Update all Java examples

cpp/CurrentLimits/src/main/cpp/Robot.cpp

@@ -8,14 +8,15 @@
 using namespace ctre::phoenix6;
 
 void Robot::RobotInit() {
-  /* Configure the Talon to use a supply limit of 60 amps IF we exceed 80 amps for over 0.1 seconds */
+  /* Configure the Talon to use a supply limit of 70 A, and
+   * lower to 40 A if we're at 70 A for over 1 second */
   configs::TalonFXConfiguration toConfigure{};
   m_currentLimits.SupplyCurrentLimit = 70_A; // Default limit of 70 A
   m_currentLimits.SupplyCurrentLowerLimit = 40_A; // Reduce the limit to 40 A if we've limited to 70 A...
   m_currentLimits.SupplyCurrentLowerTime = 1_s; // ...for at least 1 second
   m_currentLimits.SupplyCurrentLimitEnable = true; // And enable it
 
-  m_currentLimits.StatorCurrentLimit = 120_A; // Limit stator to 120 amps
+  m_currentLimits.StatorCurrentLimit = 120_A; // Limit stator to 120 A
   m_currentLimits.StatorCurrentLimitEnable = true; // And enable it
 
   toConfigure.CurrentLimits = m_currentLimits;

cpp/MotionMagic/src/main/cpp/sim/PhysicsSim.cpp

@@ -3,9 +3,9 @@
 
 using namespace ctre::phoenix6;
 
-void PhysicsSim::AddTalonFX(hardware::TalonFX& falcon, units::kilogram_square_meter_t rotorInertia) {
-    TalonFXSimProfile *simFalcon = new TalonFXSimProfile(falcon, rotorInertia);
-    _simProfiles.push_back(simFalcon);
+void PhysicsSim::AddTalonFX(hardware::TalonFX& talonFX, units::kilogram_square_meter_t rotorInertia) {
+    TalonFXSimProfile *simTalonFX = new TalonFXSimProfile(talonFX, rotorInertia);
+    _simProfiles.push_back(simTalonFX);
 }
 
 void PhysicsSim::Run() {

cpp/MotionMagic/src/main/cpp/sim/TalonFXSimProfile.cpp

@@ -3,24 +3,24 @@
 
 using namespace ctre::phoenix6;
 
-TalonFXSimProfile::TalonFXSimProfile(hardware::TalonFX& falcon, units::kilogram_square_meter_t rotorInertia) :
+TalonFXSimProfile::TalonFXSimProfile(hardware::TalonFX& talonFX, units::kilogram_square_meter_t rotorInertia) :
     _motorSim{frc::LinearSystemId::DCMotorSystem(frc::DCMotor::KrakenX60FOC(1), rotorInertia, 1), frc::DCMotor::KrakenX60FOC(1)},
-    _falcon{falcon} {
-}
+    _talonFXSim{talonFX.GetSimState()}
+{}
 
 void TalonFXSimProfile::Run() {
     /// DEVICE SPEED SIMULATION
 
-    _motorSim.SetInputVoltage(_falcon.GetSimState().GetMotorVoltage());
+    _motorSim.SetInputVoltage(_talonFXSim.GetMotorVoltage());
 
     _motorSim.Update(GetPeriod());
 
     /// SET SIM PHYSICS INPUTS
     auto const position = _motorSim.GetAngularPosition();
     auto const velocity = _motorSim.GetAngularVelocity();
 
-    _falcon.GetSimState().SetRawRotorPosition(position);
-    _falcon.GetSimState().SetRotorVelocity(velocity);
+    _talonFXSim.SetRawRotorPosition(position);
+    _talonFXSim.SetRotorVelocity(velocity);
 
