Changed motor controller to SparkFlex

SaintsRobotics · Jan 9, 2024 · 7eee9bb · 7eee9bb
1 parent c677ac3
commit 7eee9bb
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Showing 2 changed files with 14 additions and 13 deletions.
diff --git a/src/main/java/frc/robot/subsystems/SwerveModule.java b/src/main/java/frc/robot/subsystems/SwerveModule.java
@@ -6,9 +6,9 @@
 
 import com.ctre.phoenix.sensors.CANCoder;
 import com.ctre.phoenix.sensors.SensorTimeBase;
-import com.revrobotics.CANSparkMax;
-import com.revrobotics.CANSparkMax.IdleMode;
-import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+import com.revrobotics.CANSparkFlex;
+import com.revrobotics.CANSparkBase.IdleMode;
+import com.revrobotics.CANSparkLowLevel.MotorType;
 
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -19,8 +19,8 @@
 
 /** Add your docs here. */
 public class SwerveModule {
-  private final CANSparkMax m_driveMotor;
-  private final CANSparkMax m_turningMotor;
+  private final CANSparkFlex m_driveMotor;
+  private final CANSparkFlex m_turningMotor;
 
   private final CANCoder m_turningEncoder;
 
@@ -48,8 +48,8 @@ public SwerveModule(
       int turningEncoderPort,
       boolean driveMotorReversed,
       double turningEncoderOffset) {
-    m_driveMotor = new CANSparkMax(driveMotorPort, MotorType.kBrushless);
-    m_turningMotor = new CANSparkMax(turningMotorPort, MotorType.kBrushless);
+    m_driveMotor = new CANSparkFlex(driveMotorPort, MotorType.kBrushless);
+    m_turningMotor = new CANSparkFlex(turningMotorPort, MotorType.kBrushless);
     m_turningEncoder = new CANCoder(turningEncoderPort);
 
     // converts default units to meters per second

diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json
@@ -1,24 +1,25 @@
 {
     "fileName": "REVLib.json",
     "name": "REVLib",
-    "version": "2023.1.3",
+    "version": "2024.2.0",
+    "frcYear": "2024",
     "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
     "mavenUrls": [
         "https://maven.revrobotics.com/"
     ],
-    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2023.json",
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json",
     "javaDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-java",
-            "version": "2023.1.3"
+            "version": "2024.2.0"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2023.1.3",
+            "version": "2024.2.0",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -36,7 +37,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-cpp",
-            "version": "2023.1.3",
+            "version": "2024.2.0",
             "libName": "REVLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -54,7 +55,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2023.1.3",
+            "version": "2024.2.0",
             "libName": "REVLibDriver",
             "headerClassifier": "headers",
             "sharedLibrary": false,