Update to 2024 (#5)

* migrated libraries to 2024, imports not yet fixed

* fixed pathplanner imports and autons/swerve drive commands

Co-authored-by: MaterialEnergy <[email protected]>

* Change license to 2024

* Fix build errors, deprecations

* Change follow trajetory to FollowPathHolonomic

---------

Co-authored-by: Naowal Rahman <[email protected]>
Co-authored-by: Kalimul Kaif <[email protected]>
Co-authored-by: MaterialEnergy <[email protected]>

.github/workflows/gradle.yml

@@ -16,10 +16,10 @@ jobs:
 
     steps:
     - uses: actions/checkout@v2
-    - name: Set up JDK 1.11
+    - name: Set up JDK 1.17
       uses: actions/setup-java@v1
       with:
-        java-version: 1.11
+        java-version: 1.17
     - name: Grant execute permission for gradlew
       run: chmod +x gradlew
     - name: Build with Gradle

.gitignore

@@ -160,3 +160,7 @@ bin/
 
 # Simulation GUI and other tools window save file
 *-window.json
+
+# Logs
+*.wpilog
+*.log

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 694
 }

LICENSE

@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2023 StuyPulse
+Copyright (c) 2024 StuyPulse
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

WPILib-License.md

@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2024 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.4.3"
-    id "com.diffplug.spotless" version "6.17.0"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1"
+    id "com.diffplug.spotless" version "6.22.0"
 }
 
 allprojects {
@@ -12,12 +12,12 @@ allprojects {
 
 // Set this to the latest version of StuyLib.
 // You can check here: https://github.com/StuyPulse/StuyLib/releases.
-final String STUYLIB_VERSION = 'v2023.3.3'
+final String STUYLIB_VERSION = 'v2024.1.3'
 
 def ROBOT_MAIN_CLASS = "com.stuypulse.robot.Main"
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+sourceCompatibility = JavaVersion.VERSION_17
+targetCompatibility = JavaVersion.VERSION_17
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
@@ -57,7 +57,7 @@ wpi.java.debugJni = false
 def includeDesktopSupport = false
 
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
-// Also defines JUnit 4.
+// Also defines JUnit 5.
 dependencies {
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
@@ -89,14 +89,9 @@ spotless {
     enforceCheck = false
     java {
         targetExclude("src/main/java/com/stuypulse/robot/commands/autons/*.java")
-        licenseHeader '''/************************ PROJECT MIJ *************************/
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved.*/
-/* This work is licensed under the terms of the MIT license.  */
-/**************************************************************/
+        licenseHeaderFile "LICENSE"
 
-'''
-
-        // googleJavaFormat().aosp()
+        googleJavaFormat().aosp()
 
         trimTrailingWhitespace()
         endWithNewline()
@@ -133,4 +128,4 @@ wpi.java.configureTestTasks(test)
 // Configure string concat to always inline compile
 tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'
-}
+}

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.3.3-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists

networktables.json

@@ -0,0 +1 @@
+[]

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')

simgui-ds.json

@@ -0,0 +1,97 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "Keyboard0"
+    }
+  ]
+}

src/main/java/com/stuypulse/robot/Main.java

@@ -1,5 +1,5 @@
 /************************ PROJECT PHIL ************************/
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved.*/
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved.*/
 /* This work is licensed under the terms of the MIT license.  */
 /**************************************************************/
 

src/main/java/com/stuypulse/robot/Robot.java

@@ -1,5 +1,5 @@
 /************************ PROJECT PHIL ************************/
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved.*/
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved.*/
 /* This work is licensed under the terms of the MIT license.  */
 /**************************************************************/
 

src/main/java/com/stuypulse/robot/RobotContainer.java

@@ -1,10 +1,12 @@
 /************************ PROJECT PHIL ************************/
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved.*/
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved.*/
 /* This work is licensed under the terms of the MIT license.  */
 /**************************************************************/
 
 package com.stuypulse.robot;
 
+import java.util.Optional;
+
 import com.stuypulse.robot.commands.auton.DoNothingAuton;
 import com.stuypulse.robot.commands.auton.DriveAndTurnBump;
 import com.stuypulse.robot.commands.auton.EightFootAuton;
@@ -19,6 +21,7 @@
 import com.stuypulse.stuylib.input.Gamepad;
 
 import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DutyCycleEncoder;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -86,8 +89,8 @@ public Command getAutonomousCommand() {
         return autonChooser.getSelected();
     }
 
