diff --git a/.gitignore b/.gitignore
index df15fef1..9535c830 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,5 @@
-# Created by https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
+# This gitignore has been specially created by the WPILib team.
+# If you remove items from this file, intellisense might break.
### C++ ###
# Prerequisites
@@ -151,12 +152,11 @@ gradle-app.setting
# gradle/wrapper/gradle-wrapper.properties
# # VS Code Specific Java Settings
+# DO NOT REMOVE .classpath and .project
.classpath
.project
-/.settings/
-/bin/
-imgui.ini
+.settings/
+bin/
-
-# End of https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
-/.gradle/
\ No newline at end of file
+# Simulation GUI and other tools window save file
+*-window.json
diff --git a/.idea/jarRepositories.xml b/.idea/jarRepositories.xml
index b88b14b5..703c3264 100644
--- a/.idea/jarRepositories.xml
+++ b/.idea/jarRepositories.xml
@@ -46,5 +46,30 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 786b2c73..4ed293b7 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -13,5 +13,17 @@
"**/.settings": true,
"**/.factorypath": true,
"**/*~": true
- }
+ },
+ "java.test.config": [
+ {
+ "name": "WPIlibUnitTests",
+ "workingDirectory": "${workspaceFolder}/build/jni/release",
+ "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ],
+ "env": {
+ "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" ,
+ "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release"
+ }
+ },
+ ],
+ "java.test.defaultConfig": "WPIlibUnitTests"
}
diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json
index 5b331b70..9279fbc2 100644
--- a/.wpilib/wpilib_preferences.json
+++ b/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
{
"enableCppIntellisense": false,
"currentLanguage": "java",
- "projectYear": "2021",
+ "projectYear": "2022",
"teamNumber": 3476
}
\ No newline at end of file
diff --git a/build.gradle b/build.gradle
index 96181beb..79459f4a 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,6 +1,8 @@
+import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO
+
plugins {
id "java"
- id "edu.wpi.first.GradleRIO" version "2021.2.2"
+ id "edu.wpi.first.GradleRIO" version "2022.1.1"
}
sourceCompatibility = JavaVersion.VERSION_11
@@ -9,67 +11,71 @@ targetCompatibility = JavaVersion.VERSION_11
def ROBOT_MAIN_CLASS = "frc.robot.Main"
// Define my targets (RoboRIO) and artifacts (deployable files)
-// This is added by GradleRIO's backing project EmbeddedTools.
+// This is added by GradleRIO's backing project DeployUtils.
deploy {
targets {
- roboRIO("roborio") {
+ roborio(getTargetTypeClass('RoboRIO')) {
// Team number is loaded either from the .wpilib/wpilib_preferences.json
// or from command line. If not found an exception will be thrown.
// You can use getTeamOrDefault(team) instead of getTeamNumber if you
// want to store a team number in this file.
- team = frc.getTeamNumber()
- }
- }
- artifacts {
- frcJavaArtifact('frcJava') {
- targets << "roborio"
- // Debug can be overridden by command line, for use with VSCode
- debug = frc.getDebugOrDefault(false)
- }
- // Built in artifact to deploy arbitrary files to the roboRIO.
- fileTreeArtifact('frcStaticFileDeploy') {
- // The directory below is the local directory to deploy
- files = fileTree(dir: 'src/main/deploy')
- // Deploy to RoboRIO target, into /home/lvuser/deploy
- targets << "roborio"
- directory = '/home/lvuser/deploy'
+ team = project.frc.getTeamNumber()
+ debug = project.frc.getDebugOrDefault(false)
+
+ artifacts {
+ // First part is artifact name, 2nd is artifact type
+ // getTargetTypeClass is a shortcut to get the class type using a string
+
+ frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+ }
+
+ // Static files artifact
+ frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+ files = project.fileTree('src/main/deploy')
+ directory = '/home/lvuser/deploy'
+ }
+ }
}
}
}
+def deployArtifact = deploy.targets.roborio.artifacts.frcJava
+
+// Set to true to use debug for JNI.
+wpi.java.debugJni = false
+
// Set this to true to enable desktop support.
def includeDesktopSupport = true
// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
// Also defines JUnit 4.
dependencies {
- implementation wpi.deps.wpilib()
+
implementation 'org.jetbrains:annotations:22.0.0'
- nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio)
- nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)
+
+ implementation wpi.java.deps.wpilib()
+ implementation wpi.java.vendor.java()
+ roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
+ roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
- implementation wpi.deps.vendor.java()
- nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
- nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
+ roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
+ roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
- testImplementation 'junit:junit:4.12'
+ nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
+ nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
+ simulationDebug wpi.sim.enableDebug()
- // Enable simulation gui support. Must check the box in vscode to enable support
- // upon debugging
- simulation wpi.deps.sim.gui(wpi.platforms.desktop, false)
- simulation wpi.deps.sim.driverstation(wpi.platforms.desktop, false)
+ nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
+ nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
+ simulationRelease wpi.sim.enableRelease()
- // Websocket extensions require additional configuration.
- // simulation wpi.deps.sim.ws_server(wpi.platforms.desktop, false)
- // simulation wpi.deps.sim.ws_client(wpi.platforms.desktop, false)
+ testImplementation 'junit:junit:4.12'
}
// Simulation configuration (e.g. environment variables).
-sim {
- // Sets the websocket client remote host.
