updates libraries to 2024

.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": "2022",
+    "projectYear": "2024",
     "teamNumber": 5572
 }

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 "2023.4.1"
+    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.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

gradlew

@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${0##*/}
-
-# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \

gradlew.bat

@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 

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");

src/main/java/frc/lib/math/Conversions.java

@@ -24,6 +24,10 @@ public static double degreesToFalcon(double degrees, double gearRatio) {
         return ticks;
     }
 
+    public static double degreesToFalconRotation(double degrees, double gearRatio) {
+        return degrees / (360.0 / gearRatio);
+    }
+
     /**
      * @param velocityCounts Falcon Velocity Counts
      * @param gearRatio Gear Ratio between Falcon and Mechanism (set to 1 for Falcon RPM)
@@ -80,6 +84,11 @@ public static double mpsToFalcon(double velocity, double circumference, double g
         return wheelVelocity;
     }
 
+    public static double mpsToFalconRotations(double velocity, double circumference,
+        double gearRatio) {
+        return (velocity / circumference) * gearRatio;
+    }
+
     /**
      * Normalize angle to between 0 to 360
      *

src/main/java/frc/lib/util/FieldConstants.java

@@ -245,7 +245,7 @@ public static final class StagingLocations {
      * the rightmost point on the BLUE ALLIANCE wall.
      */
     public static Translation2d allianceFlip(Translation2d translation) {
-        if (DriverStation.getAlliance() == Alliance.Red) {
+        if (DriverStation.getAlliance().get() == Alliance.Red) {
             return new Translation2d(fieldLength - translation.getX(), translation.getY());
         } else {
             return translation;
@@ -261,7 +261,7 @@ public static Translation2d allianceFlip(Translation2d translation) {
      * @return Pose2d flipped to Red Alliance
      */
     public static Pose2d allianceFlip(Pose2d pose) {
-        if (DriverStation.getAlliance() == Alliance.Red) {
+        if (DriverStation.getAlliance().get() == Alliance.Red) {
             return new Pose2d(fieldLength - pose.getX(), pose.getY(),
                 new Rotation2d(-pose.getRotation().getCos(), pose.getRotation().getSin()));
         } else {

src/main/java/frc/lib/util/swerve/SwerveModule.java

@@ -1,9 +1,13 @@
 package frc.lib.util.swerve;
 
-import com.ctre.phoenix.motorcontrol.ControlMode;
-import com.ctre.phoenix.motorcontrol.DemandType;
-import com.ctre.phoenix.motorcontrol.can.TalonFX;
-import com.ctre.phoenix.sensors.CANCoder;
+import com.ctre.phoenix6.configs.CANcoderConfiguration;
+import com.ctre.phoenix6.configs.FeedbackConfigs;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.controls.DutyCycleOut;
+import com.ctre.phoenix6.controls.PositionDutyCycle;
+import com.ctre.phoenix6.controls.VelocityDutyCycle;
+import com.ctre.phoenix6.hardware.CANcoder;
+import com.ctre.phoenix6.hardware.TalonFX;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
@@ -21,10 +25,13 @@ public class SwerveModule {
     private double angleOffset;
     private TalonFX angleMotor;
     private TalonFX driveMotor;
-    private CANCoder angleEncoder;
+    private CANcoder angleEncoder;
     private double lastAngle;
     SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(Constants.Swerve.driveKS,
         Constants.Swerve.driveKV, Constants.Swerve.driveKA);
+    private DutyCycleOut drivePower = new DutyCycleOut(0);
+    private VelocityDutyCycle driveSpeed = new VelocityDutyCycle(0);
+    private PositionDutyCycle angleMotorPosition = new PositionDutyCycle(0);
 
     /**
      * Creates an instance of a Swerve Module
@@ -37,7 +44,7 @@ public SwerveModule(int moduleNumber, frc.lib.util.swerve.SwerveModuleConstants
         angleOffset = constants.angleOffset;
 
         /* Angle Encoder Config */
-        angleEncoder = new CANCoder(constants.cancoderID);
+        angleEncoder = new CANcoder(constants.cancoderID);
         configAngleEncoder();
 
         /* Angle Motor Config */
@@ -72,12 +79,13 @@ public void setDesiredState(SwerveModuleState desiredState, boolean isOpenLoop)
 
         if (isOpenLoop) {
             double percentOutput = desiredState.speedMetersPerSecond / Constants.Swerve.maxSpeed;
-            driveMotor.set(ControlMode.PercentOutput, percentOutput);
+            driveMotor.setControl(drivePower.withOutput(percentOutput));
         } else {
-            double velocity = Conversions.mpsToFalcon(desiredState.speedMetersPerSecond,
+            double velocity = Conversions.mpsToFalconRotations(desiredState.speedMetersPerSecond,
                 Constants.Swerve.wheelCircumference, Constants.Swerve.driveGearRatio);
-            driveMotor.set(ControlMode.Velocity, velocity, DemandType.ArbitraryFeedForward,
-                feedforward.calculate(desiredState.speedMetersPerSecond));
+            driveMotor.setControl(driveSpeed.withVelocity(velocity)
+                .withFeedForward(feedforward.calculate(desiredState.speedMetersPerSecond)));
+
         }
 