-    public static void setCachedAlliance(Alliance alliance) {
-        cachedAlliance = alliance;
+    public static void setCachedAlliance(Optional<Alliance> alliance) {
+        cachedAlliance = DriverStation.getAlliance().get();
     }
 
     public static Alliance getCachedAlliance() {

src/main/java/com/stuypulse/robot/commands/DoNothingCommand.java

@@ -1,5 +1,5 @@
 /************************ PROJECT PHIL ************************/
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved.*/
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved.*/
 /* This work is licensed under the terms of the MIT license.  */
 /**************************************************************/
 

src/main/java/com/stuypulse/robot/commands/TeleopInit.java

@@ -1,5 +1,5 @@
 /************************ PROJECT MIJ *************************/
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved.*/
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved.*/
 /* This work is licensed under the terms of the MIT license.  */
 /**************************************************************/
 

src/main/java/com/stuypulse/robot/commands/auton/DoNothingAuton.java

@@ -1,5 +1,5 @@
 /************************ PROJECT PHIL ************************/
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved.*/
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved.*/
 /* This work is licensed under the terms of the MIT license.  */
 /**************************************************************/
 

src/main/java/com/stuypulse/robot/commands/auton/DriveAndTurnBump.java

@@ -1,23 +1,24 @@
 /************************ PROJECT PHIL ************************/
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved.*/
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved.*/
 /* This work is licensed under the terms of the MIT license.  */
 /**************************************************************/
 
 package com.stuypulse.robot.commands.auton;
 
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 
-import com.pathplanner.lib.PathConstraints;
-import com.pathplanner.lib.PathPlanner;
+import com.pathplanner.lib.path.PathConstraints;
+import com.pathplanner.lib.path.PathPlannerPath;
+import com.pathplanner.lib.commands.PathPlannerAuto;
 import com.stuypulse.robot.util.SwerveDriveFollowTrajectory;
 
 public class DriveAndTurnBump extends SequentialCommandGroup {
-    private static final PathConstraints CONSTRAINTS = new PathConstraints(2, 2);
+    private static final PathConstraints CONSTRAINTS = new PathConstraints(2, 2, 2, 2);
 
     public DriveAndTurnBump() {
         addCommands(
             new SwerveDriveFollowTrajectory(
-                PathPlanner.loadPath("DriveAndTurnBump", CONSTRAINTS)
+                PathPlannerPath.fromPathFile("DriveAndTurnBump")
             ).robotRelative()
         );
     }

src/main/java/com/stuypulse/robot/commands/auton/EightFootAuton.java

@@ -1,29 +1,29 @@
 /************************ PROJECT PHIL ************************/
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved.*/
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved.*/
 /* This work is licensed under the terms of the MIT license.  */
 /**************************************************************/
 
 package com.stuypulse.robot.commands.auton;
 
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.util.Units;
-import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-
 import java.util.Arrays;
 
-import com.pathplanner.lib.PathConstraints;
-import com.pathplanner.lib.PathPlanner;
-import com.pathplanner.lib.PathPlannerTrajectory;
-import com.pathplanner.lib.PathPoint;
+import com.pathplanner.lib.path.GoalEndState;
+import com.pathplanner.lib.path.PathConstraints;
+import com.pathplanner.lib.path.PathPlannerPath;
+import com.pathplanner.lib.path.PathPoint;
 import com.stuypulse.robot.util.SwerveDriveFollowTrajectory;
 
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+
 public class EightFootAuton extends SequentialCommandGroup {
-    private static final PathConstraints CONSTRAINTS = new PathConstraints(0.01, 0.01);
-    private static final PathPlannerTrajectory PATH = PathPlanner.generatePath(CONSTRAINTS, Arrays.asList(
-        new PathPoint(new Translation2d(), new Rotation2d(), new Rotation2d()),
-        new PathPoint(new Translation2d(0, 0), new Rotation2d(), new Rotation2d())
-    ));
+    private static final PathConstraints CONSTRAINTS = new PathConstraints(0.01, 0.01, 0.01, 0.01);
+    private static final PathPlannerPath PATH = PathPlannerPath.fromPathPoints(
+        Arrays.asList(
+            new PathPoint(new Translation2d(0, 0)),
+            new PathPoint(new Translation2d(2.4384, 0.0))),
+        CONSTRAINTS, new GoalEndState(0, new Rotation2d()));
 
     public EightFootAuton() {
         addCommands(

src/main/java/com/stuypulse/robot/commands/auton/Mobility.java

@@ -1,23 +1,24 @@
 /************************ PROJECT PHIL ************************/
-/* Copyright (c) 2023 StuyPulse Robotics. All rights reserved.*/
+/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved.*/
 /* This work is licensed under the terms of the MIT license.  */
 /**************************************************************/
 
 package com.stuypulse.robot.commands.auton;
 
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 
-import com.pathplanner.lib.PathConstraints;
-import com.pathplanner.lib.PathPlanner;
+import com.pathplanner.lib.path.PathConstraints;
+import com.pathplanner.lib.path.PathPlannerPath;
+import com.pathplanner.lib.commands.PathPlannerAuto;
 import com.stuypulse.robot.util.SwerveDriveFollowTrajectory;
 
 public class Mobility extends SequentialCommandGroup {
-    private static final PathConstraints CONSTRAINTS = new PathConstraints(2, 2);
+    private static final PathConstraints CONSTRAINTS = new PathConstraints(2, 2, 2, 2);
 
     public Mobility() {
         addCommands(
             new SwerveDriveFollowTrajectory(
-                PathPlanner.loadPath("Mobility", CONSTRAINTS)
+               PathPlannerPath.fromPathFile("Mobility")
             ).robotRelative()
         );
     }