Skip to content

ThriftyLib.md

Latest commit

 

History

History
93 lines (62 loc) · 3.12 KB

ThriftyLib.md

File metadata and controls

93 lines (62 loc) · 3.12 KB
Raw

2027 ThriftyBot Beta Software

ThriftyLib API (v2027.0.0)

Installation

To use the 2027 Beta, use following URL:

Vendor JSON URL:

https://docs.home.thethriftybot.com/software/thriftylib/ThriftyLib-2027-2027.0.0-alpha-1.json

Migration Guide (v2026 → v2027)

NOTE: The 2027 ThriftyLib API has been rewritten from the ground up. Our focus was on making the integration of new products as simple as possible for the end user. We recomend treating this as a new product and start out by reading our docs at our new docs site. API documentation can also be found here.

ThriftyLib Docs Alpha

1. Nova object

The class name has been changed from ThriftyNova to Nova. Methods have been reorganized into categories found within the Nova object. These can be accessed from .control(), configure() and status().

Each category then contains methods that pertain to this subject. Think of this in the way of "What do I want to do with the Nova?"

"Set controls" -> control() "Set configs' -> configure() "Check the current ..." -> status()

For more information checkout the new documentation

2. Package Reorganization

For all nova related functions you will need the following imports.

import com.thrifty.nova.*;
import com.thrifty.core.Motor;

3. New Configuration Pattern

Configurations have been reworked to combine how both single and multiple configurations are added.

import com.thrifty.nova.NovaConfig;
Nova motor = new Nova(0, 1); // Bus id = 0, CAN ID = 1

motor.configure(
    NovaConfig.inverted(true),
    NovaConfig.brakeMode(false)
);

The configure() method accepts an array of NovaConfigs. This array can be made directly inside of the configure method.

Batch configs can also be created and applied to many objects through a NovaConfigBatch.

NovaConfigBatch drivetrainDefaults = new NovaConfigBatch(
    NovaConfig.brakeMode(true),
    NovaConfig.statorCurrent(40),
    NovaConfig.supplyCurrent(30),
    NovaConfig.rampForward(200),
    NovaConfig.rampReverse(200)
);

motor.configure(drivetrainDefaults);

ThriftyConfig App (v2027.0.0-beta.1)

Download for Windows

Key Features:

  • Swerve Project Generator
  • Multi-controller Graphing and control
  • Nova Configuration over CAN

Nova Firmware (v2027.0.0-beta.1)

Download Firmware Required for 2027 API and App features.

System Requirements

  • Windows 10 or later (64-bit)
  • macOS support is planned for a future release

Additional Resources