REVLib v2025.0.0 Beta 1 Release

This is the first beta release of REVLib for the 2025 FRC season. This initial release only includes changes for Java and C++. An update for LabVIEW will come at a later time.

This release requires WPILib 2025.1.1-beta-1 and SPARK MAX/Flex firmware v25.0.0 which can be downloaded and installed via the REV Hardware Client v1.6.7 Beta.

An offline installer for Java/C++ can be found here.

API documentation:

• Javadocs
• C++ docs

Major Changes

• Moves to a more declarative approach for configuring SPARK devices
  • Adds SparkFlexConfig and SparkMaxConfig which includes settings for different aspects of the SPARK
  • Adds SparkBase.configure() method to apply a SPARK config object's settings to one or more SPARK devices
• Adds support for MAXMotion
  • Adds control types MAXMotionPositionControl and MAXMotionVelocityControl
  • Adds MAXMotionConfig. Only trapezoidal profile is available at this time.
  • MAXMotion is not a drop-in replacement for Smart Motion, as you will need to retune PID gains.
• Adds better support for simulation
  • Moves away from REVPhysicsSim to offer better support for WPILib physics simulation instead
  • Revamps simulation GUI data, including brand new fields for auxiliary devices
  • Adds Sim classes for each auxiliary device, allowing for more thorough simulation in the WPILib injection style
  • Adds SparkSim.iterate() method which features simulated current limits, closed-loop control, and more
  • Adds SparkSimFaultManager for throwing simulated faults
• Improves experience with managing status signals from SPARK devices
  • Adds SignalsConfig
  • Automatically enables relevant status frames if a signal is requested by the user
• Adds a configAccessor field to SPARK classes for reading configuration parameters directly from the device

Breaking Changes

• Renames CANSparkFlex and CANSparkMax to SparkFlex and SparkMax respectively
• Renames SparkPIDController to SparkClosedLoopController
• Removes configuration parameter setter/getter methods. Use SparkBase.configure() and SparkBase.configAccessor instead.
• Removes burnFlash() and restoreFactoryDefaults(). Use the ResetMode and PersistMode options in SparkBase.configure() instead.
• Removes REVPhysicsSim in favor of new simulation system
• Moves all SPARK related classes into a spark package in Java and namespace in C++

Other Changes

• Deprecates kSmartMotion and SmartVelocity control types in favor of MAXMotionPositionControl and MAXMotionVelocityControl respectively.
• Adds pauseFollowerMode() and resumeFollowerMode()
• Allows follower mode to work even if the follower is not referenced in user code
• Improves getting faults/warnings by returning a Faults or Warnings object
• Adds hasActiveFault(), hasStickyFault(), hasActiveWarning(), and hasStickyWarning() to check if there is a fault/warning present at all on the SPARK device
• Adds support for specifying an absolute encoder's duty cycle start and end pulse widths in AbsoluteEncoderConfig