- // envVar "HALSIMWS_HOST", "10.0.0.2"
-}
+wpi.sim.addGui().defaultEnabled = true
+wpi.sim.addDriverstation()
// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
// in order to make them all available at runtime. Also adding the manifest so WPILib
@@ -77,8 +83,14 @@ sim {
jar {
from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
+ duplicatesStrategy = DuplicatesStrategy.INCLUDE
}
+// Configure jar and deploy tasks
+deployArtifact.jarTask = jar
+wpi.java.configureExecutableTasks(jar)
+wpi.java.configureTestTasks(test)
+
repositories {
mavenCentral()
}
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
index cc4fdc29..7454180f 100644
Binary files a/gradle/wrapper/gradle-wrapper.jar and b/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index d050f177..f959987a 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
distributionBase=GRADLE_USER_HOME
distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-6.0.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.3.3-bin.zip
zipStoreBase=GRADLE_USER_HOME
zipStorePath=permwrapper/dists
diff --git a/gradlew b/gradlew
index 2fe81a7d..c53aefaa 100644
--- a/gradlew
+++ b/gradlew
@@ -1,7 +1,7 @@
-#!/usr/bin/env sh
+#!/bin/sh
#
-# Copyright 2015 the original author or authors.
+# Copyright © 2015-2021 the original authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
@@ -17,78 +17,113 @@
#
##############################################################################
-##
-## Gradle start up script for UN*X
-##
+#
+# Gradle start up script for POSIX generated by Gradle.
+#
+# Important for running:
+#
+# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
+# noncompliant, but you have some other compliant shell such as ksh or
+# bash, then to run this script, type that shell name before the whole
+# command line, like:
+#
+# ksh Gradle
+#
+# Busybox and similar reduced shells will NOT work, because this script
+# requires all of these POSIX shell features:
+# * functions;
+# * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
+# «${var#prefix}», «${var%suffix}», and «$( cmd )»;
+# * compound commands having a testable exit status, especially «case»;
+# * various built-in commands including «command», «set», and «ulimit».
+#
+# Important for patching:
+#
+# (2) This script targets any POSIX shell, so it avoids extensions provided
+# by Bash, Ksh, etc; in particular arrays are avoided.
+#
+# The "traditional" practice of packing multiple parameters into a
+# space-separated string is a well documented source of bugs and security
+# problems, so this is (mostly) avoided, by progressively accumulating
+# options in "$@", and eventually passing that to Java.
+#
+# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
+# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
+# see the in-line comments for details.
+#
+# There are tweaks for specific operating systems such as AIX, CygWin,
+# 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
+# within the Gradle project.
+#
+# You can find Gradle at https://github.com/gradle/gradle/.
+#
##############################################################################
# Attempt to set APP_HOME
+
# Resolve links: $0 may be a link
-PRG="$0"
-# Need this for relative symlinks.
-while [ -h "$PRG" ] ; do
- ls=`ls -ld "$PRG"`
- link=`expr "$ls" : '.*-> \(.*\)$'`
- if expr "$link" : '/.*' > /dev/null; then
- PRG="$link"
- else
- PRG=`dirname "$PRG"`"/$link"
- fi
+app_path=$0
+
+# Need this for daisy-chained symlinks.
+while
+ APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path
+ [ -h "$app_path" ]
+do
+ ls=$( ls -ld "$app_path" )
+ link=${ls#*' -> '}
+ case $link in #(
+ /*) app_path=$link ;; #(
+ *) app_path=$APP_HOME$link ;;
+ esac
done
-SAVED="`pwd`"
-cd "`dirname \"$PRG\"`/" >/dev/null
-APP_HOME="`pwd -P`"
-cd "$SAVED" >/dev/null
+
+APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
APP_NAME="Gradle"
-APP_BASE_NAME=`basename "$0"`
+APP_BASE_NAME=${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"'
# Use the maximum available, or set MAX_FD != -1 to use that value.
-MAX_FD="maximum"
+MAX_FD=maximum
warn () {
echo "$*"
-}
+} >&2
die () {
echo
echo "$*"
echo
exit 1
-}
+} >&2
# OS specific support (must be 'true' or 'false').
cygwin=false
msys=false
darwin=false
nonstop=false
-case "`uname`" in
- CYGWIN* )
- cygwin=true
- ;;
- Darwin* )
- darwin=true
- ;;
- MINGW* )
- msys=true
- ;;
- NONSTOP* )
- nonstop=true
- ;;
+case "$( uname )" in #(
+ CYGWIN* ) cygwin=true ;; #(
+ Darwin* ) darwin=true ;; #(
+ MSYS* | MINGW* ) msys=true ;; #(
+ NONSTOP* ) nonstop=true ;;
esac
CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+
# Determine the Java command to use to start the JVM.
if [ -n "$JAVA_HOME" ] ; then
if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
# IBM's JDK on AIX uses strange locations for the executables
- JAVACMD="$JAVA_HOME/jre/sh/java"
+ JAVACMD=$JAVA_HOME/jre/sh/java
else
- JAVACMD="$JAVA_HOME/bin/java"
+ JAVACMD=$JAVA_HOME/bin/java
fi
if [ ! -x "$JAVACMD" ] ; then
die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
@@ -97,7 +132,7 @@ Please set the JAVA_HOME variable in your environment to match the
location of your Java installation."
