From 081cb1138e7b6a6d9a57569cdc37b71bd3a4930b Mon Sep 17 00:00:00 2001
From: CoryNessCTR <cness@ctr-electronics.com>
Date: Tue, 9 Jan 2024 14:03:25 -0500
Subject: [PATCH] Update pathplanner example to kickoff library

---
 .../src/main/java/frc/robot/CommandSwerveDrivetrain.java    | 1 +
 .../src/main/java/frc/robot/RobotContainer.java             | 2 --
 java/SwerveWithPathPlanner/vendordeps/PathplannerLib.json   | 6 +++---
 3 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/java/SwerveWithPathPlanner/src/main/java/frc/robot/CommandSwerveDrivetrain.java b/java/SwerveWithPathPlanner/src/main/java/frc/robot/CommandSwerveDrivetrain.java
index 231b64ba..f6228874 100644
--- a/java/SwerveWithPathPlanner/src/main/java/frc/robot/CommandSwerveDrivetrain.java
+++ b/java/SwerveWithPathPlanner/src/main/java/frc/robot/CommandSwerveDrivetrain.java
@@ -62,6 +62,7 @@ private void configurePathPlanner() {
                                             TunerConstants.kSpeedAt12VoltsMps,
                                             driveBaseRadius,
                                             new ReplanningConfig()),
+            ()->false, // Change this if the path needs to be flipped on red vs blue
             this); // Subsystem for requirements
     }
 
diff --git a/java/SwerveWithPathPlanner/src/main/java/frc/robot/RobotContainer.java b/java/SwerveWithPathPlanner/src/main/java/frc/robot/RobotContainer.java
index b51dae82..171546a9 100644
--- a/java/SwerveWithPathPlanner/src/main/java/frc/robot/RobotContainer.java
+++ b/java/SwerveWithPathPlanner/src/main/java/frc/robot/RobotContainer.java
@@ -6,9 +6,7 @@
 
 import com.ctre.phoenix6.mechanisms.swerve.SwerveRequest;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveModule.DriveRequestType;
-import com.ctre.phoenix6.mechanisms.swerve.SwerveModule.SteerRequestType;
 
-import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
diff --git a/java/SwerveWithPathPlanner/vendordeps/PathplannerLib.json b/java/SwerveWithPathPlanner/vendordeps/PathplannerLib.json
index 3e18a45d..3c741462 100644
--- a/java/SwerveWithPathPlanner/vendordeps/PathplannerLib.json
+++ b/java/SwerveWithPathPlanner/vendordeps/PathplannerLib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2024.0.0-beta-6.2",
+    "version": "2024.1.2",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2024",
     "mavenUrls": [
@@ -12,7 +12,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2024.0.0-beta-6.2"
+            "version": "2024.1.2"
         }
     ],
     "jniDependencies": [],
@@ -20,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2024.0.0-beta-6.2",
+            "version": "2024.1.2",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,