From 7327cf69594544c05cfb0adab0ad4f1b55c538b4 Mon Sep 17 00:00:00 2001
From: outsidermm <outsidermm1234@gmail.com>
Date: Fri, 5 Jan 2024 17:52:20 +0800
Subject: [PATCH 01/16] updated to 2024 except photonvision

---
 requirements.txt | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/requirements.txt b/requirements.txt
index 3212d686..8f65fec5 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,7 +1,7 @@
-numpy~=1.24.1
-robotpy[apriltag,cscore]~=2023.4.2
-robotpy-ctre~=2023.1.0
-robotpy-navx~=2023.0.3
-robotpy-rev~=2023.1.3.2
-robotpy-photonvision~=2023.3.0
-robotpy-wpilib-utilities~=2023.1.0
+numpy~=1.26.0
+robotpy[apriltag,cscore]~=2024.0.0b3
+robotpy-ctre~=2024.0.0b1
+robotpy-navx~=2024.0.0b1
+robotpy-rev~=2024.0.0b1.post1
+robotpy-photonvision~=2023.4.2
+robotpy-wpilib-utilities~=2024.0.0b1

From 298f26552833894ffee549fbae006e7e1c8fdaba Mon Sep 17 00:00:00 2001
From: outsidermm <outsidermm1234@gmail.com>
Date: Fri, 5 Jan 2024 21:38:17 +0800
Subject: [PATCH 02/16] deleted photonvision requirement.txt

---
 requirements.txt | 1 -
 1 file changed, 1 deletion(-)

diff --git a/requirements.txt b/requirements.txt
index 8f65fec5..350d0b50 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -3,5 +3,4 @@ robotpy[apriltag,cscore]~=2024.0.0b3
 robotpy-ctre~=2024.0.0b1
 robotpy-navx~=2024.0.0b1
 robotpy-rev~=2024.0.0b1.post1
-robotpy-photonvision~=2023.4.2
 robotpy-wpilib-utilities~=2024.0.0b1

From 1ae3e70cc848af2839a619febd546475b0784c73 Mon Sep 17 00:00:00 2001
From: outsidermm <outsidermm1234@gmail.com>
Date: Fri, 5 Jan 2024 21:38:26 +0800
Subject: [PATCH 03/16] updated pipfile for 2024 beta

---
 Pipfile | 13 ++++++-------
 1 file changed, 6 insertions(+), 7 deletions(-)

diff --git a/Pipfile b/Pipfile
index 5d3c5729..b66f297b 100644
--- a/Pipfile
+++ b/Pipfile
@@ -4,13 +4,12 @@ verify_ssl = true
 name = "pypi"
 
 [packages]
-numpy = "~=1.24.1"
-robotpy = {version = "~=2023.4.2", extras = ["apriltag", "cscore"]}
-robotpy-ctre = "~=2023.1.0"
-robotpy-navx = "~=2023.0.3"
-robotpy-rev = "~=2023.1.3.2"
-robotpy-photonvision = "~=2023.3.0"
-robotpy-wpilib-utilities = "~=2023.1.0"
+numpy = "~=1.26.0"
+robotpy = {version = "~=2024.0.0b3", extras = ["apriltag", "cscore"]}
+robotpy-ctre = "~=2024.0.0b1"
+robotpy-navx = "~=2024.0.0b1"
+robotpy-rev = "~=2024.0.0b1.post1"
+robotpy-wpilib-utilities = "~=2024.0.0b1"
 
 [dev-packages]
 hypothesis = "*"

From d5579ebec90667389a92265f4bdfadc06454d7f8 Mon Sep 17 00:00:00 2001
From: outsidermm <outsidermm1234@gmail.com>
Date: Fri, 5 Jan 2024 21:44:09 +0800
Subject: [PATCH 04/16] pipfile.lock generated

---
 Pipfile.lock | 915 ++++++++++++++++++++++++---------------------------
 1 file changed, 431 insertions(+), 484 deletions(-)