         double angle =
@@ -86,8 +94,8 @@ public void setDesiredState(SwerveModuleState desiredState, boolean isOpenLoop)
                 : desiredState.angle.getDegrees(); // Prevent rotating module if speed is
         // less then 1%. Prevents
         // Jittering.
-        angleMotor.set(ControlMode.Position,
-            Conversions.degreesToFalcon(angle, Constants.Swerve.angleGearRatio));
+        angleMotor.setControl(angleMotorPosition.withPosition(
+            Conversions.degreesToFalconRotation(angle, Constants.Swerve.angleGearRatio)));
         lastAngle = angle;
     }
 
@@ -98,6 +106,8 @@ private void resetToAbsolute() {
         double absolutePosition = Conversions.degreesToFalcon(
             getCanCoder().getDegrees() - angleOffset, Constants.Swerve.angleGearRatio);
         angleMotor.setSelectedSensorPosition(absolutePosition);
+        FeedbackConfigs as = new FeedbackConfigs();
+        angleMotor.
     }
 
     /**
@@ -130,15 +140,15 @@ public SwerveModulePosition getPosition() {
      * Configure the Angle motor CANCoder
      */
     private void configAngleEncoder() {
-        angleEncoder.configFactoryDefault();
+        angleEncoder.getConfigurator().apply(new CANcoderConfiguration());
         angleEncoder.configAllSettings(Robot.ctreConfigs.swerveCanCoderConfig);
     }
 
     /**
      * Configure the Angle motor
      */
     private void configAngleMotor() {
-        angleMotor.configFactoryDefault();
+        angleMotor.getConfigurator().apply(new TalonFXConfiguration());
         angleMotor.configAllSettings(Robot.ctreConfigs.swerveAngleFXConfig);
         angleMotor.setInverted(Constants.Swerve.angleMotorInvert);
         angleMotor.setNeutralMode(Constants.Swerve.angleNeutralMode);
@@ -149,7 +159,7 @@ private void configAngleMotor() {
      * Configure the Drive motor
      */
     private void configDriveMotor() {
-        driveMotor.configFactoryDefault();
+        driveMotor.getConfigurator().apply(new TalonFXConfiguration());
         driveMotor.configAllSettings(Robot.ctreConfigs.swerveDriveFXConfig);
         driveMotor.setInverted(Constants.Swerve.driveMotorInvert);
         driveMotor.setNeutralMode(Constants.Swerve.driveNeutralMode);
@@ -162,7 +172,7 @@ private void configDriveMotor() {
      * @return 2d rotation of the module
      */
     public Rotation2d getCanCoder() {
-        return Rotation2d.fromDegrees(angleEncoder.getAbsolutePosition());
+        return Rotation2d.fromDegrees(angleEncoder.getAbsolutePosition().getValueAsDouble());
     }
 
     /**

src/main/java/frc/robot/Constants.java

@@ -1,6 +1,6 @@
 package frc.robot;
 
-import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix6.signals.NeutralModeValue;
 import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.geometry.Translation2d;
@@ -113,8 +113,8 @@ public static final class Swerve {
         public static final double maxAngularVelocity = 2;
 
         /* Neutral Modes */
-        public static final NeutralMode angleNeutralMode = NeutralMode.Coast;
-        public static final NeutralMode driveNeutralMode = NeutralMode.Brake;
+        public static final NeutralModeValue angleNeutralMode = NeutralModeValue.Coast;
+        public static final NeutralModeValue driveNeutralMode = NeutralModeValue.Brake;
 
         /* Motor Inverts */
         public static final boolean driveMotorInvert = false;

src/main/java/frc/robot/commands/TeleopSwerve.java

@@ -1,15 +1,15 @@
 package frc.robot.commands;
 
 import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.Constants;
 import frc.robot.subsystems.Swerve;
 
 /**
  * Creates an command for driving the swerve drive during tele-op
  */
-public class TeleopSwerve extends CommandBase {
+public class TeleopSwerve extends Command {
 
     private boolean fieldRelative;
     private boolean openLoop;

src/main/java/frc/robot/commands/TestTransform.java

@@ -8,15 +8,15 @@
 import edu.wpi.first.math.geometry.Transform2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
-import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.Command;
 import frc.lib.util.FieldConstants;
 import frc.robot.Constants;
 import frc.robot.subsystems.Swerve;
 
 /**
  * Test April tag transform
  */
-public class TestTransform extends CommandBase {
+public class TestTransform extends Command {
 
     private Swerve swerve;
     private Transform2d transform2d;