other changes between versions

src/main/java/frc/robot/RobotContainer.java

@@ -103,24 +103,23 @@ public RobotContainer() {
         break;
     }
 
-    // Set up named commands for PathPlanner
+    // Set up auto routines
     NamedCommands.registerCommand(
         "Run Flywheel",
         Commands.startEnd(
-            () -> flywheel.runVelocity(flywheelSpeedInput.get()), flywheel::stop, flywheel));
-
-    // Set up auto routines
+                () -> flywheel.runVelocity(flywheelSpeedInput.get()), flywheel::stop, flywheel)
+            .withTimeout(5.0));
     autoChooser = new LoggedDashboardChooser<>("Auto Choices", AutoBuilder.buildAutoChooser());
 
-    // Set up FF characterization routines
+    // Set up feedforward characterization
     autoChooser.addOption(
         "Drive FF Characterization",
         new FeedForwardCharacterization(
             drive, drive::runCharacterizationVolts, drive::getCharacterizationVelocity));
     autoChooser.addOption(
         "Flywheel FF Characterization",
         new FeedForwardCharacterization(
-            flywheel, flywheel::runCharacterizationVolts, flywheel::getCharacterizationVelocity));
+            flywheel, flywheel::runVolts, flywheel::getCharacterizationVelocity));
 
     // Configure the button bindings
     configureButtonBindings();

src/main/java/frc/robot/subsystems/drive/Drive.java

@@ -28,6 +28,7 @@
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.util.LocalADStarAK;
 import java.util.concurrent.locks.Lock;
@@ -72,6 +73,9 @@ public Drive(
         this::runVelocity,
         new HolonomicPathFollowerConfig(
             MAX_LINEAR_SPEED, DRIVE_BASE_RADIUS, new ReplanningConfig()),
+        () ->
+            DriverStation.getAlliance().isPresent()
+                && DriverStation.getAlliance().get() == Alliance.Red,
         this);
     Pathfinding.setPathfinder(new LocalADStarAK());
     PathPlannerLogging.setLogActivePathCallback(

src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java

@@ -27,7 +27,7 @@ public class GyroIOPigeon2 implements GyroIO {
   private final Pigeon2 pigeon = new Pigeon2(20);
   private final StatusSignal<Double> yaw = pigeon.getYaw();
   private final Queue<Double> yawPositionQueue;
-  private final StatusSignal<Double> yawVelocity = pigeon.getAngularVelocityZ();
+  private final StatusSignal<Double> yawVelocity = pigeon.getAngularVelocityZWorld();
 
   public GyroIOPigeon2(boolean phoenixDrive) {
     pigeon.getConfigurator().apply(new Pigeon2Configuration());

src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java

@@ -13,10 +13,10 @@
 
 package frc.robot.subsystems.drive;
 
+import com.revrobotics.CANSparkBase.IdleMode;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.revrobotics.CANSparkLowLevel.PeriodicFrame;
 import com.revrobotics.CANSparkMax;
-import com.revrobotics.CANSparkMax.IdleMode;
-import com.revrobotics.CANSparkMaxLowLevel.MotorType;
-import com.revrobotics.CANSparkMaxLowLevel.PeriodicFrame;
 import com.revrobotics.RelativeEncoder;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.util.Units;

src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java

@@ -14,9 +14,9 @@
 package frc.robot.subsystems.drive;
 
 import com.ctre.phoenix6.BaseStatusSignal;
+import com.ctre.phoenix6.CANBus;
 import com.ctre.phoenix6.StatusSignal;
 import com.ctre.phoenix6.hardware.ParentDevice;
-import com.ctre.phoenix6.unmanaged.Unmanaged;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Queue;
@@ -59,7 +59,7 @@ public Queue<Double> registerSignal(ParentDevice device, StatusSignal<Double> si
     signalsLock.lock();
     Drive.odometryLock.lock();
     try {
-      isCANFD = Unmanaged.isNetworkFD(device.getNetwork());
+      isCANFD = CANBus.isNetworkFD(device.getNetwork());
       BaseStatusSignal[] newSignals = new BaseStatusSignal[signals.length + 1];
       System.arraycopy(signals, 0, newSignals, 0, signals.length);
       newSignals[signals.length] = signal;

src/main/java/frc/robot/subsystems/flywheel/Flywheel.java

@@ -53,6 +53,11 @@ public void periodic() {
     Logger.processInputs("Flywheel", inputs);
   }
 
+  /** Run open loop at the specified voltage. */
+  public void runVolts(double volts) {
+    io.setVoltage(volts);
+  }
+
   /** Run closed loop at the specified velocity. */
   public void runVelocity(double velocityRPM) {
     var velocityRadPerSec = Units.rotationsPerMinuteToRadiansPerSecond(velocityRPM);
@@ -73,12 +78,7 @@ public double getVelocityRPM() {
     return Units.radiansPerSecondToRotationsPerMinute(inputs.velocityRadPerSec);
   }
 
-  /** Runs forwards at the commanded voltage. */
-  public void runCharacterizationVolts(double volts) {
-    io.setVoltage(volts);
-  }
-
-  /** Returns the average drive velocity in radians/sec. */
+  /** Returns the current velocity in radians per second. */
   public double getCharacterizationVelocity() {
     return inputs.velocityRadPerSec;
   }

src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSparkMax.java

@@ -13,21 +13,25 @@
 
 package frc.robot.subsystems.flywheel;
 
+import com.revrobotics.CANSparkBase.ControlType;
+import com.revrobotics.CANSparkLowLevel.MotorType;
 import com.revrobotics.CANSparkMax;
-import com.revrobotics.CANSparkMax.ControlType;
-import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 import com.revrobotics.RelativeEncoder;
-import com.revrobotics.SparkMaxPIDController;
-import com.revrobotics.SparkMaxPIDController.ArbFFUnits;
+import com.revrobotics.SparkPIDController;
+import com.revrobotics.SparkPIDController.ArbFFUnits;
 import edu.wpi.first.math.util.Units;
 
+/**
+ * NOTE: To use the Spark Flex / NEO Vortex, replace all instances of "CANSparkMax" with
+ * "CANSparkFlex".
+ */
 public class FlywheelIOSparkMax implements FlywheelIO {
   private static final double GEAR_RATIO = 1.5;
 
   private final CANSparkMax leader = new CANSparkMax(0, MotorType.kBrushless);
   private final CANSparkMax follower = new CANSparkMax(1, MotorType.kBrushless);
   private final RelativeEncoder encoder = leader.getEncoder();
-  private final SparkMaxPIDController pid = leader.getPIDController();
+  private final SparkPIDController pid = leader.getPIDController();
 
   public FlywheelIOSparkMax() {
     leader.restoreFactoryDefaults();