diff --git a/.bazelversion b/.bazelversion
index 0ee843c..e7fdef7 100644
--- a/.bazelversion
+++ b/.bazelversion
@@ -1 +1 @@
-7.2.0
+8.4.2
diff --git a/.github/workflows/bazel.yml b/.github/workflows/bazel.yml
index 73b869d..0c3f80e 100644
--- a/.github/workflows/bazel.yml
+++ b/.github/workflows/bazel.yml
@@ -8,12 +8,9 @@ jobs:
fail-fast: false
matrix:
include:
- - { os: windows-latest, architecture: x64, config: "--noenable_bzlmod" }
- - { os: windows-latest, architecture: x64, config: "--enable_bzlmod" }
- - { os: macos-latest, architecture: x64, config: "--noenable_bzlmod" }
- - { os: macos-latest, architecture: x64, config: "--enable_bzlmod" }
- - { os: ubuntu-latest, architecture: x64, config: "--noenable_bzlmod" }
- - { os: ubuntu-latest, architecture: x64, config: "--enable_bzlmod" }
+ - { os: windows-latest, architecture: x64, config: "" }
+ - { os: macos-latest, architecture: x64, config: "" }
+ - { os: ubuntu-latest, architecture: x64, config: "" }
name: "Build - ${{ matrix.os }} ${{ matrix.architecture }} ${{ matrix.config }}"
runs-on: ${{ matrix.os }}
steps:
@@ -42,8 +39,7 @@ jobs:
fail-fast: false
matrix:
include:
- - { os: ubuntu-latest, architecture: x64, config: "--config=for-roborio --noenable_bzlmod" }
- - { os: ubuntu-latest, architecture: x64, config: "--config=for-roborio --enable_bzlmod" }
+ - { os: ubuntu-latest, architecture: x64, config: "--config=for-roborio" }
name: "Build - ${{ matrix.os }} ${{ matrix.architecture }} ${{ matrix.config }}"
runs-on: ${{ matrix.os }}
steps:
@@ -63,7 +59,7 @@ jobs:
steps:
- uses: actions/checkout@v4
- uses: bazelbuild/setup-bazelisk@v3
- - run: bazel run @unpinned_maven//:pin --noenable_bzlmod
+ - run: REPIN=1 bazel run @maven//:pin
- run: git diff HEAD
- uses: actions/upload-artifact@v4
with:
diff --git a/.github/workflows/publish_examples.yml b/.github/workflows/publish_examples.yml
index 0e1fbcc..c3ce0be 100644
--- a/.github/workflows/publish_examples.yml
+++ b/.github/workflows/publish_examples.yml
@@ -8,7 +8,7 @@ jobs:
runs-on: ubuntu-latest
strategy:
matrix:
- python-version: [3.7]
+ python-version: ["3.10"]
steps:
- uses: actions/checkout@v4
diff --git a/.styleguide-license b/.styleguide-license
index 8b13789..e69de29 100644
--- a/.styleguide-license
+++ b/.styleguide-license
@@ -1 +0,0 @@
-
diff --git a/MODULE.bazel b/MODULE.bazel
index 3e6e8c1..e5e0604 100644
--- a/MODULE.bazel
+++ b/MODULE.bazel
@@ -1,14 +1,14 @@
-bazel_dep(name = "rules_jvm_external", version = "6.1")
-bazel_dep(name = "rules_java", version = "7.6.5")
+bazel_dep(name = "rules_jvm_external", version = "6.3")
+bazel_dep(name = "rules_java", version = "8.14.0")
bazel_dep(name = "rules_bazelrio", version = "0.0.14")
-bazel_dep(name = "rules_bzlmodrio_toolchains", version = "2025-1.bcr1")
-bazel_dep(name = "rules_bzlmodrio_jdk", version = "17.0.12-7")
-bazel_dep(name = "rules_pmd", version = "7.2.0")
-bazel_dep(name = "bzlmodrio-allwpilib", version = "2025.1.1")
-bazel_dep(name = "bzlmodrio-studica", version = "2025.1.1-beta-4")
-bazel_dep(name = "bzlmodrio-phoenix", version = "5.35.0")
-bazel_dep(name = "bzlmodrio-phoenix6", version = "25.1.0")
-bazel_dep(name = "bzlmodrio-revlib", version = "2025.0.0")
+bazel_dep(name = "rules_bzlmodrio_toolchains", version = "2025-1.bcr6")
+bazel_dep(name = "rules_bzlmodrio_jdk", version = "17.0.12-7.bcr1")
+bazel_dep(name = "rules_pmd", version = "7.2.0.bcr1")
+bazel_dep(name = "bzlmodrio-allwpilib", version = "2026.1.1-beta-1")
+bazel_dep(name = "bzlmodrio-studica", version = "2026.0.0-beta")
+bazel_dep(name = "bzlmodrio-phoenix", version = "5.36.0-beta-1")
+bazel_dep(name = "bzlmodrio-phoenix6", version = "26.0.0-beta-1")
+bazel_dep(name = "bzlmodrio-revlib", version = "2026.0.0-beta-1")
archive_override(
module_name = "rules_bzlmodrio_jdk",
@@ -17,13 +17,6 @@ archive_override(