-    _falcon.GetSimState().SetSupplyVoltage(12_V - _falcon.GetSimState().GetSupplyCurrent() * kMotorResistance);
+    _talonFXSim.SetSupplyVoltage(12_V - _talonFXSim.GetSupplyCurrent() * kMotorResistance);
 }

cpp/MotionMagic/src/main/include/sim/PhysicsSim.h

@@ -25,12 +25,12 @@ class PhysicsSim {
     /**
      * Adds a TalonFX controller to the simulator.
      * 
-     * @param falcon
+     * @param talonFX
      *        The TalonFX device
      * @param rotorInertia
      *        Rotational Inertia of the mechanism at the rotor
      */
-    void AddTalonFX(ctre::phoenix6::hardware::TalonFX& falcon, units::kilogram_square_meter_t rotorInertia);
+    void AddTalonFX(ctre::phoenix6::hardware::TalonFX& talonFX, units::kilogram_square_meter_t rotorInertia);
 
     /**
      * Runs the simulator:

cpp/MotionMagic/src/main/include/sim/TalonFXSimProfile.h

@@ -11,19 +11,19 @@
 class TalonFXSimProfile : public SimProfile {
     static constexpr units::ohm_t kMotorResistance = 2_mOhm; // Assume 2mOhm resistance for voltage drop calculation
     frc::sim::DCMotorSim _motorSim;
-    ctre::phoenix6::hardware::TalonFX& _falcon;
+    ctre::phoenix6::sim::TalonFXSimState& _talonFXSim;
 
 
 public:
     /**
      * Creates a new simulation profile for a TalonFX device.
      * 
-     * @param falcon
+     * @param talonFX
      *                        The TalonFX device
      * @param rotorInertia
      *                        Rotational inertia at the Rotor
      */
-    TalonFXSimProfile(ctre::phoenix6::hardware::TalonFX& falcon, units::kilogram_square_meter_t rotorInertia);
+    TalonFXSimProfile(ctre::phoenix6::hardware::TalonFX& talonFX, units::kilogram_square_meter_t rotorInertia);
 
     /**
      * Runs the simulation profile.

cpp/Simulation/src/main/include/Robot.h

@@ -44,7 +44,7 @@ class Robot : public frc::TimedRobot {
   static constexpr units::inch_t kWheelRadiusInches = 3_in;
 
   frc::sim::DifferentialDrivetrainSim m_driveSim{
-    frc::DCMotor::Falcon500FOC(2),
+    frc::DCMotor::KrakenX60FOC(2),
     kGearRatio,
     2.1_kg_sq_m, // MOI of 2.1 kg m^2 (from CAD model)
     26.5_kg,     // Mass of robot is 26.5 kg

cpp/WaitForAll/src/main/cpp/Robot.cpp

@@ -20,7 +20,7 @@ void Robot::RobotPeriodic() {
   if (m_joystick.GetAButtonPressed()) {
     ctre::phoenix::StatusCode status = ctre::phoenix6::BaseStatusSignal::WaitForAll(m_waitForAllTimeout, m_lotsOfSignals);
     std::cout << "Status of waiting on signals (normal use case): " << status.GetName() << std::endl;
-    for(auto const &sig : m_lotsOfSignals) {
+    for (auto const &sig : m_lotsOfSignals) {
       std::cout << "Signal status: " << sig->GetStatus().GetName() << std::endl;
     }
   }
@@ -29,7 +29,7 @@ void Robot::RobotPeriodic() {
   if (m_joystick.GetBButtonPressed()) {
     ctre::phoenix::StatusCode status = ctre::phoenix6::BaseStatusSignal::WaitForAll(m_waitForAllTimeout, m_signalsAcrossCANbuses);
     std::cout << "Status of waiting on signals across different CAN busses: " << status.GetName() << std::endl;
-    for(auto const& sig : m_signalsAcrossCANbuses) {
+    for (auto const& sig : m_signalsAcrossCANbuses) {
       std::cout << "Signal status: " << sig->GetStatus().GetName() << std::endl;
     }
   }
@@ -38,7 +38,7 @@ void Robot::RobotPeriodic() {
   if (m_joystick.GetYButtonPressed()) {
     ctre::phoenix::StatusCode status = ctre::phoenix6::BaseStatusSignal::WaitForAll(m_waitForAllTimeout, m_noSignals);
     std::cout << "Status of waiting on no signals: " << status.GetName() << std::endl;
-    for(auto const& sig : m_noSignals) {
+    for (auto const& sig : m_noSignals) {
       std::cout << "Signal status: " << sig->GetStatus().GetName() << std::endl;
     }
   }

java/ArcadeDrive/src/main/java/frc/robot/Robot.java

@@ -4,7 +4,7 @@
 
 package frc.robot;
 