fi
else
- JAVACMD="java"
+ JAVACMD=java
which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
Please set the JAVA_HOME variable in your environment to match the
@@ -105,79 +140,95 @@ location of your Java installation."
fi
# Increase the maximum file descriptors if we can.
-if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
- MAX_FD_LIMIT=`ulimit -H -n`
- if [ $? -eq 0 ] ; then
- if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
- MAX_FD="$MAX_FD_LIMIT"
- fi
- ulimit -n $MAX_FD
- if [ $? -ne 0 ] ; then
- warn "Could not set maximum file descriptor limit: $MAX_FD"
- fi
- else
- warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
- fi
+if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
+ case $MAX_FD in #(
+ max*)
+ MAX_FD=$( ulimit -H -n ) ||
+ warn "Could not query maximum file descriptor limit"
+ esac
+ case $MAX_FD in #(
+ '' | soft) :;; #(
+ *)
+ ulimit -n "$MAX_FD" ||
+ warn "Could not set maximum file descriptor limit to $MAX_FD"
+ esac
fi
-# For Darwin, add options to specify how the application appears in the dock
-if $darwin; then
- GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
-fi
+# Collect all arguments for the java command, stacking in reverse order:
+# * args from the command line
+# * the main class name
+# * -classpath
+# * -D...appname settings
+# * --module-path (only if needed)
+# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
# For Cygwin or MSYS, switch paths to Windows format before running java
-if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
- APP_HOME=`cygpath --path --mixed "$APP_HOME"`
- CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
- JAVACMD=`cygpath --unix "$JAVACMD"`
-
- # We build the pattern for arguments to be converted via cygpath
- ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
- SEP=""
- for dir in $ROOTDIRSRAW ; do
- ROOTDIRS="$ROOTDIRS$SEP$dir"
- SEP="|"
- done
- OURCYGPATTERN="(^($ROOTDIRS))"
- # Add a user-defined pattern to the cygpath arguments
- if [ "$GRADLE_CYGPATTERN" != "" ] ; then
- OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
- fi
+if "$cygwin" || "$msys" ; then
+ APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
+ CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
+
+ JAVACMD=$( cygpath --unix "$JAVACMD" )
+
# Now convert the arguments - kludge to limit ourselves to /bin/sh
- i=0
- for arg in "$@" ; do
- CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
- CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option
-
- if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition
- eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
- else
- eval `echo args$i`="\"$arg\""
+ for arg do
+ if
+ case $arg in #(
+ -*) false ;; # don't mess with options #(
+ /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath
+ [ -e "$t" ] ;; #(
+ *) false ;;
+ esac
+ then
+ arg=$( cygpath --path --ignore --mixed "$arg" )
fi
- i=`expr $i + 1`
+ # Roll the args list around exactly as many times as the number of
+ # args, so each arg winds up back in the position where it started, but
+ # possibly modified.
+ #
+ # NB: a `for` loop captures its iteration list before it begins, so
+ # changing the positional parameters here affects neither the number of
+ # iterations, nor the values presented in `arg`.
+ shift # remove old arg
+ set -- "$@" "$arg" # push replacement arg
done
- case $i in
- 0) set -- ;;
- 1) set -- "$args0" ;;
- 2) set -- "$args0" "$args1" ;;
- 3) set -- "$args0" "$args1" "$args2" ;;
- 4) set -- "$args0" "$args1" "$args2" "$args3" ;;
- 5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
- 6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
- 7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
- 8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
- 9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
- esac
fi
-# Escape application args
-save () {
- for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
- echo " "
-}
-APP_ARGS=`save "$@"`
+# Collect all arguments for the java command;
+# * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
+# shell script including quotes and variable substitutions, so put them in
+# double quotes to make sure that they get re-expanded; and
+# * put everything else in single quotes, so that it's not re-expanded.
+
+set -- \
+ "-Dorg.gradle.appname=$APP_BASE_NAME" \
+ -classpath "$CLASSPATH" \
+ org.gradle.wrapper.GradleWrapperMain \
+ "$@"
+
+# Use "xargs" to parse quoted args.
+#
+# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
+#
+# In Bash we could simply go:
+#
+# readarray ARGS < <( xargs -n1 <<<"$var" ) &&
+# set -- "${ARGS[@]}" "$@"
+#
+# but POSIX shell has neither arrays nor command substitution, so instead we
+# post-process each arg (as a line of input to sed) to backslash-escape any
+# character that might be a shell metacharacter, then use eval to reverse
+# that process (while maintaining the separation between arguments), and wrap
+# the whole thing up as a single "set" statement.
+#
+# This will of course break if any of these variables contains a newline or
+# an unmatched quote.