urls = ["https://github.com/wpilibsuite/rules_bzlmodRio_jdk/archive/4ecd4cbc97dfbfe2ceefa627de1228e2f2ca5773.tar.gz"],
)
-archive_override(
- module_name = "bzlmodrio-studica",
- integrity = "sha256-Uw+1yI3vh/6G20kcjmH+c/tUNTMPgx05cjs3mBd3etY=",
- strip_prefix = "bzlmodRio-studica-b190c1fcfaf6e2fd242e934c5109a1073ff84082",
- urls = ["https://github.com/bzlmodrio/bzlmodRio-studica/archive/b190c1fcfaf6e2fd242e934c5109a1073ff84082.tar.gz"],
-)
-
maven = use_extension("@rules_jvm_external//:extensions.bzl", "maven")
maven.install(
artifacts = [
@@ -37,6 +30,7 @@ maven.install(
"org.junit.platform:junit-platform-suite-api:1.6.1",
],
repositories = ["https://repo1.maven.org/maven2"],
+ lock_file = "//build_scripts/bazel/deps:maven_install.json",
)
use_repo(
maven,
diff --git a/MODULE.bazel.lock b/MODULE.bazel.lock
index a507b10..45f5be7 100644
--- a/MODULE.bazel.lock
+++ b/MODULE.bazel.lock
@@ -1,2612 +1,2325 @@
{
- "lockFileVersion": 11,
+ "lockFileVersion": 18,
"registryFileHashes": {
"https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/bazel_registry.json": "8a28e4aff06ee60aed2a8c281907fb8bcbf3b753c91fb5a5c57da3215d5b3497",
"https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/abseil-cpp/20210324.2/MODULE.bazel": "7cd0312e064fde87c8d1cd79ba06c876bd23630c83466e9500321be55c96ace2",
"https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/abseil-cpp/20211102.0/MODULE.bazel": "70390338f7a5106231d20620712f7cccb659cd0e9d073d1991c038eb9fc57589",
- "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/abseil-cpp/20211102.0/source.json": "7e3a9adf473e9af076ae485ed649d5641ad50ec5c11718103f34de03170d94ad",
- "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/apple_support/1.5.0/MODULE.bazel": "50341a62efbc483e8a2a6aec30994a58749bd7b885e18dd96aa8c33031e558ef",
- "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/apple_support/1.5.0/source.json": "eb98a7627c0bc486b57f598ad8da50f6625d974c8f723e9ea71bd39f709c9862",
+ "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/abseil-cpp/20230125.1/MODULE.bazel": "89047429cb0207707b2dface14ba7f8df85273d484c2572755be4bab7ce9c3a0",
+ "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/abseil-cpp/20230802.0.bcr.1/MODULE.bazel": "1c8cec495288dccd14fdae6e3f95f772c1c91857047a098fad772034264cc8cb",
+ "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/abseil-cpp/20230802.0/MODULE.bazel": "d253ae36a8bd9ee3c5955384096ccb6baf16a1b1e93e858370da0a3b94f77c16",
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- "https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/modules/bazel_features/1.11.0/source.json": "c9320aa53cd1c441d24bd6b716da087ad7e4ff0d9742a9884587596edfe53015",
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+ "build_file": "\nconfig_setting(\n name = \"prefix_version_setting\",\n values = {\"java_runtime_version\": \"roboriojdk_17\"},\n visibility = [\"//visibility:private\"],\n)\nconfig_setting(\n name = \"version_setting\",\n values = {\"java_runtime_version\": \"17\"},\n visibility = [\"//visibility:private\"],\n)\nalias(\n name = \"version_or_prefix_version_setting\",\n actual = select({\n \":version_setting\": \":version_setting\",\n \"//conditions:default\": \":prefix_version_setting\",\n }),\n visibility = [\"//visibility:private\"],\n)\ntoolchain(\n name = \"toolchain\",\n target_compatible_with = [\"@platforms//os:macos\", \"@platforms//cpu:x86_64\"],\n target_settings = [\":version_or_prefix_version_setting\"],\n toolchain_type = \"@bazel_tools//tools/jdk:runtime_toolchain_type\",\n toolchain = \"@roboriojdk_mac//:jdk\",\n)\ntoolchain(\n name = \"bootstrap_runtime_toolchain\",\n # These constraints are not required for correctness, but prevent fetches of remote JDK for\n # different architectures. As every Java compilation toolchain depends on a bootstrap runtime in\n # the same configuration, this constraint will not result in toolchain resolution failures.\n exec_compatible_with = [\"@platforms//os:macos\", \"@platforms//cpu:x86_64\"],\n target_settings = [\":version_or_prefix_version_setting\"],\n toolchain_type = \"@bazel_tools//tools/jdk:bootstrap_runtime_toolchain_type\",\n toolchain = \"@roboriojdk_mac//:jdk\",\n)\n"