diff --git a/Pipfile.lock b/Pipfile.lock
index 3fba37d4..779c2f1f 100644
--- a/Pipfile.lock
+++ b/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "5ae189bba01404c387f79861fd92114ae91c7ebfb10292556f76659521d6453a"
+            "sha256": "432c5fb5c3b5db093bd429c4baf7d040ccb504a20ea11143f7206a3af04a2747"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -16,162 +16,133 @@
         ]
     },
     "default": {
-        "attrs": {
-            "hashes": [
-                "sha256:29e95c7f6778868dbd49170f98f8818f78f3dc5e0e37c0b1f474e3561b240836",
-                "sha256:c9227bfc2f01993c03f68db37d1d15c9690188323c067c641f1a35ca58185f99"
-            ],
-            "markers": "python_version >= '3.6'",
-            "version": "==22.2.0"
-        },
         "bcrypt": {
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             ],
-            "markers": "python_version >= '3.6'",
-            "version": "==4.0.1"
+            "markers": "python_version >= '3.7'",
+            "version": "==4.1.2"
         },
         "cffi": {
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+        },
+        "phoenix6": {
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+                "sha256:fcd23dc90a508a048813965132cbec06576afe1b9c9315a3ed275c711305c151"
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+            "version": "==24.0.0b7"
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         "pint": {
             "hashes": [
-                "sha256:387cf04078dc7dfe4a708033baad54ab61d82ab06c4ee3d4922b1e45d5626067",
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-            "markers": "python_version >= '3.8'",
-            "version": "==0.20.1"
+            "markers": "python_version >= '3.9'",
+            "version": "==0.23"
         },
         "pluggy": {
             "hashes": [
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-            "markers": "python_version >= '3.6'",
-            "version": "==1.0.0"
+            "markers": "python_version >= '3.8'",
+            "version": "==1.3.0"
         },
         "pycparser": {
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@@ -256,11 +247,11 @@
         },
         "pyfrc": {
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-            "markers": "platform_machine != 'armv7l'",
-            "version": "==2023.0.1"
+            "markers": "platform_machine != 'roborio' and platform_machine != 'armv7l' and platform_machine != 'aarch64'",
+            "version": "==2024.0.0b1"
         },
         "pynacl": {
             "hashes": [
@@ -288,33 +279,32 @@
         },
         "pyntcore": {
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-            "version": "==2023.4.2.0"
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@@ -330,330 +320,295 @@
                 "cscore"
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@@ -665,27 +620,27 @@
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@@ -693,14 +648,6 @@
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     }
 }

From b17171b421b4f07b456ecca0163c1e8af9184190 Mon Sep 17 00:00:00 2001
From: outsidermm <71582657+outsidermm@users.noreply.github.com>
Date: Sat, 6 Jan 2024 09:25:00 +0800
Subject: [PATCH 05/16] change numpy version to the most updated on roboRIO

Co-authored-by: David Vo <auscompgeek@users.noreply.github.com>
---
 requirements.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/requirements.txt b/requirements.txt
index 350d0b50..b54ca569 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,4 +1,4 @@
-numpy~=1.26.0
+numpy~=1.25.2
 robotpy[apriltag,cscore]~=2024.0.0b3
 robotpy-ctre~=2024.0.0b1
 robotpy-navx~=2024.0.0b1

From ca6f06a6b0ed93f22ccbc8d8771c7dd2b3e90bcc Mon Sep 17 00:00:00 2001
From: outsidermm <outsidermm1234@gmail.com>
Date: Sat, 6 Jan 2024 09:50:02 +0800
Subject: [PATCH 06/16] updated pipfile

---
 Pipfile      |  6 ++---
 Pipfile.lock | 65 ++++++++++++++++++++++------------------------------
 2 files changed, 30 insertions(+), 41 deletions(-)

diff --git a/Pipfile b/Pipfile
index b66f297b..78b1cbeb 100644
--- a/Pipfile
+++ b/Pipfile
@@ -4,9 +4,9 @@ verify_ssl = true
 name = "pypi"
 