+#
-# Collect all arguments for the java command, following the shell quoting and substitution rules
-eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+eval "set -- $(
+ printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
+ xargs -n1 |
+ sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
+ tr '\n' ' '
+ )" '"$@"'
exec "$JAVACMD" "$@"
diff --git a/gradlew.bat b/gradlew.bat
index 9618d8d9..107acd32 100644
--- a/gradlew.bat
+++ b/gradlew.bat
@@ -29,6 +29,9 @@ if "%DIRNAME%" == "" set DIRNAME=.
set APP_BASE_NAME=%~n0
set APP_HOME=%DIRNAME%
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
@@ -37,7 +40,7 @@ if defined JAVA_HOME goto findJavaFromJavaHome
set JAVA_EXE=java.exe
%JAVA_EXE% -version >NUL 2>&1
-if "%ERRORLEVEL%" == "0" goto init
+if "%ERRORLEVEL%" == "0" goto execute
echo.
echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
@@ -51,7 +54,7 @@ goto fail
set JAVA_HOME=%JAVA_HOME:"=%
set JAVA_EXE=%JAVA_HOME%/bin/java.exe
-if exist "%JAVA_EXE%" goto init
+if exist "%JAVA_EXE%" goto execute
echo.
echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
@@ -61,28 +64,14 @@ echo location of your Java installation.
goto fail
-:init
-@rem Get command-line arguments, handling Windows variants
-
-if not "%OS%" == "Windows_NT" goto win9xME_args
-
-:win9xME_args
-@rem Slurp the command line arguments.
-set CMD_LINE_ARGS=
-set _SKIP=2
-
-:win9xME_args_slurp
-if "x%~1" == "x" goto execute
-
-set CMD_LINE_ARGS=%*
-
:execute
@rem Setup the command line
set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
@rem Execute Gradle
-"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
:end
@rem End local scope for the variables with windows NT shell
diff --git a/settings.gradle b/settings.gradle
index 0bc697ad..c3636946 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -4,7 +4,7 @@ pluginManagement {
repositories {
mavenLocal()
gradlePluginPortal()
- String frcYear = '2021'
+ String frcYear = '2022'
File frcHome
if (OperatingSystem.current().isWindows()) {
String publicFolder = System.getenv('PUBLIC')
diff --git a/src/main/java/frc/auton/TemplateAuto.java b/src/main/java/frc/auton/TemplateAuto.java
index 0a019bb9..40cdd48b 100644
--- a/src/main/java/frc/auton/TemplateAuto.java
+++ b/src/main/java/frc/auton/TemplateAuto.java
@@ -1,7 +1,7 @@
package frc.auton;
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
-import edu.wpi.first.wpilibj.geometry.Translation2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
import frc.subsystem.Drive;
import frc.subsystem.RobotTracker;
diff --git a/src/main/java/frc/auton/guiauto/AbstractGuiAuto.java b/src/main/java/frc/auton/guiauto/AbstractGuiAuto.java
index 454bd777..5319fff7 100644
--- a/src/main/java/frc/auton/guiauto/AbstractGuiAuto.java
+++ b/src/main/java/frc/auton/guiauto/AbstractGuiAuto.java
@@ -2,8 +2,8 @@
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.geometry.Pose2d;
-import edu.wpi.first.wpilibj.trajectory.Trajectory;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.trajectory.Trajectory;
import frc.auton.TemplateAuto;
import frc.auton.guiauto.serialization.AbstractAutonomousStep;
import frc.auton.guiauto.serialization.Autonomous;
diff --git a/src/main/java/frc/auton/guiauto/serialization/TimedRotation.java b/src/main/java/frc/auton/guiauto/serialization/TimedRotation.java
index e5339396..f518e088 100644
--- a/src/main/java/frc/auton/guiauto/serialization/TimedRotation.java
+++ b/src/main/java/frc/auton/guiauto/serialization/TimedRotation.java
@@ -4,7 +4,7 @@
import com.fasterxml.jackson.annotation.JsonIgnore;
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
import com.fasterxml.jackson.annotation.JsonProperty;
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Rotation2d;
import org.jetbrains.annotations.Contract;
import org.jetbrains.annotations.NotNull;
diff --git a/src/main/java/frc/auton/guiauto/serialization/TrajectoryAutonomousStep.java b/src/main/java/frc/auton/guiauto/serialization/TrajectoryAutonomousStep.java
index 1b3a86bf..f9c6248e 100644
--- a/src/main/java/frc/auton/guiauto/serialization/TrajectoryAutonomousStep.java
+++ b/src/main/java/frc/auton/guiauto/serialization/TrajectoryAutonomousStep.java
@@ -3,8 +3,8 @@
import com.fasterxml.jackson.annotation.JsonCreator;
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
import com.fasterxml.jackson.annotation.JsonProperty;
-import edu.wpi.first.wpilibj.trajectory.Trajectory;
-import edu.wpi.first.wpilibj.trajectory.Trajectory.State;
+import edu.wpi.first.math.trajectory.Trajectory;
+import edu.wpi.first.math.trajectory.Trajectory.State;
import frc.auton.TemplateAuto;
import frc.subsystem.Drive;
diff --git a/src/main/java/frc/auton/guiauto/serialization/reflection/ClassInformationSender.java b/src/main/java/frc/auton/guiauto/serialization/reflection/ClassInformationSender.java
index 06a125f9..30419729 100644
