Alert fix

examples/drivebase_only_2026/src/main/deploy/swerve/falcon/modules/backleft.json

@@ -1,4 +1,15 @@
 {
+  "conversionFactors": {
+    "angle": {
+      "gearRatio": 1.4285714286,
+      "factor": 0
+    },
+    "drive": {
+      "gearRatio": 8.14,
+      "diameter": 4,
+      "factor": 0
+    }
+  },
   "drive": {
     "type": "talonfx",
     "id": 4,

yagsl/java/swervelib/SwerveDrive.java

@@ -36,7 +36,6 @@
 import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.units.measure.Force;
 import edu.wpi.first.units.measure.LinearVelocity;
-import edu.wpi.first.wpilibj.Alert;
 import edu.wpi.first.wpilibj.Alert.AlertType;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Notifier;
@@ -51,19 +50,18 @@
 import java.util.Optional;
 import java.util.concurrent.locks.Lock;
 import java.util.concurrent.locks.ReentrantLock;
-import swervelib.parser.deserializer.ReflectionsManager;
-import swervelib.parser.deserializer.ReflectionsManager.VENDOR;
-import swervelib.simulation.ironmaple.simulation.SimulatedArena;
-import swervelib.simulation.ironmaple.simulation.drivesims.AbstractDriveTrainSimulation;
-import swervelib.simulation.ironmaple.simulation.drivesims.SwerveDriveSimulation;
-import swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig;
-import swervelib.simulation.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig;
 import swervelib.imu.SwerveIMU;
 import swervelib.math.SwerveMath;
 import swervelib.parser.Cache;
 import swervelib.parser.SwerveControllerConfiguration;
 import swervelib.parser.SwerveDriveConfiguration;
 import swervelib.simulation.SwerveIMUSimulation;
+import swervelib.simulation.ironmaple.simulation.SimulatedArena;
+import swervelib.simulation.ironmaple.simulation.drivesims.AbstractDriveTrainSimulation;
+import swervelib.simulation.ironmaple.simulation.drivesims.SwerveDriveSimulation;
+import swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig;
+import swervelib.simulation.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig;
+import swervelib.telemetry.Alert;
 import swervelib.telemetry.SwerveDriveTelemetry;
 import swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity;
 

yagsl/java/swervelib/SwerveModule.java

@@ -14,7 +14,6 @@
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.units.measure.LinearVelocity;
-import edu.wpi.first.wpilibj.Alert;
 import edu.wpi.first.wpilibj.Alert.AlertType;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import swervelib.encoders.SparkMaxEncoderSwerve;
@@ -28,6 +27,7 @@
 import swervelib.parser.SwerveModuleConfiguration;
 import swervelib.parser.SwerveModulePhysicalCharacteristics;
 import swervelib.simulation.SwerveModuleSimulation;
+import swervelib.telemetry.Alert;
 import swervelib.telemetry.SwerveDriveTelemetry;
 import swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity;
 

yagsl/java/swervelib/encoders/AnalogAbsoluteEncoderSwerve.java

@@ -1,9 +1,9 @@
 package swervelib.encoders;
 
-import edu.wpi.first.wpilibj.Alert;
 import edu.wpi.first.wpilibj.Alert.AlertType;
 import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.RobotController;
+import swervelib.telemetry.Alert;
 
 /**
  * Swerve Absolute Encoder for Thrifty Encoders and other analog encoders.

yagsl/java/swervelib/encoders/DIODutyCycleEncoderSwerve.java

@@ -1,9 +1,9 @@
 package swervelib.encoders;
 
-import edu.wpi.first.wpilibj.Alert;
 import edu.wpi.first.wpilibj.Alert.AlertType;
 import edu.wpi.first.wpilibj.DutyCycleEncoder;
 import edu.wpi.first.wpilibj.Timer;
+import swervelib.telemetry.Alert;
 
 /**
  * DutyCycle encoders such as "US Digital MA3 with DIO Output, the CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag

yagsl/java/swervelib/encoders/SparkMaxEncoderSwerve.java

@@ -5,12 +5,12 @@
 import com.revrobotics.spark.SparkAbsoluteEncoder;
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.config.SparkMaxConfig;
-import edu.wpi.first.wpilibj.Alert;
 import edu.wpi.first.wpilibj.Alert.AlertType;
 import java.util.function.Supplier;
 import swervelib.motors.SparkMaxBrushedMotorSwerve;
 import swervelib.motors.SparkMaxSwerve;
 import swervelib.motors.SwerveMotor;
+import swervelib.telemetry.Alert;
 
 /**
  * SparkMax absolute encoder, attached through the data port.

yagsl/java/swervelib/imu/NavX3Swerve.java

@@ -1,18 +1,15 @@
 package swervelib.imu;
 