 [packages]
-numpy = "~=1.26.0"
-robotpy = {version = "~=2024.0.0b3", extras = ["apriltag", "cscore"]}
-robotpy-ctre = "~=2024.0.0b1"
+numpy = "~=1.25.2"
+robotpy = {version = "==2024.0.0b4", extras = ["apriltag", "cscore"]}
+robotpy-ctre = "==2024.0.0b4"
 robotpy-navx = "~=2024.0.0b1"
 robotpy-rev = "~=2024.0.0b1.post1"
 robotpy-wpilib-utilities = "~=2024.0.0b1"
diff --git a/Pipfile.lock b/Pipfile.lock
index 779c2f1f..506682eb 100644
--- a/Pipfile.lock
+++ b/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "432c5fb5c3b5db093bd429c4baf7d040ccb504a20ea11143f7206a3af04a2747"
+            "sha256": "d11ee471750a2b618ee5b9a2cba5edac346d800f497c85abb69137cb74ba313b"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -154,46 +154,35 @@
         },
         "numpy": {
             "hashes": [
-                "sha256:02f98011ba4ab17f46f80f7f8f1c291ee7d855fcef0a5a98db80767a468c85cd",
-                "sha256:0b7e807d6888da0db6e7e75838444d62495e2b588b99e90dd80c3459594e857b",
-                "sha256:12c70ac274b32bc00c7f61b515126c9205323703abb99cd41836e8125ea0043e",
-                "sha256:1666f634cb3c80ccbd77ec97bc17337718f56d6658acf5d3b906ca03e90ce87f",
-                "sha256:18c3319a7d39b2c6a9e3bb75aab2304ab79a811ac0168a671a62e6346c29b03f",
-                "sha256:211ddd1e94817ed2d175b60b6374120244a4dd2287f4ece45d49228b4d529178",
-                "sha256:21a9484e75ad018974a2fdaa216524d64ed4212e418e0a551a2d83403b0531d3",
-                "sha256:39763aee6dfdd4878032361b30b2b12593fb445ddb66bbac802e2113eb8a6ac4",
-                "sha256:3c67423b3703f8fbd90f5adaa37f85b5794d3366948efe9a5190a5f3a83fc34e",
-                "sha256:46f47ee566d98849323f01b349d58f2557f02167ee301e5e28809a8c0e27a2d0",
-                "sha256:51c7f1b344f302067b02e0f5b5d2daa9ed4a721cf49f070280ac202738ea7f00",
-                "sha256:5f24750ef94d56ce6e33e4019a8a4d68cfdb1ef661a52cdaee628a56d2437419",
-                "sha256:697df43e2b6310ecc9d95f05d5ef20eacc09c7c4ecc9da3f235d39e71b7da1e4",
-                "sha256:6d45b3ec2faed4baca41c76617fcdcfa4f684ff7a151ce6fc78ad3b6e85af0a6",
-                "sha256:77810ef29e0fb1d289d225cabb9ee6cf4d11978a00bb99f7f8ec2132a84e0166",
-                "sha256:7ca4f24341df071877849eb2034948459ce3a07915c2734f1abb4018d9c49d7b",
-                "sha256:7f784e13e598e9594750b2ef6729bcd5a47f6cfe4a12cca13def35e06d8163e3",
-                "sha256:806dd64230dbbfaca8a27faa64e2f414bf1c6622ab78cc4264f7f5f028fee3bf",
-                "sha256:867e3644e208c8922a3be26fc6bbf112a035f50f0a86497f98f228c50c607bb2",
-                "sha256:8c66d6fec467e8c0f975818c1796d25c53521124b7cfb760114be0abad53a0a2",
-                "sha256:8ed07a90f5450d99dad60d3799f9c03c6566709bd53b497eb9ccad9a55867f36",
-                "sha256:9bc6d1a7f8cedd519c4b7b1156d98e051b726bf160715b769106661d567b3f03",
-                "sha256:9e1591f6ae98bcfac2a4bbf9221c0b92ab49762228f38287f6eeb5f3f55905ce",
-                "sha256:9e87562b91f68dd8b1c39149d0323b42e0082db7ddb8e934ab4c292094d575d6",
-                "sha256:a7081fd19a6d573e1a05e600c82a1c421011db7935ed0d5c483e9dd96b99cf13",
-                "sha256:a8474703bffc65ca15853d5fd4d06b18138ae90c17c8d12169968e998e448bb5",
-                "sha256:af36e0aa45e25c9f57bf684b1175e59ea05d9a7d3e8e87b7ae1a1da246f2767e",
