Changelog & Release Notes

All notable changes to MARSLib will be documented in this file.

[Unreleased]

🆕 New Features

Interactive Website Components

• Code Playground - Interactive code editor with real MARSLib examples.
• 3D Field Visualizer - Three.js-based field visualization with official dimensions.
• Performance Dashboard - WPILog analysis and bottleneck identification.
• structure Diagrams - Visual system structure and data flow diagrams.

Enhanced Documentation

• Developer onboarding guides (6 new documents)
• Advanced topics series (5 new documents)
• Operational guides (5 new documents)
• API reference hub.
• Migration guides (WPILib, CTRE)
• Patterns cookbook.
• Competition checklist.

Performance Testing

• JMH benchmark framework.
• Performance regression detection.
• Load testing infrastructure.
• Automated CI/CD integration.

📈 Documentation Improvements

• 80+ pages of complete documentation.
• Interactive tutorials with step-by-step guides.
• Copy-to-clipboard buttons on all code blocks.
• Tag system for tutorials.
• Related content recommendations.

🧪 Testing Enhancements

• Digital Twin testing philosophy setup.
• 80% code coverage threshold.
• Zero-allocation testing patterns.
• Performance baseline tracking.

---

[2024.3.0] - 2024-03-15

🆕 New Features

Swerve Drive System

• Improved Odometry - More accurate pose estimation with vision integration.
• Feedforward Optimization - Better velocity tracking with adaptive feedforward.
• Steering Constraints - Configurable steering angle limits.
• Fault Detection - Automatic detection of module disconnects.

Vision System

• PhotonVision Integration - Enhanced camera calibration.
• Multi-Camera Support - Seamless switching between multiple cameras.
• Pose Estimator - Improved vision pose estimation with kalman filtering.

Mechanisms

• Zero-Allocation PID - Memory-efficient PID controller.
• Motion Profiling - Built-in trapezoidal motion profiles.
• Software Limits - Configurable soft and hard limits.

📈 Documentation Improvements

• Added elite techniques tutorials.
• Expanded state machine documentation.
• New zero-allocation programming guide.
• Performance tuning guide.

🐛 Bug Fixes

• Fixed odometry drift in long auto routines.
• Corrected PID feedforward calculation.
• Fixed memory leaks in vision subsystem.
• Resolved state machine race conditions.

⚡ Performance Improvements

• 20% reduction in swerve drive periodic time.
• 15% reduction in memory allocations.
• Faster vision pose estimation.
• Optimized state machine transitions.

---

[2024.2.0] - 2024-02-01

🆕 New Features

State Machine System

• Declarative API - Easy-to-use state machine builder.
• Hierarchical States - Support for nested state machines.
• State Persistence - Automatic state saving across modes.
• Transition Logging - Full logging of state transitions.

Power Management

• Smart Power Shedding - Automatic power management during brownouts.
• Configurable Priorities - Subsystem-based power priorities.
• Telemetry - Real-time power monitoring.

Testing Framework

• MARS Test Harness - Centralized test infrastructure.
• Physics Simulation - Built-in physics engine.
• Digital IO Layer - Simulated hardware for testing.

📈 Documentation Improvements

• Zero-to-Hero tutorial series.
• Framework structure documentation.
• Testing philosophy guide.
• Digital Twin testing guide.

🐛 Bug Fixes

• Fixed state machine initialization.
• Corrected power shedding thresholds.
• Fixed test harness timing issues.
• Resolved simulation physics drift.

⚡ Performance Improvements

• Zero-allocation state machine transitions.
• Optimized power management calculations.
• Faster test execution.

---

[2024.1.0] - 2024-01-15

🆕 New Features (Initial Release)

Core Systems

• Swerve Drive - Full-featured swerve drive system.
• Vision Integration - AprilTag and object detection.
• Mechanisms - PID-controlled mechanisms.
• State Machines - Declarative state management.

IO Abstraction

• Hardware Abstraction - Clean separation of logic and hardware.
• Simulation Support - Full physics simulation.
• AdvantageKit Integration - complete logging.

Testing

• Unit Tests - JUnit-based unit testing.
• Integration Tests - Digital Twin testing approach.
• Physics Tests - Physics validation tests.

Documentation

• Getting Started Guide.
• API Documentation.
• Tutorial Series.
• Example Code

---

Versioning Policy

MARSLib follows Semantic Versioning 2.0.0:

• MAJOR version - Incompatible API changes.
• MINOR version - Backwards-compatible functionality additions.
• PATCH version - Backwards-compatible bug fixes.

Release Schedule

• MAJOR releases - Annually (typically kickoff season)
• MINOR releases - Monthly during competition season.
• PATCH releases - As needed for critical fixes.

Support Policy

• Current major version: Full support.
• Previous major version: Security updates only.
• Older versions: No support.

---

Migration Guides

Upgrading from 2024.2.0 to 2024.3.0

Swerve Drive Changes

Before:

SwerveDrive drive = new SwerveDrive(modules, gyroIO, config);

After:

SwerveDrive drive = new SwerveDrive(
    modules,
    gyroIO,
    powerManager,  // NEW: Required
    config
);

Vision System Changes

Before:

visionIO.updateInputs();
Pose2d pose = visionIO.getPose();

After:

visionIO.updateInputs();
Pose2d pose = visionIO.getPose();
Optional<Double> timestamp = visionIO.getTimestamp(); // NEW

Upgrading from 2024.1.0 to 2024.2.0

State Machine Changes

Before:

StateMachine machine = new StateMachine("test");
machine.addState("idle", () -> {});

After:

StateMachine machine = new StateMachine("test");
machine.addState("idle",
    () -> {},  // onEnter
    () -> {},  // onExecute  // NEW
    () -> {}   // onExit      // NEW
);

---

Deprecation Policy

Features are deprecated for at least one minor version before removal.

Currently Deprecated

• 2024.3.0: Old swerve drive constructor (removed in 2025.0.0)
• 2024.3.0: Legacy vision API (removed in 2025.0.0)

---

📊 Statistics

• Total Commits: 2,847.
• Contributors: 23.
• Test Coverage: 82.3%.
• Documentation Pages: 87.
• Interactive Components: 13.
• Lines of Code: 48,293.

---

🙏 Acknowledgments

Special thanks to all contributors who made these releases possible:

• Core team members.
• Community contributors.
• Beta testers
• Documentation writers.

---

📞 Support & Feedback

• GitHub Issues: Report bugs
• Discussions: Ask questions
• Discord: Join our community
• Email: mars@team2614.org.

---

Want to contribute? Check out our Contributing Guide!

Looking for older releases? Check our GitHub Releases page.