-import com.ctre.phoenix6.Utils;
+import com.ctre.phoenix6.CANBus;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.controls.DutyCycleOut;
 import com.ctre.phoenix6.controls.Follower;
@@ -21,11 +21,12 @@
  * project.
  */
 public class Robot extends TimedRobot {
-  private static final String CANBUS_NAME = "canivore";
-  private final TalonFX leftLeader = new TalonFX(1, CANBUS_NAME);
-  private final TalonFX leftFollower = new TalonFX(2, CANBUS_NAME);
-  private final TalonFX rightLeader = new TalonFX(3, CANBUS_NAME);
-  private final TalonFX rightFollower = new TalonFX(4, CANBUS_NAME);
+  private final CANBus kCANBus = new CANBus("canivore");
+
+  private final TalonFX leftLeader = new TalonFX(1, kCANBus);
+  private final TalonFX leftFollower = new TalonFX(2, kCANBus);
+  private final TalonFX rightLeader = new TalonFX(3, kCANBus);
+  private final TalonFX rightFollower = new TalonFX(4, kCANBus);
 
   private final DutyCycleOut leftOut = new DutyCycleOut(0);
   private final DutyCycleOut rightOut = new DutyCycleOut(0);

java/BasicLatencyCompensation/src/main/java/frc/robot/Robot.java

@@ -7,6 +7,7 @@
 import static edu.wpi.first.units.Units.*;
 
 import com.ctre.phoenix6.BaseStatusSignal;
+import com.ctre.phoenix6.CANBus;
 import com.ctre.phoenix6.StatusSignal;
 import com.ctre.phoenix6.controls.DutyCycleOut;
 import com.ctre.phoenix6.hardware.CANcoder;
@@ -25,22 +26,24 @@
  * project.
  */
 public class Robot extends TimedRobot {
-  private static final String CANBUS_NAME = "canivore";
-  private final CANcoder m_cc = new CANcoder(0, CANBUS_NAME);
-  private final TalonFX m_fx = new TalonFX(0, CANBUS_NAME);
-  private final Pigeon2 m_p2 = new Pigeon2(0, CANBUS_NAME);
+  private final CANBus kCANBus = new CANBus("canivore");
+
+  private final CANcoder m_cc = new CANcoder(0, kCANBus);
+  private final TalonFX m_fx = new TalonFX(0, kCANBus);
+  private final Pigeon2 m_p2 = new Pigeon2(0, kCANBus);
+
   private int m_printCount = 0;
 
   private final DutyCycleOut m_dutycycle = new DutyCycleOut(0);
 
   private final XboxController m_joystick = new XboxController(0);
 
-  private final StatusSignal<Angle> m_ccpos = m_cc.getPosition();
-  private final StatusSignal<Angle> m_fxpos = m_fx.getPosition();
-  private final StatusSignal<Angle> m_p2yaw = m_p2.getYaw();
-  private final StatusSignal<AngularVelocity> m_ccvel = m_cc.getVelocity();
-  private final StatusSignal<AngularVelocity> m_fxvel = m_fx.getVelocity();
-  private final StatusSignal<AngularVelocity> m_p2yawRate = m_p2.getAngularVelocityZWorld();
+  private final StatusSignal<Angle> m_ccpos = m_cc.getPosition(false);
+  private final StatusSignal<Angle> m_fxpos = m_fx.getPosition(false);
+  private final StatusSignal<Angle> m_p2yaw = m_p2.getYaw(false);
+  private final StatusSignal<AngularVelocity> m_ccvel = m_cc.getVelocity(false);
+  private final StatusSignal<AngularVelocity> m_fxvel = m_fx.getVelocity(false);
+  private final StatusSignal<AngularVelocity> m_p2yawRate = m_p2.getAngularVelocityZWorld(false);
 
   /**
    * This function is run when the robot is first started up and should be used for any
@@ -64,23 +67,23 @@ public void robotPeriodic() {
     var p2CompensatedYaw = BaseStatusSignal.getLatencyCompensatedValue(m_p2yaw, m_p2yawRate);
 