-                "sha256:b1240f767f69d7c4c8a29adde2310b871153df9b26b5cb2b54a561ac85146485",
-                "sha256:b4d362e17bcb0011738c2d83e0a65ea8ce627057b2fdda37678f4374a382a137",
-                "sha256:b831295e5472954104ecb46cd98c08b98b49c69fdb7040483aff799a755a7374",
-                "sha256:b8c275f0ae90069496068c714387b4a0eba5d531aace269559ff2b43655edd58",
-                "sha256:bdd2b45bf079d9ad90377048e2747a0c82351989a2165821f0c96831b4a2a54b",
-                "sha256:cc0743f0302b94f397a4a65a660d4cd24267439eb16493fb3caad2e4389bccbb",
-                "sha256:da4b0c6c699a0ad73c810736303f7fbae483bcb012e38d7eb06a5e3b432c981b",
-                "sha256:f25e2811a9c932e43943a2615e65fc487a0b6b49218899e62e426e7f0a57eeda",
-                "sha256:f73497e8c38295aaa4741bdfa4fda1a5aedda5473074369eca10626835445511"
+                "sha256:0d60fbae8e0019865fc4784745814cff1c421df5afee233db6d88ab4f14655a2",
+                "sha256:1a1329e26f46230bf77b02cc19e900db9b52f398d6722ca853349a782d4cff55",
+                "sha256:1b9735c27cea5d995496f46a8b1cd7b408b3f34b6d50459d9ac8fe3a20cc17bf",
+                "sha256:2792d23d62ec51e50ce4d4b7d73de8f67a2fd3ea710dcbc8563a51a03fb07b01",
+                "sha256:3e0746410e73384e70d286f93abf2520035250aad8c5714240b0492a7302fdca",
+                "sha256:4c3abc71e8b6edba80a01a52e66d83c5d14433cbcd26a40c329ec7ed09f37901",
+                "sha256:5883c06bb92f2e6c8181df7b39971a5fb436288db58b5a1c3967702d4278691d",
+                "sha256:5c97325a0ba6f9d041feb9390924614b60b99209a71a69c876f71052521d42a4",
+                "sha256:60e7f0f7f6d0eee8364b9a6304c2845b9c491ac706048c7e8cf47b83123b8dbf",
+                "sha256:76b4115d42a7dfc5d485d358728cdd8719be33cc5ec6ec08632a5d6fca2ed380",
+                "sha256:7dc869c0c75988e1c693d0e2d5b26034644399dd929bc049db55395b1379e044",
+                "sha256:834b386f2b8210dca38c71a6e0f4fd6922f7d3fcff935dbe3a570945acb1b545",
+                "sha256:8b77775f4b7df768967a7c8b3567e309f617dd5e99aeb886fa14dc1a0791141f",
+                "sha256:90319e4f002795ccfc9050110bbbaa16c944b1c37c0baeea43c5fb881693ae1f",
+                "sha256:b79e513d7aac42ae918db3ad1341a015488530d0bb2a6abcbdd10a3a829ccfd3",
+                "sha256:bb33d5a1cf360304754913a350edda36d5b8c5331a8237268c48f91253c3a364",
+                "sha256:bec1e7213c7cb00d67093247f8c4db156fd03075f49876957dca4711306d39c9",
+                "sha256:c5462d19336db4560041517dbb7759c21d181a67cb01b36ca109b2ae37d32418",
+                "sha256:c5652ea24d33585ea39eb6a6a15dac87a1206a692719ff45d53c5282e66d4a8f",
+                "sha256:d7806500e4f5bdd04095e849265e55de20d8cc4b661b038957354327f6d9b295",
+                "sha256:db3ccc4e37a6873045580d413fe79b68e47a681af8db2e046f1dacfa11f86eb3",
+                "sha256:dfe4a913e29b418d096e696ddd422d8a5d13ffba4ea91f9f60440a3b759b0187",
+                "sha256:eb942bfb6f84df5ce05dbf4b46673ffed0d3da59f13635ea9b926af3deb76926",
+                "sha256:f08f2e037bba04e707eebf4bc934f1972a315c883a9e0ebfa8a7756eabf9e357",
+                "sha256:fd608e19c8d7c55021dffd43bfe5492fab8cc105cc8986f813f8c3c048b38760"
             ],
             "index": "pypi",
             "markers": "python_version >= '3.9'",
-            "version": "==1.26.3"
+            "version": "==1.25.2"
         },
         "packaging": {
             "hashes": [

