Import project to WPILib 2024

Author: jfabellera

.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/

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 2714
 }

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

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
 }

gradle/wrapper/gradle-wrapper.jar

@@ -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

gradle/wrapper/gradle-wrapper.properties

@@ -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");

gradlew

@@ -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);
   }
 }