--- a/src/main/java/frc/auton/guiauto/serialization/reflection/ClassInformationSender.java
+++ b/src/main/java/frc/auton/guiauto/serialization/reflection/ClassInformationSender.java
@@ -3,12 +3,13 @@
import edu.wpi.first.wpilibj.Filesystem;
import frc.utility.Serializer;
-import javax.annotation.Nullable;
import java.io.File;
import java.io.IOException;
import java.util.ArrayList;
import java.util.List;
+import org.jetbrains.annotations.Nullable;
+
import static frc.auton.guiauto.serialization.reflection.ReflectionUtils.findClasses;
public final class ClassInformationSender {
public ClassInformationSender() {
diff --git a/src/main/java/frc/auton/guiauto/serialization/reflection/ReflectionUtils.java b/src/main/java/frc/auton/guiauto/serialization/reflection/ReflectionUtils.java
index e4775936..34b1815e 100644
--- a/src/main/java/frc/auton/guiauto/serialization/reflection/ReflectionUtils.java
+++ b/src/main/java/frc/auton/guiauto/serialization/reflection/ReflectionUtils.java
@@ -31,7 +31,7 @@ private static Class[] getClasses(String packageName) throws ClassNotFoundExcept
for (File directory : dirs) {
classes.addAll(findClasses(directory, packageName));
}
- return classes.toArray(new Class[classes.size()]);
+ return classes.toArray(new Class[0]);
}
/**
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index dbefc177..e0543f55 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -1,8 +1,8 @@
package frc.robot;
-import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
-import edu.wpi.first.wpilibj.geometry.Translation2d;
-import edu.wpi.first.wpilibj.util.Units;
+import edu.wpi.first.math.controller.SimpleMotorFeedforward;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.util.Units;
public final class Constants {
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index ad8aa3eb..c629f9b5 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -8,7 +8,7 @@
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc.auton.TemplateAuto;
diff --git a/src/main/java/frc/subsystem/BlinkinLED.java b/src/main/java/frc/subsystem/BlinkinLED.java
index bd346263..768d2104 100644
--- a/src/main/java/frc/subsystem/BlinkinLED.java
+++ b/src/main/java/frc/subsystem/BlinkinLED.java
@@ -1,6 +1,6 @@
package frc.subsystem;
-import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
public final class BlinkinLED extends AbstractSubsystem {
private static final BlinkinLED instance = new BlinkinLED();
diff --git a/src/main/java/frc/subsystem/Drive.java b/src/main/java/frc/subsystem/Drive.java
index a7386b33..d726bce6 100644
--- a/src/main/java/frc/subsystem/Drive.java
+++ b/src/main/java/frc/subsystem/Drive.java
@@ -3,28 +3,28 @@
package frc.subsystem;
import com.kauailabs.navx.frc.AHRS;
-import com.revrobotics.CANAnalog.AnalogMode;
-import com.revrobotics.CANEncoder;
-import com.revrobotics.CANPIDController;
+import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import com.revrobotics.CANSparkMaxLowLevel.PeriodicFrame;
-import com.revrobotics.ControlType;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.SparkMaxAnalogSensor;
+import com.revrobotics.SparkMaxPIDController;
+import edu.wpi.first.math.controller.HolonomicDriveController;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.controller.ProfiledPIDController;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
+import edu.wpi.first.math.kinematics.SwerveModuleState;
+import edu.wpi.first.math.trajectory.Trajectory;
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DutyCycle;
import edu.wpi.first.wpilibj.SPI;
import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.controller.HolonomicDriveController;
-import edu.wpi.first.wpilibj.controller.PIDController;
-import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
-import edu.wpi.first.wpilibj.geometry.Pose2d;
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
-import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
-import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
-import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj.trajectory.Trajectory;
-import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
import frc.robot.Constants;
import frc.utility.ControllerDriveInputs;
import frc.utility.controllers.LazyCANSparkMax;
@@ -67,7 +67,7 @@ public static Drive getInstance() {
/**
* Encoders for the motors that turn the wheel (NOT ABSOLUTE)
*/
- private final CANEncoder[] swerveEncoders = new CANEncoder[4];
+ private final RelativeEncoder[] swerveEncoders = new RelativeEncoder[4];
/**
* Absolute Encoders for the motors that turn the wheel
@@ -77,7 +77,7 @@ public static Drive getInstance() {
/**
* PID Controllers for the swerve Drive
*/
- private final CANPIDController[] swervePID = new CANPIDController[4];
+ private final SparkMaxPIDController[] swervePID = new SparkMaxPIDController[4];
private Drive() {
