• Fixed SwerveInputStream.allianceRelativeControl
• Prevent crashing midmatch if robot code restarts.
• Added SwerveInputStream.translationHeadingOffset
• Removed gyro zeroing from YAGSL startup. You must now call gyro zero on autonomousInit or use the RobotModeTriggers
• Added RobotModeTriggers.autonomous().onTrue(Commands.runOnce(this::zeroGyroWithAlliance)); to SwerveSubsystem

Full Changelog: 2025.7.0...2025.7.1

What's Changed

• Add optional optimization of module states in drive function that uses feedforward by @clrozeboom in #314
• Make all closable items implement AutoClosable by @kytpbs in #317
• remove useless imports and variables by @kytpbs in #318
• Set IZone of PIDControllers created from PIDFConfigs by @CoffeeCoder1 in #319
• Fix typo by @fletch3555 in #323
• Rev Through bore via DIO by @wackyvert in #325
• stop setMotorBrake from constantly executing by @rakosi2 in #327
• Prevent rotation if controller heading inputs are not past axisDeadband by @MrFast-js in #328
• Renamed SwerveMotor.isAttachedAbsoluteEncoder to SwerveMotor.usingExternalFeedbackSensor.
• Deprecated SwerveDrive.pushOffsetsToEncoders in favor of SwerveDrive.useExternalFeedbackSensor.
• Deprecated SwerveDrive.restoreInternalOffset in favor of SwerveDrive.useInternalFeedbackSensor.
• Updated references from Shuffleboard to any dashboard by @DanPeled
• Fixed Absolute Encoders attached to SparkFlex's.
• Attached absolute encoders are no longer set as the feedback device, must be explicitly called.
• Added SwerveInputStream.driveToPose

New Contributors

• @kytpbs made their first contribution in #317
• @CoffeeCoder1 made their first contribution in #319
• @fletch3555 made their first contribution in #323
• @rakosi2 made their first contribution in #327
• @MrFast-js made their first contribution in #328

Full Changelog: 2025.3.0...2025.7.0

What's Changed

• Null pointer crash when there have been no vision results by @jwt388 in #307
• Adding PigeonViaTalonSRX and attached SparkFlex by @konnorreynolds in #292
• Throw an error when module configs are incorrectly set to 0 by @wackyvert in #308
• Fixed rawAbsoluteEncoder position. by @konnorreynolds in #309

New Contributors

• @konnorreynolds made their first contribution in #292
• @wackyvert made their first contribution in #308

Full Changelog: 2025.2.2...2025.3.0

What's Changed

• Add an option for a Robot Relative drive command by @jwt388 in #303

Fixed swerve/measuredChassisSpeedsto report both vx and vy.

Fixed SwerveInputStream.robotRelative by Team 151

Fixed SwerveDrive.drive fieldOriented parameter to be applied. Bug cuaght by WispySparks from team 2508!

Added SwerveInputStream.headingOffset

Full Changelog: 2025.2.1...2025.2.2

What's Changed

• Spinning mode for drive characterization by @catr1xLiu in #295
• Fix optional absolute encoder for Spark devices by @MetabolicCloth in #298
• Fixed conversion factor application

New Contributors

• @MetabolicCloth made their first contribution in #298

Full Changelog: 2025.2.0...2025.2.1

What's Changed

• Fix getMaxVelocity used in feedforward by @jwt388 in #286
• Maximum speed settings do not allow limiting robot to less than full speed by @clrozeboom in #277
• Sim modules SysId routines & New maple-sim version by @catr1xLiu in #288

Full Changelog: 2025.1.2...2025.2.0

What's Changed

• touched up comments by @yapplejack in #278
• Updated to WPILib 2025.1.1 and all dependencies

Full Changelog: 2025.1.1...2025.1.2

What's Changed

• ThriftyNova updated to 2025 by @clrozeboom in #263

• Fixed telemetry publishing problem. Telemetry is now published under the SmartDashboard network table.
• Throw an error when SparkMAX or SparkFlex configuration changes are done while the robot is enabled.
• Changed example to not set the drive motor idle mode.
• Added ThirftyNova support.
• Added SwerveInputStream.robotRelativeand SwerveInputStream.allianceRelativeControl

Full Changelog: 2025.1.0.1...2025.1.1

What's Changed

• Fix loop time and use field oriented control for driveWithSetpointGenerator by @jwt388 in #271

New Contributors

• @jwt388 made their first contribution in #271
• Added configuration redundancy for SparkMAX, and SparkFlex.
• Added cycle times to telemetry.
• Optimized telemetry to only post settings when SwerveDriveTelemetry.updateSettingsis true.
• Reduced retry delay for SparkMAX and SparkFlex to 5ms from 10ms.
• Reduced on the fly configuration delay to 10ms from 100ms.
• Added warning for on the fly configuration delay past init.
• Fixed SimpleMotorFeedForward.calculateto use only the velocity. This ignores acceleration unfortunately.
• Changed SmartDashboard.put to NT4 Publishers
• Removed IMUVelocityin favor of using library velocity fetches.
• Renamed SwerveIMU.getRate()-> SwerveIMU.getYawAngularVelocity()and made it return an AngularVelocityobject.
• Added SwerveInputStreamobject for easy controller conversions.

Full Changelog: 2025.1.0...2025.1.0.1

What's Changed

• maple-sim new version by @catr1xLiu in #262
• Fixed vision file null-ptr exception.
• Updated to Maple-Sim 0.2.4; added SwerveDrive.getMapleSimDrive() by @catr1xLiu in [#262](https://github.com/BroncBotz3481/YAGSL-* Example/pull/262)
• Fixed spark max brushed motor controller encoder null-ptr exceptions
• Fixed SwerveMath.scaleTranslationissue
• Fixed Visionupdate with resultListscheck by @jwt388 FRC Team 151
• Changed SwerveDrive.getMaximumVelocity()-> SwerveDrive.getMaximumChassisVelocity()
• Changed SwerveDrive.getMaximumAngularVelocity() -> SwerveDrive.getMaximumChassisAngularVelocity()
• Used known motor types to calculate the drive motor feedforward.
• Extended the parser to know the motor type attached to the motor controller. (Except brushed)
• Separated chassis maximum velocity from module maximum velocity.
• Added navx_mxp_serial back.
• Added motor specifiers krakenx60foc, krakenx60, falcon500foc, falcon500, sparkmax_neo550, sparkmax_neo, sparkflex_neo, sparkflex_vortex, sparkflex_neo550
• Create the drive motor feedforward in SwerveModule constructor.
• Added module max speeds to SwerveModule.maxDriveVelocity and SwerveModule.maxAngularVelocity
• Updated the web configuration

Full Changelog: 2025.0.0...2025.1.0