expand Down Expand Up @@ -132,6 +133,11 @@ public Angle getPositionMeasure() {
return Units.Rotations.of(motor.getPosition().getValueAsDouble());
}

@Override
public Current getAppliedCurrent() {
return motor.getStatorCurrent().getValue();
}

@Override
public void setPosition(double position) {
motor.setPosition(position);
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2 changes: 1 addition & 1 deletion lib/src/main/java/com/team2813/lib2813/preferences/PersistedConfiguration.java
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Expand Up @@ -92,7 +92,7 @@
* constructor; see <a href="https://www.baeldung.com/java-records-custom-constructor">Custom
* Constructor in Java Records</a> for details.
*
* @since 1.3.0
* @since 2.0.0
*/
public final class PersistedConfiguration {
// The below package-scope fields are for the self-tests.
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2 changes: 1 addition & 1 deletion lib/src/main/java/com/team2813/lib2813/preferences/PreferencesInjector.java
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Expand Up @@ -38,7 +38,7 @@
*
* @deprecated Use {@link PersistedConfiguration}
*/
@Deprecated(since = "1.3.0", forRemoval = true)
@Deprecated(since = "2.0.0", forRemoval = true)
public class PreferencesInjector {
private static final char PATH_SEPARATOR = '.';

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