Merge pull request #19 from REVrobotics/update-2024

jfabellera · web-flow · commit 169c7e33edac · 2024-01-08T21:34:31.000-06:00
Update for FRC 2024
diff --git a/.gitignore b/.gitignore
@@ -158,5 +158,21 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
+
+# Simulation data log directory
+logs/
+
+# Folder that has CTRE Phoenix Sim device config storage
+ctre_sim/
diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 2714
 }
diff --git a/WPILib-License.md b/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
diff --git a/build.gradle b/build.gradle
@@ -1,10 +1,12 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1"
 }
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
@@ -65,9 +67,8 @@ dependencies {
     nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
     simulationRelease wpi.sim.enableRelease()
 
-    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'
-    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
-    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
+    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
+    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 }
 
 test {
@@ -84,6 +85,7 @@ wpi.sim.addDriverstation()
 // knows where to look for our Robot Class.
 jar {
     from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+    from sourceSets.main.allSource
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
diff --git a/gradlew b/gradlew
diff --git a/gradlew.bat b/gradlew.bat
diff --git a/settings.gradle b/settings.gradle
@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2023'
+        String frcYear = '2024'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -4,7 +4,7 @@
 
 package frc.robot;
 
-import com.revrobotics.CANSparkMax.IdleMode;
+import com.revrobotics.CANSparkBase.IdleMode;
 
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -14,6 +14,7 @@
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.util.WPIUtilJNI;
 import edu.wpi.first.wpilibj.ADIS16470_IMU;
+import edu.wpi.first.wpilibj.ADIS16470_IMU.IMUAxis;
 import frc.robot.Constants.DriveConstants;
 import frc.utils.SwerveUtils;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -55,7 +56,7 @@ public class DriveSubsystem extends SubsystemBase {
   // Odometry class for tracking robot pose
   SwerveDriveOdometry m_odometry = new SwerveDriveOdometry(
       DriveConstants.kDriveKinematics,
-      Rotation2d.fromDegrees(m_gyro.getAngle()),
+      Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)),
       new SwerveModulePosition[] {
           m_frontLeft.getPosition(),
           m_frontRight.getPosition(),
@@ -71,7 +72,7 @@ public DriveSubsystem() {
   public void periodic() {
     // Update the odometry in the periodic block
     m_odometry.update(
-        Rotation2d.fromDegrees(m_gyro.getAngle()),
+        Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)),
         new SwerveModulePosition[] {
             m_frontLeft.getPosition(),
             m_frontRight.getPosition(),
@@ -96,7 +97,7 @@ public Pose2d getPose() {
    */
   public void resetOdometry(Pose2d pose) {
     m_odometry.resetPosition(
-        Rotation2d.fromDegrees(m_gyro.getAngle()),
+        Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)),
         new SwerveModulePosition[] {
             m_frontLeft.getPosition(),
             m_frontRight.getPosition(),
@@ -176,7 +177,7 @@ else if (angleDif > 0.85*Math.PI) {
 
     var swerveModuleStates = DriveConstants.kDriveKinematics.toSwerveModuleStates(
         fieldRelative
-            ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered, Rotation2d.fromDegrees(m_gyro.getAngle()))
+            ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered, Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)))
             : new ChassisSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered));
     SwerveDriveKinematics.desaturateWheelSpeeds(
         swerveModuleStates, DriveConstants.kMaxSpeedMetersPerSecond);
@@ -229,7 +230,7 @@ public void zeroHeading() {
    * @return the robot's heading in degrees, from -180 to 180
    */
   public double getHeading() {
-    return Rotation2d.fromDegrees(m_gyro.getAngle()).getDegrees();
+    return Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)).getDegrees();
   }
 
   /**
@@ -238,6 +239,6 @@ public double getHeading() {
    * @return The turn rate of the robot, in degrees per second
    */
   public double getTurnRate() {
-    return m_gyro.getRate() * (DriveConstants.kGyroReversed ? -1.0 : 1.0);
+    return m_gyro.getRate(IMUAxis.kZ) * (DriveConstants.kGyroReversed ? -1.0 : 1.0);
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/MAXSwerveModule.java b/src/main/java/frc/robot/subsystems/MAXSwerveModule.java
@@ -9,9 +9,9 @@
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 
 import com.revrobotics.CANSparkMax;
-import com.revrobotics.CANSparkMaxLowLevel.MotorType;
-import com.revrobotics.SparkMaxAbsoluteEncoder.Type;
-import com.revrobotics.SparkMaxPIDController;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.revrobotics.SparkAbsoluteEncoder.Type;
+import com.revrobotics.SparkPIDController;
 import com.revrobotics.AbsoluteEncoder;
 import com.revrobotics.RelativeEncoder;
 