From ab95f52a6588812197fb3c52d763d33ec9630564 Mon Sep 17 00:00:00 2001
From: outsidermm <outsidermm1234@gmail.com>
Date: Sat, 6 Jan 2024 09:51:13 +0800
Subject: [PATCH 07/16] renamed ctre to pheonix5

---
 components/chassis.py | 34 +++++++++++++++++-----------------
 physics.py            | 10 ++++++----
 2 files changed, 23 insertions(+), 21 deletions(-)

diff --git a/components/chassis.py b/components/chassis.py
index 04e92e59..031447aa 100644
--- a/components/chassis.py
+++ b/components/chassis.py
@@ -1,8 +1,8 @@
 from logging import Logger
 import math
 
-import ctre
-import ctre.sensors
+import phoenix5
+import phoenix5.sensors
 import magicbot
 import navx
 import wpilib
@@ -19,7 +19,7 @@
 from magicbot import feedback
 
 from utilities.functions import constrain_angle, rate_limit_module
-from utilities.ctre import FALCON_CPR, FALCON_FREE_RPS
+from utilities.phoenix5 import FALCON_CPR, FALCON_FREE_RPS
 from ids import CancoderIds, TalonIds
 
 
@@ -61,21 +61,21 @@ def __init__(
         self.do_smooth = True
 
         # Create Motor and encoder objects
-        self.steer = ctre.WPI_TalonFX(steer_id)
-        self.drive = ctre.WPI_TalonFX(drive_id)
+        self.steer = phoenix5.WPI_TalonFX(steer_id)
+        self.drive = phoenix5.WPI_TalonFX(drive_id)
         self.drive_id = drive_id
-        self.encoder = ctre.sensors.CANCoder(encoder_id)
+        self.encoder = phoenix5.sensors.CANCoder(encoder_id)
 
         # Reduce CAN status frame rates before configuring
         self.steer.setStatusFramePeriod(
-            ctre.StatusFrameEnhanced.Status_1_General, 250, 10
+            phoenix5.StatusFrameEnhanced.Status_1_General, 250, 10
         )
         self.drive.setStatusFramePeriod(
-            ctre.StatusFrameEnhanced.Status_1_General, 250, 10
+            phoenix5.StatusFrameEnhanced.Status_1_General, 250, 10
         )
 
         # Configure steer motor
-        self.steer.setNeutralMode(ctre.NeutralMode.Brake)
+        self.steer.setNeutralMode(phoenix5.NeutralMode.Brake)
         self.steer.setInverted(steer_reversed)
         self.steer.config_kP(0, 0.15035, 10)
         self.steer.config_kI(0, 0, 10)
@@ -84,17 +84,17 @@ def __init__(
             0, self.STEER_RAD_TO_COUNTS * math.radians(4)
         )
         self.steer.configSelectedFeedbackSensor(
-            ctre.FeedbackDevice.IntegratedSensor, 0, 10
+            phoenix5.FeedbackDevice.IntegratedSensor, 0, 10
         )
 
         # Configure drive motor
-        self.drive.setNeutralMode(ctre.NeutralMode.Brake)
+        self.drive.setNeutralMode(phoenix5.NeutralMode.Brake)
         self.drive.setInverted(drive_reversed)
         self.drive.configVoltageCompSaturation(self.MAX_DRIVE_VOLTS, timeoutMs=10)
         self.drive.enableVoltageCompensation(True)
         self.drive_ff = SimpleMotorFeedforwardMeters(kS=0.18877, kV=2.7713, kA=0.18824)
         self.drive.configVelocityMeasurementPeriod(
-            ctre.sensors.SensorVelocityMeasPeriod.Period_5Ms
+            phoenix5.sensors.SensorVelocityMeasPeriod.Period_5Ms
         )
         self.drive.configVelocityMeasurementWindow(8)
         self.drive.config_kP(0, 0.011489, 10)
@@ -135,8 +135,8 @@ def set(self, desired_state: SwerveModuleState):
         self.state = SwerveModuleState.optimize(self.state, self.get_rotation())
 
         if abs(self.state.speed) < 0.01 and not self.module_locked:
-            self.drive.set(ctre.ControlMode.Velocity, 0)
-            self.steer.set(ctre.ControlMode.PercentOutput, 0)
+            self.drive.set(phoenix5.ControlMode.Velocity, 0)
+            self.steer.set(phoenix5.ControlMode.PercentOutput, 0)
             return
 
         current_angle = self.get_angle_integrated()
@@ -145,16 +145,16 @@ def set(self, desired_state: SwerveModuleState):
         )
         target_angle = target_displacement + current_angle
         self.steer.set(
-            ctre.ControlMode.Position, target_angle * self.STEER_RAD_TO_COUNTS
+            phoenix5.ControlMode.Position, target_angle * self.STEER_RAD_TO_COUNTS
         )
 
         # rescale the speed target based on how close we are to being correctly aligned
         target_speed = self.state.speed * math.cos(target_displacement) ** 2
         speed_volt = self.drive_ff.calculate(target_speed)
         self.drive.set(
-            ctre.ControlMode.Velocity,
+            phoenix5.ControlMode.Velocity,
             target_speed * self.METRES_TO_DRIVE_COUNTS / 10,
-            ctre.DemandType.ArbitraryFeedForward,
+            phoenix5.DemandType.ArbitraryFeedForward,
             speed_volt / self.MAX_DRIVE_VOLTS,
         )
 
diff --git a/physics.py b/physics.py
index bea67e64..36fcbd16 100644
--- a/physics.py
+++ b/physics.py
@@ -2,21 +2,21 @@
 
 import math
 import typing
-import ctre
+import phoenix5
 
 from pyfrc.physics.core import PhysicsInterface
 from wpimath.kinematics import SwerveDrive4Kinematics
 from wpilib.simulation import SimDeviceSim
 
 from components.chassis import SwerveModule
-from utilities.ctre import FALCON_CPR, VERSA_ENCODER_CPR
+from utilities.phoenix5 import FALCON_CPR, VERSA_ENCODER_CPR
 