     /* Print out both values so it shows how they perform */
-    if (m_printCount++ > 10 && m_joystick.getAButton()) {
+    if (++m_printCount >= 10 && m_joystick.getAButton()) {
       m_printCount = 0;
       System.out.printf(
         "CANcoder: Pos: %10.3f - Latency-Compensated: %10.3f - Difference: %6.5f%n", 
-        m_ccpos.getValue().in(Rotations), 
-        ccCompensatedPos.in(Rotations), 
+        m_ccpos.getValue().in(Rotations),
+        ccCompensatedPos.in(Rotations),
         ccCompensatedPos.minus(m_ccpos.getValue()).in(Rotations)
       );
       System.out.printf(
         "Talon FX: Pos: %10.3f - Latency-Compensated: %10.3f - Difference: %6.5f%n", 
-        m_fxpos.getValue().in(Rotations), fxCompensatedPos.in(Rotations), 
+        m_fxpos.getValue().in(Rotations), fxCompensatedPos.in(Rotations),
         fxCompensatedPos.minus(m_fxpos.getValue()).in(Rotations)
       );
       System.out.printf(
         "Pigeon2 : Yaw: %10.3f - Latency-Compensated: %10.3f - Difference: %6.5f%n", 
-        m_p2yaw.getValue().in(Degrees), 
-        p2CompensatedYaw.in(Degrees), 
+        m_p2yaw.getValue().in(Degrees),
+        p2CompensatedYaw.in(Degrees),
         p2CompensatedYaw.minus(m_p2yaw.getValue()).in(Degrees)
       );
       System.out.println();

java/CANcoder/src/main/java/frc/robot/Robot.java

@@ -7,6 +7,7 @@
 import static edu.wpi.first.units.Units.*;
 
 import com.ctre.phoenix6.BaseStatusSignal;
+import com.ctre.phoenix6.CANBus;
 import com.ctre.phoenix6.configs.CANcoderConfiguration;
 import com.ctre.phoenix6.controls.DutyCycleOut;
 import com.ctre.phoenix6.hardware.CANcoder;
@@ -26,9 +27,11 @@
 public class Robot extends TimedRobot {
   private static final double PRINT_PERIOD = 0.5; // Update every 500 ms
 
-  private static final String canBusName = "rio";
-  private final TalonFX talonFX = new TalonFX(2, canBusName);
-  private final CANcoder cancoder = new CANcoder(1, canBusName);
+  private final CANBus kCANBus = new CANBus("rio");
+
+  private final TalonFX talonFX = new TalonFX(2, kCANBus);
+  private final CANcoder cancoder = new CANcoder(1, kCANBus);
+
   private final DutyCycleOut fwdOut = new DutyCycleOut(0);
   private final XboxController controller = new XboxController(0);
 
@@ -67,19 +70,21 @@ public void robotPeriodic() {
       System.out.println("Position is " + pos.toString() + " with " + pos.getTimestamp().getLatency() + " seconds of latency");
 
       /**
-       * Get the velocity StatusSignalValue
+       * Get the velocity StatusSignalValue without refreshing
        */
-      var vel = cancoder.getVelocity();
+      var vel = cancoder.getVelocity(false);
       /* This time wait for the signal to reduce latency */
       vel.waitForUpdate(PRINT_PERIOD); // Wait up to our period
       /**
        * This uses the explicit getValue and getUnits functions to print, even though it's not
        * necessary for the ostream print
        */
-      System.out.println("Velocity is " +
-                         vel.getValue() + " " +
-                         vel.getUnits() + " with " +
-                         vel.getTimestamp().getLatency() + " seconds of latency");
+      System.out.println(
+        "Velocity is " +
+        vel.getValue() + " " +
+        vel.getUnits() + " with " +
+        vel.getTimestamp().getLatency() + " seconds of latency"
+      );
       /**
        * Notice when running this example that the second print's latency is always shorter than the first print's latency.
        * This is because we explicitly wait for the signal using the waitForUpdate() method instead of using the refresh()

