band-aid solution to updating rev sim to 2025

simulation/SyntheSimJava/build.gradle

@@ -33,14 +33,14 @@ repositories {
 
     // KAUAI
     maven {
-        url "https://dev.studica.com/maven/release/2024/"
+        url "https://dev.studica.com/maven/release/2025/"
     }
 }
 
-def WPI_Version = '2024.3.2'
-def REV_Version = '2024.2.4'
-def CTRE_Version = '24.3.0'
-def KAUAI_Version = '2024.1.0'
+def WPI_Version = '2025.1.1'
+def REV_Version = '2025.0.0'
+def CTRE_Version = '25.1.0'
+def KAUAI_Version = '2025.1.1-beta-1'
 
 dependencies {
     // This dependency is exported to consumers, that is to say found on their compile classpath.
@@ -52,6 +52,7 @@ dependencies {
     // WPILib
     implementation "edu.wpi.first.wpilibj:wpilibj-java:$WPI_Version"
     implementation "edu.wpi.first.wpiutil:wpiutil-java:$WPI_Version"
+    implementation "edu.wpi.first.wpiunits:wpiunits-java:$WPI_Version"
     implementation "edu.wpi.first.hal:hal-java:$WPI_Version"
 
     // REVRobotics
@@ -61,7 +62,7 @@ dependencies {
     implementation "com.ctre.phoenix6:wpiapi-java:$CTRE_Version"
 
     // KAUAI
-    implementation "com.kauailabs.navx.frc:navx-frc-java:$KAUAI_Version"
+    implementation "com.kauailabs.navx.frc:navx_frc-java:$KAUAI_Version"
 }
 
 java {

simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/CANEncoder.java

@@ -31,7 +31,6 @@ public CANEncoder(String name, int deviceId) {
         m_init = m_device.createBoolean("init", Direction.kOutput, true);
         m_position = m_device.createDouble("position", Direction.kInput, 0.0);
         m_velocity = m_device.createDouble("velocity", Direction.kInput, 0.0);
-
         m_init.set(true);
     }
 

simulation/SyntheSimJava/src/main/java/com/autodesk/synthesis/ctre/TalonFX.java

@@ -3,7 +3,7 @@
 import com.autodesk.synthesis.CANEncoder;
 import com.autodesk.synthesis.CANMotor;
 import com.ctre.phoenix6.signals.NeutralModeValue;
-import com.ctre.phoenix6.StatusSignal;
+import com.ctre.phoenix6.StatusCode;
 import com.ctre.phoenix6.configs.TalonFXConfigurator;
 import com.ctre.phoenix6.hardware.DeviceIdentifier;
 
@@ -23,35 +23,18 @@ public TalonFX(int deviceNumber) {
         this.m_encoder = new CANEncoder("SYN TalonFX", deviceNumber);
     }
 
-    /**
-     * Sets the torque of the real and simulated motors
-     *
-     * @param percentOutput The torque
-     */
     @Override
     public void set(double percentOutput) {
         super.set(percentOutput);
         this.m_motor.setPercentOutput(percentOutput);
     }
 
-    /**
-     * Sets both the real and simulated motors to neutral mode
-     *
-     * @param mode The neutral mode value
-     *
-     */
     @Override
-    public void setNeutralMode(NeutralModeValue mode) {
-        super.setNeutralMode(mode);
-
+    public StatusCode setNeutralMode(NeutralModeValue mode) {
         this.m_motor.setBrakeMode(mode == NeutralModeValue.Brake);
+        return super.setNeutralMode(mode);
     }
 
-    /**
-     * Gets and internal configurator for both the simulated and real motors
-     *
-     * @return The internal configurator for this Talon motor
-     */
     @Override
     public TalonFXConfigurator getConfigurator() {
         DeviceIdentifier id = this.deviceIdentifier;
@@ -63,27 +46,11 @@ public void setNeutralDeadband(double deadband) {
         this.m_motor.setNeutralDeadband(deadband);
     }
 
-    /**
-     * Gets the position of the simulated encoder
-     *
-     * @return The motor position in revolutions
-     */
-    @Override
-    public StatusSignal<Double> getPosition() {
-        Double pos = this.m_encoder.getPosition();
-        super.setPosition(pos);
-        return super.getPosition();
+    public double getPositionSim() {
+        return this.m_encoder.getPosition();
     }
 
-    /**
-     * Gets the velocity of the simulated motor according to the simulated encoder
-     *
-     * @return The motor velocity in revolutions per second
-     */
-    @Override
-    public StatusSignal<Double> getVelocity() {
-        Double velocity = this.m_encoder.getVelocity();
-        super.set(velocity);
-        return super.getVelocity();
+    public double getVelocitySim() {
+        return this.m_encoder.getVelocity();
     }
 }