 if typing.TYPE_CHECKING:
     from robot import MyRobot
 
 
 class SimpleTalonFXMotorSim:
-    def __init__(self, motor: ctre.TalonFX, kV: float, rev_per_unit: float) -> None:
+    def __init__(self, motor: phoenix5.TalonFX, kV: float, rev_per_unit: float) -> None:
         self.sim_collection = motor.getSimCollection()
         self.kV = kV  # volt seconds per unit
         self.rev_per_unit = rev_per_unit
@@ -30,7 +30,9 @@ def update(self, dt: float) -> None:
 
 
 class SimpleTalonSRXMotorSim:
-    def __init__(self, motor: ctre.TalonSRX, kV: float, rev_per_unit: float) -> None:
+    def __init__(
+        self, motor: phoenix5.TalonSRX, kV: float, rev_per_unit: float
+    ) -> None:
         self.sim_collection = motor.getSimCollection()
         self.kV = kV  # volt seconds per unit
         self.rev_per_unit = rev_per_unit

From 38d502fd604d4213a7cc233ebee3879c512d2b66 Mon Sep 17 00:00:00 2001
From: outsidermm <outsidermm1234@gmail.com>
Date: Sat, 6 Jan 2024 09:51:41 +0800
Subject: [PATCH 08/16] renamed ctre util to pheonix5 util

---
 utilities/{ctre.py => phoenix5.py} | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename utilities/{ctre.py => phoenix5.py} (100%)

diff --git a/utilities/ctre.py b/utilities/phoenix5.py
similarity index 100%
rename from utilities/ctre.py
rename to utilities/phoenix5.py

From 5113b01bade0a19ba9ea8f0a807334286786be8c Mon Sep 17 00:00:00 2001
From: outsidermm <outsidermm1234@gmail.com>
Date: Sat, 6 Jan 2024 09:52:09 +0800
Subject: [PATCH 09/16] updated requirement.txt

---
 requirements.txt | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/requirements.txt b/requirements.txt
index b54ca569..b18be214 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,6 +1,6 @@
 numpy~=1.25.2
-robotpy[apriltag,cscore]~=2024.0.0b3
-robotpy-ctre~=2024.0.0b1
-robotpy-navx~=2024.0.0b1
-robotpy-rev~=2024.0.0b1.post1
-robotpy-wpilib-utilities~=2024.0.0b1
+robotpy[apriltag,cscore]==2024.0.0b4
+robotpy-ctre==2024.0.0b4
+robotpy-navx==2024.0.0b1
+robotpy-rev==2024.0.0b1.post1
+robotpy-wpilib-utilities==2024.0.0b1

From 66dbedc9c34d8d9b6f6293222664474908e008d1 Mon Sep 17 00:00:00 2001
From: outsidermm <outsidermm1234@gmail.com>
Date: Sat, 6 Jan 2024 09:57:00 +0800
Subject: [PATCH 10/16] okay lets revert to our ctre module

---
 components/chassis.py              | 2 +-
 physics.py                         | 2 +-
 utilities/{phoenix5.py => ctre.py} | 0
 3 files changed, 2 insertions(+), 2 deletions(-)
 rename utilities/{phoenix5.py => ctre.py} (100%)

diff --git a/components/chassis.py b/components/chassis.py
index 031447aa..e1643dbf 100644
--- a/components/chassis.py
+++ b/components/chassis.py
@@ -19,7 +19,7 @@
 from magicbot import feedback
 
 from utilities.functions import constrain_angle, rate_limit_module
-from utilities.phoenix5 import FALCON_CPR, FALCON_FREE_RPS
+from utilities.ctre import FALCON_CPR, FALCON_FREE_RPS
 from ids import CancoderIds, TalonIds
 
 
diff --git a/physics.py b/physics.py
index 36fcbd16..96bd9857 100644
--- a/physics.py
+++ b/physics.py
@@ -9,7 +9,7 @@
 from wpilib.simulation import SimDeviceSim
 
 from components.chassis import SwerveModule
-from utilities.phoenix5 import FALCON_CPR, VERSA_ENCODER_CPR
+from utilities.ctre import FALCON_CPR, VERSA_ENCODER_CPR
 
 if typing.TYPE_CHECKING:
     from robot import MyRobot
diff --git a/utilities/phoenix5.py b/utilities/ctre.py
similarity index 100%
rename from utilities/phoenix5.py
rename to utilities/ctre.py