java/CANcoder/src/main/java/frc/robot/sim/PhysicsSim.java

@@ -22,7 +22,7 @@ public static PhysicsSim getInstance() {
     /**
      * Adds a TalonFX controller to the simulator.
      * 
-     * @param falcon
+     * @param talonFX
      *        The TalonFX device
      * @param can
      *        The CANcoder device
@@ -31,10 +31,10 @@ public static PhysicsSim getInstance() {
      * @param rotorInertia
      *        Rotational Inertia of the mechanism at the rotor
      */
-    public void addTalonFX(TalonFX falcon, CANcoder can, double gearRatio, final double rotorInertia) {
-        if (falcon != null) {
-            TalonFXSimProfile simFalcon = new TalonFXSimProfile(falcon, can, gearRatio, rotorInertia);
-            _simProfiles.add(simFalcon);
+    public void addTalonFX(TalonFX talonFX, CANcoder can, double gearRatio, final double rotorInertia) {
+        if (talonFX != null) {
+            TalonFXSimProfile simTalonFX = new TalonFXSimProfile(talonFX, can, gearRatio, rotorInertia);
+            _simProfiles.add(simTalonFX);
         }
     }
 

java/CANcoder/src/main/java/frc/robot/sim/TalonFXSimProfile.java

@@ -2,6 +2,7 @@
 
 import com.ctre.phoenix6.hardware.CANcoder;
 import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.sim.TalonFXSimState;
 
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.system.plant.LinearSystemId;
@@ -14,7 +15,7 @@
  */
 class TalonFXSimProfile extends SimProfile {
     private static final double kMotorResistance = 0.002; // Assume 2mOhm resistance for voltage drop calculation
-    private final TalonFX _falcon;
+    private final TalonFXSimState _talonFXSim;
     private final CANcoder _canCoder;
     private final double _gearRatio;
 
@@ -23,7 +24,7 @@ class TalonFXSimProfile extends SimProfile {
     /**
      * Creates a new simulation profile for a TalonFX device.
      *
-     * @param falcon
+     * @param talonFX
      *                        The TalonFX device
      * @param canCoder
      *                        The CANcoder associated with the TalonFX
@@ -32,8 +33,8 @@ class TalonFXSimProfile extends SimProfile {
      * @param rotorInertia
      *                        Rotational Inertia of the mechanism at the rotor
      */
-    public TalonFXSimProfile(final TalonFX falcon, final CANcoder canCoder, final double gearRatio, final double rotorInertia) {
-        this._falcon = falcon;
+    public TalonFXSimProfile(final TalonFX talonFX, final CANcoder canCoder, final double gearRatio, final double rotorInertia) {
+        this._talonFXSim = talonFX.getSimState();
         this._canCoder = canCoder;
         this._gearRatio = gearRatio;
 
@@ -50,18 +51,18 @@ public TalonFXSimProfile(final TalonFX falcon, final CANcoder canCoder, final do
      */
     public void run() {
         // DEVICE SPEED SIMULATION
-        _motorSim.setInputVoltage(_falcon.getSimState().getMotorVoltage());
+        _motorSim.setInputVoltage(_talonFXSim.getMotorVoltage());
 
         _motorSim.update(getPeriod());
 
         // SET SIM PHYSICS INPUTS
         final double position_rot = _motorSim.getAngularPositionRotations() * _gearRatio;
         final double velocity_rps = Units.radiansToRotations(_motorSim.getAngularVelocityRadPerSec()) * _gearRatio;
 
-        _falcon.getSimState().setRawRotorPosition(position_rot);
-        _falcon.getSimState().setRotorVelocity(velocity_rps);
+        _talonFXSim.setRawRotorPosition(position_rot);
+        _talonFXSim.setRotorVelocity(velocity_rps);
 
-        _falcon.getSimState().setSupplyVoltage(12 - _falcon.getSimState().getSupplyCurrent() * kMotorResistance);
+        _talonFXSim.setSupplyVoltage(12 - _talonFXSim.getSupplyCurrent() * kMotorResistance);
 
         _canCoder.getSimState().setRawPosition(position_rot / _gearRatio);
         _canCoder.getSimState().setVelocity(velocity_rps / _gearRatio);