-import static edu.wpi.first.units.Units.Degree;
 import static edu.wpi.first.units.Units.DegreesPerSecond;
-import static edu.wpi.first.units.Units.Milliseconds;
 
 import com.studica.frc.Navx;
 import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.units.measure.MutAngularVelocity;
-import edu.wpi.first.wpilibj.Alert;
 import edu.wpi.first.wpilibj.Alert.AlertType;
-import edu.wpi.first.wpilibj.Timer;
 import java.util.Optional;
+import swervelib.telemetry.Alert;
 
 /**
  * Communicates with the NavX({@link Navx}) as the IMU.

yagsl/java/swervelib/imu/NavXSwerve.java

@@ -7,9 +7,9 @@
 import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.units.measure.MutAngularVelocity;
-import edu.wpi.first.wpilibj.Alert;
 import edu.wpi.first.wpilibj.Alert.AlertType;
 import java.util.Optional;
+import swervelib.telemetry.Alert;
 
 /**
  * Communicates with the NavX({@link AHRS}) as the IMU.

yagsl/java/swervelib/motors/SparkFlexSwerve.java

@@ -17,14 +17,14 @@
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 import com.revrobotics.spark.config.SparkFlexConfig;
 import edu.wpi.first.math.system.plant.DCMotor;
-import edu.wpi.first.wpilibj.Alert;
 import edu.wpi.first.wpilibj.Alert.AlertType;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Timer;
 import java.util.Optional;
 import java.util.function.Supplier;
 import swervelib.encoders.SwerveAbsoluteEncoder;
 import swervelib.parser.PIDFConfig;
+import swervelib.telemetry.Alert;
 import swervelib.telemetry.SwerveDriveTelemetry;
 
 /**

yagsl/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java

@@ -16,7 +16,6 @@
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 import com.revrobotics.spark.config.SparkMaxConfig;
 import edu.wpi.first.math.system.plant.DCMotor;
-import edu.wpi.first.wpilibj.Alert;
 import edu.wpi.first.wpilibj.Alert.AlertType;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Timer;
@@ -26,6 +25,7 @@
 import swervelib.encoders.SparkMaxEncoderSwerve;
 import swervelib.encoders.SwerveAbsoluteEncoder;
 import swervelib.parser.PIDFConfig;
+import swervelib.telemetry.Alert;
 import swervelib.telemetry.SwerveDriveTelemetry;
 
 /**

yagsl/java/swervelib/parser/json/PhysicalPropertiesJson.java

@@ -3,8 +3,6 @@
 import static edu.wpi.first.units.Units.Kilogram;
 import static edu.wpi.first.units.Units.Pounds;
 
-import edu.wpi.first.wpilibj.Alert;
-import edu.wpi.first.wpilibj.Alert.AlertType;
 import swervelib.parser.SwerveModulePhysicalCharacteristics;
 import swervelib.parser.json.modules.ConversionFactorsJson;
 

yagsl/java/swervelib/telemetry/Alert.java

@@ -0,0 +1,90 @@
+package swervelib.telemetry;
+
+import edu.wpi.first.wpilibj.Alert.AlertType;
+import edu.wpi.first.wpilibj.DriverStation;
+
+/**
+ * Thread-safe psuedo-Alert class
+ */
+public class Alert
+{
+
+  /**
+   * Group of the alert
+   */
+  public final String    group;
+  /**
+   * Text of the alert
+   */
+  private String text;
+  /**
+   * Type of the alert
+   */
+  public final AlertType type;
+  private      boolean   toggle = false;
+
+  /**
+   * Create a new Alert
+   *
+   * @param group Group of the alert
+   * @param text  Text of the alert
+   * @param type  Type of the alert
+   */
+  public Alert(String group, String text, AlertType type)
+  {
+    this.group = group;
+    this.text = text;
+    this.type = type;
+  }
+
+  /**
+   * Create a new Alert
+   *
+   * @param text Text of the alert
+   * @param type Type of the alert
+   */
+  public Alert(String text, AlertType type)
+  {
+    this("", text, type);
+  }
+
+
+  /**
+   * Toggle the alert
+   *
+   * @param toggle
+   */
+  public void set(boolean toggle)
+  {
+    this.toggle = toggle;
+    if (toggle)
+    {
+      String msg = "[" + group + "] " + text;
+      switch (type)
+      {
+        case kError:
+          DriverStation.reportError(msg, toggle);
+          break;
+        case kInfo:
+        case kWarning:
+          DriverStation.reportWarning(msg, toggle);
+          break;
+      }
+    }
+  }
+
+  /***
+   * Set the text of the alert
+   * @param text Text of the alert
+   */
+  public void setText(String text)
+  {
+    this.text = text;
+  }
+
+  /// Does nothing
+  public void close()
+  {
+    set(false);
+  }
+}

yagsl/java/swervelib/telemetry/SwerveDriveTelemetry.java

@@ -9,7 +9,6 @@
 import edu.wpi.first.networktables.StringPublisher;
 import edu.wpi.first.networktables.StructArrayPublisher;
 import edu.wpi.first.networktables.StructPublisher;
-import edu.wpi.first.wpilibj.Alert;
 import edu.wpi.first.wpilibj.Alert.AlertType;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.RobotBase;