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REVLib 2022.1.0
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@REV-Bot2 REV-Bot2 released this 07 Jan 23:32
· 1 commit to main since this release
revlib-2022.1.0
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Learn about vigilant mode.

Enhancements

  • Java: Adds initial WPILib simulation support
    • Supports ControlType.kVelocity and ControlType.kVoltage
    • To use, make the following modifications to your Robot class (adjust parameters as necessary):
      • Call RevPhysicsSim.getInstance().addSparkMax(sparkMax, DCMotor.getNEO(1)) from simulationInit()
      • Call RevPhysicsSim.GetInstance.run() from simulationPeriodic()
      • These changes will keep the simulated position value up-to-date.
    • Limitations
      • When in simulation mode, calling setReference() will only update the velocity of the primary encoder, even if SparkMaxPIDController.setFeedbackDevice() was called with a different feedback sensor

Fixes

  • C++: Fixes move semantics for supported classes

Known issues

  • SparkMaxPIDController.setIAccum() only works while the control mode is active
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