From 7ab87e5e1f482018ace04481ccab22226a3386f3 Mon Sep 17 00:00:00 2001
From: outsidermm <outsidermm1234@gmail.com>
Date: Sat, 6 Jan 2024 10:09:23 +0800
Subject: [PATCH 11/16] apparently wpimath want tuples of swervemodulestates

---
 physics.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/physics.py b/physics.py
index 96bd9857..26b41496 100644
--- a/physics.py
+++ b/physics.py
@@ -78,7 +78,7 @@ def update_sim(self, now: float, tm_diff: float) -> None:
             steer.update(tm_diff)
 
         speeds = self.kinematics.toChassisSpeeds(
-            *(module.get() for module in self.swerve_modules)
+            [module.get() for module in self.swerve_modules]
         )
 
         self.imu_yaw.set(self.imu_yaw.get() - math.degrees(speeds.omega * tm_diff))

From 072fbe79a2b84612fa3fe855f3c2794ba80e1378 Mon Sep 17 00:00:00 2001
From: outsidermm <outsidermm1234@gmail.com>
Date: Sat, 6 Jan 2024 10:13:28 +0800
Subject: [PATCH 12/16] wpimath happy with tuples for toChassisSpeed

---
 components/chassis.py | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/components/chassis.py b/components/chassis.py
index e1643dbf..dc0ddc07 100644
--- a/components/chassis.py
+++ b/components/chassis.py
@@ -317,10 +317,7 @@ def unlock_swerve(self) -> None:
     def get_velocity(self) -> ChassisSpeeds:
         """Gets field relative measured robot ChassisSpeeds"""
         self.local_speed = self.kinematics.toChassisSpeeds(
-            self.modules[0].get(),
-            self.modules[1].get(),
-            self.modules[2].get(),
-            self.modules[3].get(),
+            [module.get() for module in self.modules]
         )
         return ChassisSpeeds.fromFieldRelativeSpeeds(
             self.local_speed, -self.get_rotation()

From b3464f800d39fc03e858b4e097f0a76bdf7aebd7 Mon Sep 17 00:00:00 2001
From: outsidermm <outsidermm1234@gmail.com>
Date: Sat, 6 Jan 2024 10:14:48 +0800
Subject: [PATCH 13/16] much concise code

---
 components/chassis.py | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/components/chassis.py b/components/chassis.py
index dc0ddc07..e7f80d12 100644
--- a/components/chassis.py
+++ b/components/chassis.py
@@ -366,12 +366,7 @@ def get_module_positions(
         SwerveModulePosition,
         SwerveModulePosition,
     ]:
-        return (
-            self.modules[0].get_position(),
-            self.modules[1].get_position(),
-            self.modules[2].get_position(),
-            self.modules[3].get_position(),
-        )
+        return [module.get_position() for module in self.modules]
 
     def get_pose(self) -> Pose2d:
         """Get the current location of the robot relative to ???"""

From 4e494eb826709d63c00a43af64866f20a50381c9 Mon Sep 17 00:00:00 2001
From: outsidermm <outsidermm1234@gmail.com>
Date: Sat, 6 Jan 2024 10:20:20 +0800
Subject: [PATCH 14/16] tuples

---
 components/chassis.py | 4 ++--
 physics.py            | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/components/chassis.py b/components/chassis.py
index e7f80d12..8d88e747 100644
--- a/components/chassis.py
+++ b/components/chassis.py
@@ -317,7 +317,7 @@ def unlock_swerve(self) -> None:
     def get_velocity(self) -> ChassisSpeeds:
         """Gets field relative measured robot ChassisSpeeds"""
         self.local_speed = self.kinematics.toChassisSpeeds(
-            [module.get() for module in self.modules]
+            tuple([module.get() for module in self.modules])
         )
         return ChassisSpeeds.fromFieldRelativeSpeeds(
             self.local_speed, -self.get_rotation()
@@ -366,7 +366,7 @@ def get_module_positions(
         SwerveModulePosition,
         SwerveModulePosition,
     ]:
-        return [module.get_position() for module in self.modules]
+        return tuple([module.get_position() for module in self.modules])
 
     def get_pose(self) -> Pose2d:
         """Get the current location of the robot relative to ???"""
diff --git a/physics.py b/physics.py
index 26b41496..9e7da860 100644
--- a/physics.py
+++ b/physics.py
@@ -78,7 +78,7 @@ def update_sim(self, now: float, tm_diff: float) -> None:
             steer.update(tm_diff)
 
         speeds = self.kinematics.toChassisSpeeds(
-            [module.get() for module in self.swerve_modules]
+            tuple([module.get() for module in self.swerve_modules])
         )
 
         self.imu_yaw.set(self.imu_yaw.get() - math.degrees(speeds.omega * tm_diff))