@@ -129,7 +129,7 @@ private Drive() {
swerveDriveMotors[i].getEncoder().setPositionConversionFactor(1);
swerveDriveMotors[i].getEncoder().setVelocityConversionFactor(1);
- swerveMotors[i].getAnalog(AnalogMode.kAbsolute).setPositionConversionFactor(360 / 3.3);//105.88);
+ swerveMotors[i].getAnalog(SparkMaxAnalogSensor.Mode.kAbsolute).setPositionConversionFactor(360 / 3.3);//105.88);
swervePID[i] = swerveMotors[i].getPIDController();
swervePID[i].setP(Constants.SWERVE_DRIVE_P);
@@ -277,7 +277,7 @@ private void swerveDrive(ChassisSpeeds chassisSpeeds) {
SwerveModuleState[] moduleStates = swerveKinematics.toSwerveModuleStates(chassisSpeeds);
boolean rotate = chassisSpeeds.vxMetersPerSecond != 0 || chassisSpeeds.vyMetersPerSecond != 0 || chassisSpeeds.omegaRadiansPerSecond != 0;
- SwerveDriveKinematics.normalizeWheelSpeeds(moduleStates, Constants.DRIVE_HIGH_SPEED_M);
+ SwerveDriveKinematics.desaturateWheelSpeeds(moduleStates, Constants.DRIVE_HIGH_SPEED_M);
for (int i = 0; i < 4; i++) {
// SwerveModuleState targetState = SwerveModuleState.optimize(moduleStates[i],
@@ -291,7 +291,7 @@ private void swerveDrive(ChassisSpeeds chassisSpeeds) {
if (Math.abs(angleDiff) < 5 || !rotate) {
swerveMotors[i].set(0);
} else {
- swervePID[i].setReference(swerveEncoders[i].getPosition() + angleDiff, ControlType.kPosition);
+ swervePID[i].setReference(swerveEncoders[i].getPosition() + angleDiff, CANSparkMax.ControlType.kPosition);
}
double speedModifier = 1; //= 1 - (OrangeUtility.coercedNormalize(Math.abs(angleDiff), 5, 180, 0, 180) / 180);
diff --git a/src/main/java/frc/subsystem/RobotTracker.java b/src/main/java/frc/subsystem/RobotTracker.java
index 83b7f8ea..cabd8323 100644
--- a/src/main/java/frc/subsystem/RobotTracker.java
+++ b/src/main/java/frc/subsystem/RobotTracker.java
@@ -1,8 +1,8 @@
package frc.subsystem;
-import edu.wpi.first.wpilibj.geometry.Pose2d;
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
-import edu.wpi.first.wpilibj.kinematics.SwerveDriveOdometry;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.kinematics.SwerveDriveOdometry;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
public final class RobotTracker extends AbstractSubsystem {
diff --git a/src/main/java/frc/utility/Controller.java b/src/main/java/frc/utility/Controller.java
index 723683b0..ed3539bd 100644
--- a/src/main/java/frc/utility/Controller.java
+++ b/src/main/java/frc/utility/Controller.java
@@ -44,8 +44,8 @@ public static class Xbox {
public Controller(int port) {
super(port);
- axisCount = DriverStation.getInstance().getStickAxisCount(port);
- povCount = DriverStation.getInstance().getStickPOVCount(port);
+ axisCount = DriverStation.getStickAxisCount(port);
+ povCount = DriverStation.getStickPOVCount(port);
oldAxis = new double[axisCount];
currentAxis = new double[axisCount];
currentPOV = new int[povCount];
@@ -98,23 +98,23 @@ public boolean getFallingEdge(int axis, double threshold) {
*/
public void update() {
oldButtons = currentButtons;
- currentButtons = DriverStation.getInstance().getStickButtons(getPort());
- if (axisCount != DriverStation.getInstance().getStickAxisCount(getPort())) {
- axisCount = DriverStation.getInstance().getStickAxisCount(getPort());
+ currentButtons = DriverStation.getStickButtons(getPort());
+ if (axisCount != DriverStation.getStickAxisCount(getPort())) {
+ axisCount = DriverStation.getStickAxisCount(getPort());
oldAxis = new double[axisCount];
currentAxis = new double[axisCount];
}
- if (povCount != DriverStation.getInstance().getStickPOVCount(getPort())) {
- povCount = DriverStation.getInstance().getStickPOVCount(getPort());
+ if (povCount != DriverStation.getStickPOVCount(getPort())) {
+ povCount = DriverStation.getStickPOVCount(getPort());
currentPOV = new int[povCount];
}
oldAxis = currentAxis;
for (int i = 0; i < axisCount; i++) {
- currentAxis[i] = DriverStation.getInstance().getStickAxis(getPort(), i);
+ currentAxis[i] = DriverStation.getStickAxis(getPort(), i);
}
for (int i = 0; i < povCount; i++) {
- currentPOV[i] = DriverStation.getInstance().getStickPOV(getPort(), i);
+ currentPOV[i] = DriverStation.getStickPOV(getPort(), i);
}
}
diff --git a/vendordeps/Phoenix.json b/vendordeps/Phoenix.json
index 87f03cbf..789d831f 100644
--- a/vendordeps/Phoenix.json
+++ b/vendordeps/Phoenix.json
@@ -1,29 +1,30 @@
{
"fileName": "Phoenix.json",
"name": "CTRE-Phoenix",
- "version": "5.19.4",
+ "version": "5.20.2",
+ "frcYear": 2022,
"uuid": "ab676553-b602-441f-a38d-f1296eff6537",
"mavenUrls": [
- "https://devsite.ctr-electronics.com/maven/release/"
+ "https://maven.ctr-electronics.com/release/"
],
- "jsonUrl": "https://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/Phoenix-latest.json",
+ "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix-frc2022-latest.json",
"javaDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "api-java",
- "version": "5.19.4"
