3061 Lib v2024.1.0

This is a minor release for the 2024 Crescendo season.

We are now moving to the frc-software-2024 repository, which is also publicly accessible. The intention is that 3061-lib contains features that may be relevant to any FRC game, while frc-software-2024 will contain features specific to Crescendo. It we find significant issues, we will fix them in both repositories.

The changes since the v2024.0.0 release are categorized by topic in rough order of significance.

Drivetrain Subsystem

• add support for driving while facing a specified angle via the TeleopSwerve command class
• tune VelocityTorqueCurrentFOC control for swerve drive motors

Autonomous

• add sample Choreo path integrated with PathPlanner

LED Subsystem

• add controller-independent LED singleton with support for controlling LEDs from the roboRIO or CANdle

What's Changed

• Tune VelocityTorqueCurrentFOC Control by @gcschmit in #89
• add LED support by @gcschmit in #82
• Practice bot config by @tyler51 in #90
• add pattern when not yet assigned an alliance by @gcschmit in #91
• add sample Choreo path by @gcschmit in #80
• restore swerve constants and current robot constant by @gcschmit in #92
• Offsets for practice robot by @tyler51 in #93
• add drive while facing angle feature by @gcschmit in #78

New Contributors

• @tyler51 made their first contribution in #90

Full Changelog: v2024.0.0...v2024.1.0