From 7f5c6f941d6b6fe7f0a35233b5ac914df79e159c Mon Sep 17 00:00:00 2001
From: outsidermm <outsidermm1234@gmail.com>
Date: Sat, 6 Jan 2024 10:26:51 +0800
Subject: [PATCH 15/16] mypy should be happy now

---
 components/chassis.py | 14 ++++++++++++--
 physics.py            |  7 ++++++-
 2 files changed, 18 insertions(+), 3 deletions(-)

diff --git a/components/chassis.py b/components/chassis.py
index 8d88e747..9ee901ef 100644
--- a/components/chassis.py
+++ b/components/chassis.py
@@ -317,7 +317,12 @@ def unlock_swerve(self) -> None:
     def get_velocity(self) -> ChassisSpeeds:
         """Gets field relative measured robot ChassisSpeeds"""
         self.local_speed = self.kinematics.toChassisSpeeds(
-            tuple([module.get() for module in self.modules])
+            [
+                self.modules[0].get(),
+                self.modules[1].get(),
+                self.modules[2].get(),
+                self.modules[3].get(),
+            ]
         )
         return ChassisSpeeds.fromFieldRelativeSpeeds(
             self.local_speed, -self.get_rotation()
@@ -366,7 +371,12 @@ def get_module_positions(
         SwerveModulePosition,
         SwerveModulePosition,
     ]:
-        return tuple([module.get_position() for module in self.modules])
+        return [
+            self.modules[0].get_position(),
+            self.modules[1].get_position(),
+            self.modules[2].get_position(),
+            self.modules[3].get_position(),
+        ]
 
     def get_pose(self) -> Pose2d:
         """Get the current location of the robot relative to ???"""
diff --git a/physics.py b/physics.py
index 9e7da860..ace954b8 100644
--- a/physics.py
+++ b/physics.py
@@ -78,7 +78,12 @@ def update_sim(self, now: float, tm_diff: float) -> None:
             steer.update(tm_diff)
 
         speeds = self.kinematics.toChassisSpeeds(
-            tuple([module.get() for module in self.swerve_modules])
+            [
+                self.swerve_modules[0].get(),
+                self.swerve_modules[1].get(),
+                self.swerve_modules[2].get(),
+                self.swerve_modules[3].get(),
+            ]
         )
 
         self.imu_yaw.set(self.imu_yaw.get() - math.degrees(speeds.omega * tm_diff))

From 49ed7cf5909575241caba5ff6281b325b6e7c7d7 Mon Sep 17 00:00:00 2001
From: outsidermm <outsidermm1234@gmail.com>
Date: Sat, 6 Jan 2024 10:30:22 +0800
Subject: [PATCH 16/16] tuples instead of list now

---
 components/chassis.py | 8 ++++----
 physics.py            | 4 ++--
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/components/chassis.py b/components/chassis.py
index 9ee901ef..1c9b9236 100644
--- a/components/chassis.py
+++ b/components/chassis.py
@@ -317,12 +317,12 @@ def unlock_swerve(self) -> None:
     def get_velocity(self) -> ChassisSpeeds:
         """Gets field relative measured robot ChassisSpeeds"""
         self.local_speed = self.kinematics.toChassisSpeeds(
-            [
+            (
                 self.modules[0].get(),
                 self.modules[1].get(),
                 self.modules[2].get(),
                 self.modules[3].get(),
-            ]
+            )
         )
         return ChassisSpeeds.fromFieldRelativeSpeeds(
             self.local_speed, -self.get_rotation()
@@ -371,12 +371,12 @@ def get_module_positions(
         SwerveModulePosition,
         SwerveModulePosition,
     ]:
-        return [
+        return (
             self.modules[0].get_position(),
             self.modules[1].get_position(),
             self.modules[2].get_position(),
             self.modules[3].get_position(),
-        ]
+        )
 
     def get_pose(self) -> Pose2d:
         """Get the current location of the robot relative to ???"""
diff --git a/physics.py b/physics.py
index ace954b8..c3a77f55 100644
--- a/physics.py
+++ b/physics.py
@@ -78,12 +78,12 @@ def update_sim(self, now: float, tm_diff: float) -> None:
             steer.update(tm_diff)
 
         speeds = self.kinematics.toChassisSpeeds(
-            [
+            (
                 self.swerve_modules[0].get(),
                 self.swerve_modules[1].get(),
                 self.swerve_modules[2].get(),
                 self.swerve_modules[3].get(),
-            ]
+            )
         )
 
         self.imu_yaw.set(self.imu_yaw.get() - math.degrees(speeds.omega * tm_diff))