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Support Thrifty Novas again with the YAMS NovaWrapper - #58
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YAMS 2026.10.09 ships NovaWrapper again, built on ThriftyLib 2027. Ports ThriftyBotDevices to the ThriftyLib 2027 API (com.thrifty.*) and the YAMS NovaWrapper, picks the Nova motor type from the configured motor, and passes an attached absolute encoder to NovaWrapper as FeedbackSensorType.ABS so it can be used as the external feedback encoder. Attached analog encoders are now supported too. Builds ThriftyBotDevices again, adds the ThriftyLib vendordep, requires ThriftyLib in the generated YAGSL vendordeps, and bumps YAMS to 2026.10.09. Adds a test that builds a swerve drive on Novas with attached absolute encoders. Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
…scriptions in JSON and schemas. Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
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YAMS 2026.10.09 ships
NovaWrapperagain (built on ThriftyLib 2027), so YAGSL can drive Thrifty Novas again.Changes
ThriftyBotDevicesported to the ThriftyLib 2027 API (com.thrifty.*) andyams.core.motorcontrollers.local.NovaWrapper.nova_minion→ MINION,nova_pulsar→ PULSAR, otherwise NEO.NovaWrapperasFeedbackSensorType.ABSso it can be the external feedback encoder.analogencoders are now supported.CanEncoder.ReflectionsManagerchecks forcom.thrifty.nova.Novato detect ThriftyLib.ThriftyBotDevicesandNovaWrapperare no longer excluded from the vendordep or example builds.ThriftyLib-2027.0.0-alpha-5.jsontovendordep/vendordepsand both examples.Notes
canbusvalues must be empty or a numeric bus ID; ThriftyLib doesn't take bus names.Testing
SwerveParserNovaTestbuilds a full swerve drive withnova_neodrive,nova_minionazimuth andrevthroughbore_attachedabsolute encoders../gradlew testandverifyVendordepJsonspass invendordep/; both examples compile.