@@ -24,8 +24,8 @@ public class MAXSwerveModule {
   private final RelativeEncoder m_drivingEncoder;
   private final AbsoluteEncoder m_turningEncoder;
 
-  private final SparkMaxPIDController m_drivingPIDController;
-  private final SparkMaxPIDController m_turningPIDController;
+  private final SparkPIDController m_drivingPIDController;
+  private final SparkPIDController m_turningPIDController;
 
   private double m_chassisAngularOffset = 0;
   private SwerveModuleState m_desiredState = new SwerveModuleState(0.0, new Rotation2d());
diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json
@@ -1,24 +1,25 @@
 {
     "fileName": "REVLib.json",
     "name": "REVLib",
-    "version": "2023.1.2",
+    "version": "2024.2.0",
+    "frcYear": "2024",
     "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
     "mavenUrls": [
         "https://maven.revrobotics.com/"
     ],
-    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2023.json",
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json",
     "javaDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-java",
-            "version": "2023.1.2"
+            "version": "2024.2.0"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2023.1.2",
+            "version": "2024.2.0",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -36,7 +37,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-cpp",
-            "version": "2023.1.2",
+            "version": "2024.2.0",
             "libName": "REVLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -54,7 +55,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2023.1.2",
+            "version": "2024.2.0",
             "libName": "REVLibDriver",
             "headerClassifier": "headers",
             "sharedLibrary": false,
diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json
@@ -3,35 +3,36 @@
   "name": "WPILib-New-Commands",
   "version": "1.0.0",
   "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
+  "frcYear": "2024",
   "mavenUrls": [],
   "jsonUrl": "",
   "javaDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-java",
-          "version": "wpilib"
-      }
+    {
+      "groupId": "edu.wpi.first.wpilibNewCommands",
+      "artifactId": "wpilibNewCommands-java",
+      "version": "wpilib"
+    }
   ],
   "jniDependencies": [],
   "cppDependencies": [
-      {
-          "groupId": "edu.wpi.first.wpilibNewCommands",
-          "artifactId": "wpilibNewCommands-cpp",
-          "version": "wpilib",
-          "libName": "wpilibNewCommands",
-          "headerClassifier": "headers",
-          "sourcesClassifier": "sources",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "linuxathena",
-              "linuxarm32",
-              "linuxarm64",
-              "windowsx86-64",
-              "windowsx86",
-              "linuxx86-64",
-              "osxuniversal"
-          ]
-      }
+    {
+      "groupId": "edu.wpi.first.wpilibNewCommands",
+      "artifactId": "wpilibNewCommands-cpp",
+      "version": "wpilib",
+      "libName": "wpilibNewCommands",
+      "headerClassifier": "headers",
+      "sourcesClassifier": "sources",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "linuxathena",
+        "linuxarm32",
+        "linuxarm64",
+        "windowsx86-64",
+        "windowsx86",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    }
   ]
 }

Original file line number	Diff line number	Diff line change
`@@ -1,6 +1,6 @@`
`1`	`1`	`{`
`2`	`2`	`"enableCppIntellisense": false,`
`3`	`3`	`"currentLanguage": "java",`
`4`		`- "projectYear": "2023",`
	`4`	`+ "projectYear": "2024",`
`5`	`5`	`"teamNumber": 2714`
`6`	`6`	`}`
Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-Copyright (c) 2009-2021 FIRST and other WPILib contributors`
	`1`	`+Copyright (c) 2009-2023 FIRST and other WPILib contributors`
`2`	`2`	`All rights reserved.`
`3`	`3`
`4`	`4`	`Redistribution and use in source and binary forms, with or without`
Original file line number	Diff line number	Diff line change
`@@ -4,7 +4,7 @@ pluginManagement {`
`4`	`4`	`repositories {`
`5`	`5`	`mavenLocal()`
`6`	`6`	`gradlePluginPortal()`
`7`		`- String frcYear = '2023'`
	`7`	`+ String frcYear = '2024'`
`8`	`8`	`File frcHome`
`9`	`9`	`if (OperatingSystem.current().isWindows()) {`
`10`	`10`	`String publicFolder = System.getenv('PUBLIC')`
`@@ -25,3 +25,6 @@ pluginManagement {`
`25`	`25`	`}`
`26`	`26`	`}`
`27`	`27`	`}`
	`28`	`+`
	`29`	`+Properties props = System.getProperties();`
	`30`	`+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");`