+ "version": "5.20.2"
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "wpiapi-java",
- "version": "5.19.4"
+ "version": "5.20.2"
}
],
"jniDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "cci",
- "version": "5.19.4",
+ "version": "5.20.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -33,7 +34,7 @@
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "cci-sim",
- "version": "5.19.4",
+ "version": "5.20.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -45,7 +46,19 @@
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "simTalonSRX",
- "version": "5.19.4",
+ "version": "5.20.2",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxx86-64"
+ ]
+ },
+ {
+ "groupId": "com.ctre.phoenix.sim",
+ "artifactId": "simTalonFX",
+ "version": "5.20.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -57,7 +70,31 @@
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "simVictorSPX",
- "version": "5.19.4",
+ "version": "5.20.2",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxx86-64"
+ ]
+ },
+ {
+ "groupId": "com.ctre.phoenix.sim",
+ "artifactId": "simPigeonIMU",
+ "version": "5.20.2",
+ "isJar": false,
+ "skipInvalidPlatforms": true,
+ "validPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxx86-64"
+ ]
+ },
+ {
+ "groupId": "com.ctre.phoenix.sim",
+ "artifactId": "simCANCoder",
+ "version": "5.20.2",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -71,40 +108,34 @@
{
"groupId": "com.ctre.phoenix",
"artifactId": "wpiapi-cpp",
- "version": "5.19.4",
+ "version": "5.20.2",
"libName": "CTRE_Phoenix_WPI",
"headerClassifier": "headers",
- "sharedLibrary": false,
+ "sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
- "linuxathena",
- "windowsx86-64",
- "linuxx86-64",
- "osxx86-64"
+ "linuxathena"
]
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "api-cpp",
- "version": "5.19.4",
+ "version": "5.20.2",
"libName": "CTRE_Phoenix",
"headerClassifier": "headers",
- "sharedLibrary": false,
+ "sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
- "linuxathena",
- "windowsx86-64",
- "linuxx86-64",
- "osxx86-64"
+ "linuxathena"
]
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "cci",
- "version": "5.19.4",
+ "version": "5.20.2",
"libName": "CTRE_PhoenixCCI",
"headerClassifier": "headers",
- "sharedLibrary": false,
+ "sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"linuxathena"
@@ -112,11 +143,11 @@
},
{
"groupId": "com.ctre.phoenix.sim",
- "artifactId": "cci-sim",
- "version": "5.19.4",
- "libName": "CTRE_PhoenixCCISim",
+ "artifactId": "wpiapi-cpp-sim",
+ "version": "5.20.2",
+ "libName": "CTRE_Phoenix_WPISim",
"headerClassifier": "headers",
- "sharedLibrary": false,
+ "sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
@@ -125,27 +156,26 @@
]
},
{
- "groupId": "com.ctre.phoenix",
- "artifactId": "diagnostics",
- "version": "5.19.4",
- "libName": "CTRE_PhoenixDiagnostics",
+ "groupId": "com.ctre.phoenix.sim",
+ "artifactId": "api-cpp-sim",
+ "version": "5.20.2",
+ "libName": "CTRE_PhoenixSim",
"headerClassifier": "headers",
- "sharedLibrary": false,
+ "sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
- "linuxathena",
"windowsx86-64",
"linuxx86-64",
"osxx86-64"
]
},
{
- "groupId": "com.ctre.phoenix",
- "artifactId": "canutils",
- "version": "5.19.4",
- "libName": "CTRE_PhoenixCanutils",
+ "groupId": "com.ctre.phoenix.sim",
+ "artifactId": "cci-sim",
+ "version": "5.20.2",
+ "libName": "CTRE_PhoenixCCISim",
"headerClassifier": "headers",
- "sharedLibrary": false,
+ "sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
@@ -154,12 +184,12 @@
]
},
{
- "groupId": "com.ctre.phoenix",
- "artifactId": "platform-sim",
- "version": "5.19.4",
- "libName": "CTRE_PhoenixPlatform",
+ "groupId": "com.ctre.phoenix.sim",
+ "artifactId": "simTalonSRX",
+ "version": "5.20.2",
+ "libName": "CTRE_SimTalonSRX",
"headerClassifier": "headers",
- "sharedLibrary": false,
+ "sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
@@ -168,15 +198,14 @@
]
},
{
- "groupId": "com.ctre.phoenix",
- "artifactId": "core",
- "version": "5.19.4",
- "libName": "CTRE_PhoenixCore",
+ "groupId": "com.ctre.phoenix.sim",
+ "artifactId": "simTalonFX",
+ "version": "5.20.2",
+ "libName": "CTRE_SimTalonFX",
"headerClassifier": "headers",
- "sharedLibrary": false,
+ "sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
- "linuxathena",
"windowsx86-64",
"linuxx86-64",
"osxx86-64"
@@ -184,9 +213,9 @@
},
{
"groupId": "com.ctre.phoenix.sim",
- "artifactId": "simTalonSRX",
- "version": "5.19.4",
- "libName": "CTRE_SimTalonSRX",
+ "artifactId": "simVictorSPX",
+ "version": "5.20.2",
+ "libName": "CTRE_SimVictorSPX",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
@@ -198,9 +227,23 @@
},
{
"groupId": "com.ctre.phoenix.sim",
- "artifactId": "simVictorSPX",
- "version": "5.19.4",
- "libName": "CTRE_SimVictorSPX",
+ "artifactId": "simPigeonIMU",
+ "version": "5.20.2",
+ "libName": "CTRE_SimPigeonIMU",
+ "headerClassifier": "headers",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "windowsx86-64",
+ "linuxx86-64",
+ "osxx86-64"
+ ]
+ },
+ {
+ "groupId": "com.ctre.phoenix.sim",
+ "artifactId": "simCANCoder",
+ "version": "5.20.2",
+ "libName": "CTRE_SimCANCoder",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
diff --git a/vendordeps/REVColorSensorV3.json b/vendordeps/REVColorSensorV3.json
deleted file mode 100644
index 982a1441..00000000
--- a/vendordeps/REVColorSensorV3.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
- "cppDependencies": [
- {
- "artifactId": "ColorSensorV3-cpp",
- "binaryPlatforms": [
- "windowsx86-64",
- "windowsx86",
- "linuxx86-64",
- "linuxathena",
- "linuxraspbian"
- ],
- "groupId": "com.revrobotics.frc",
- "headerClassifier": "headers",
- "libName": "ColorSensorV3",
- "sharedLibrary": false,
- "skipInvalidPlatforms": true,
- "sourcesClassifier": "source",
- "version": "1.2.0"
- }
- ],
- "fileName": "REVColorSensorV3.json",
- "javaDependencies": [
- {
- "artifactId": "ColorSensorV3-java",
- "groupId": "com.revrobotics.frc",
- "version": "1.2.0"
- }
- ],
- "jniDependencies": [],
- "jsonUrl": "http://www.revrobotics.com/content/sw/color-sensor-v3/sdk/REVColorSensorV3.json",
- "mavenUrls": [
- "http://www.revrobotics.com/content/sw/color-sensor-v3/sdk/maven/"
- ],
- "name": "REVColorSensorV3",
- "uuid": "cda7b4b1-d003-44ac-a1ef-485c1347059a",
- "version": "1.2.0"
-}
\ No newline at end of file
diff --git a/vendordeps/REVRobotics.json b/vendordeps/REVLib.json
similarity index 69%
rename from vendordeps/REVRobotics.json
rename to vendordeps/REVLib.json
index 724da3a5..2e28e022 100644
--- a/vendordeps/REVRobotics.json
+++ b/vendordeps/REVLib.json
@@ -1,8 +1,27 @@
{
- "cppDependencies": [
+ "fileName": "REVLib.json",
+ "name": "REVLib",
+ "version": "2022.1.0",
+ "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+ "mavenUrls": [
+ "https://maven.revrobotics.com/"
+ ],
+ "jsonUrl": "https://software-metadata.revrobotics.com/REVLib.json",
+ "javaDependencies": [
{
- "artifactId": "SparkMax-cpp",
- "binaryPlatforms": [
+ "groupId": "com.revrobotics.frc",
+ "artifactId": "REVLib-java",
+ "version": "2022.1.0"
+ }
+ ],
+ "jniDependencies": [
+ {
+ "groupId": "com.revrobotics.frc",
+ "artifactId": "REVLib-driver",
+ "version": "2022.1.0",
+ "skipInvalidPlatforms": true,
+ "isJar": false,
+ "validPlatforms": [
"windowsx86-64",
"windowsx86",
"linuxaarch64bionic",
@@ -10,16 +29,18 @@
"linuxathena",
"linuxraspbian",
"osxx86-64"
- ],
+ ]
+ }
+ ],
+ "cppDependencies": [
+ {
"groupId": "com.revrobotics.frc",
+ "artifactId": "REVLib-cpp",
+ "version": "2022.1.0",
+ "libName": "REVLib",
"headerClassifier": "headers",
- "libName": "SparkMax",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
- "version": "1.5.4"
- },
- {
- "artifactId": "SparkMax-driver",
"binaryPlatforms": [
"windowsx86-64",
"windowsx86",
@@ -28,30 +49,17 @@
"linuxathena",
"linuxraspbian",
"osxx86-64"
- ],
+ ]
+ },
+ {
"groupId": "com.revrobotics.frc",
+ "artifactId": "REVLib-driver",
+ "version": "2022.1.0",
+ "libName": "REVLibDriver",
"headerClassifier": "headers",
- "libName": "SparkMaxDriver",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
- "version": "1.5.4"
- }
- ],
- "fileName": "REVRobotics.json",
- "javaDependencies": [
- {
- "artifactId": "SparkMax-java",
- "groupId": "com.revrobotics.frc",
- "version": "1.5.4"
- }
- ],
- "jniDependencies": [
- {
- "artifactId": "SparkMax-driver",
- "groupId": "com.revrobotics.frc",
- "isJar": false,
- "skipInvalidPlatforms": true,
- "validPlatforms": [
+ "binaryPlatforms": [
"windowsx86-64",
"windowsx86",
"linuxaarch64bionic",
@@ -59,15 +67,7 @@
"linuxathena",
"linuxraspbian",
"osxx86-64"
- ],
- "version": "1.5.4"
+ ]
}
- ],
- "jsonUrl": "http://www.revrobotics.com/content/sw/max/sdk/REVRobotics.json",
- "mavenUrls": [
- "http://www.revrobotics.com/content/sw/max/sdk/maven/"
- ],
- "name": "REVRobotics",
- "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
- "version": "1.5.4"
+ ]
}
\ No newline at end of file
diff --git a/vendordeps/navx_frc.json b/vendordeps/navx_frc.json
index 23f0344c..ad23f3b9 100644
--- a/vendordeps/navx_frc.json
+++ b/vendordeps/navx_frc.json
@@ -1,7 +1,7 @@
{
"fileName": "navx_frc.json",
"name": "KauaiLabs_navX_FRC",
- "version": "4.0.412",
+ "version": "4.0.428",
"uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
"mavenUrls": [
"https://repo1.maven.org/maven2/"
@@ -11,7 +11,7 @@
{
"groupId": "com.kauailabs.navx.frc",
"artifactId": "navx-java",
- "version": "4.0.412"
+ "version": "4.0.428"
}
],
"jniDependencies": [],
@@ -19,7 +19,7 @@
{
"groupId": "com.kauailabs.navx.frc",
"artifactId": "navx-cpp",
- "version": "4.0.412",
+ "version": "4.0.428",
"headerClassifier": "headers",
"sourcesClassifier": "sources",
"sharedLibrary": false,