}
},
- "org_xmlresolver_xmlresolver_5_2_2": {
- "bzlFile": "@@bazel_tools//tools/build_defs/repo:http.bzl",
- "ruleClassName": "http_file",
+ "roboriojdk_mac_arm64": {
+ "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
"attributes": {
- "sha256": "efc92bd7ed32b3e57095e0b3e872051ccfbbdcc980831ef33e89e38161a85222",
+ "build_file_content": "load(\"@rules_java//java/toolchains:java_runtime.bzl\", \"java_runtime\")\n\npackage(default_visibility = [\"//visibility:public\"])\n\nexports_files([\"WORKSPACE\", \"BUILD.bazel\"])\n\nfilegroup(\n name = \"jre\",\n srcs = glob(\n [\n \"jre/bin/**\",\n \"jre/lib/**\",\n ],\n allow_empty = True,\n # In some configurations, Java browser plugin is considered harmful and\n # common antivirus software blocks access to npjp2.dll interfering with Bazel,\n # so do not include it in JRE on Windows.\n exclude = [\"jre/bin/plugin2/**\"],\n ),\n)\n\nfilegroup(\n name = \"jdk-bin\",\n srcs = glob(\n [\"bin/**\"],\n # The JDK on Windows sometimes contains a directory called\n # \"%systemroot%\", which is not a valid label.\n exclude = [\"**/*%*/**\"],\n ),\n)\n\n# This folder holds security policies.\nfilegroup(\n name = \"jdk-conf\",\n srcs = glob(\n [\"conf/**\"],\n allow_empty = True,\n ),\n)\n\nfilegroup(\n name = \"jdk-include\",\n srcs = glob(\n [\"include/**\"],\n allow_empty = True,\n ),\n)\n\nfilegroup(\n name = \"jdk-lib\",\n srcs = glob(\n [\"lib/**\", \"release\"],\n allow_empty = True,\n exclude = [\n \"lib/missioncontrol/**\",\n \"lib/visualvm/**\",\n ],\n ),\n)\n\njava_runtime(\n name = \"jdk\",\n srcs = [\n \":jdk-bin\",\n \":jdk-conf\",\n \":jdk-include\",\n \":jdk-lib\",\n \":jre\",\n ],\n # Provide the 'java` binary explicitly so that the correct path is used by\n # Bazel even when the host platform differs from the execution platform.\n # Exactly one of the two globs will be empty depending on the host platform.\n # When --incompatible_disallow_empty_glob is enabled, each individual empty\n # glob will fail without allow_empty = True, even if the overall result is\n # non-empty.\n java = glob([\"bin/java.exe\", \"bin/java\"], allow_empty = True)[0],\n version = 17,\n)\n\nfilegroup(\n name = \"jdk-jmods\",\n srcs = glob(\n [\"jmods/**\"],\n allow_empty = True,\n ),\n)\n\njava_runtime(\n name = \"jdk-with-jmods\",\n srcs = [\n \":jdk-bin\",\n \":jdk-conf\",\n \":jdk-include\",\n \":jdk-lib\",\n \":jdk-jmods\",\n \":jre\",\n ],\n java = glob([\"bin/java.exe\", \"bin/java\"], allow_empty = True)[0],\n version = 17,\n)\n",
+ "sha256": "d7910b1acaeb290c5c5da21811d2b2b8635f806612a2d6e8d1953b2f77580f78",
"urls": [
- "https://repo1.maven.org/maven2/org/xmlresolver/xmlresolver/5.2.2/xmlresolver-5.2.2.jar",
- "https://repo.maven.apache.org/maven2/org/xmlresolver/xmlresolver/5.2.2/xmlresolver-5.2.2.jar"
+ "https://github.com/adoptium/temurin17-binaries/releases/download/jdk-17.0.12%2B7/OpenJDK17U-jdk_aarch64_mac_hotspot_17.0.12_7.tar.gz"
],
- "downloaded_file_path": "v1/org/xmlresolver/xmlresolver/5.2.2/xmlresolver-5.2.2.jar"
+ "strip_prefix": "jdk-17.0.12+7/Contents/Home"
}
},
- "com_google_api_grpc_proto_google_cloud_storage_v2_jar_sources_2_36_1_alpha": {
- "bzlFile": "@@bazel_tools//tools/build_defs/repo:http.bzl",
- "ruleClassName": "http_file",
+ "roboriojdk_mac_arm64_toolchain_config_repo": {
+ "repoRuleId": "@@rules_java+//toolchains:remote_java_repository.bzl%_toolchain_config",
"attributes": {
- "sha256": "2a968879ada88202ccad834e38e415787575e0254d0d0d60d59291a2dbfbfd9c",
- "urls": [
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- ],
- "downloaded_file_path": "v1/com/google/api/grpc/proto-google-cloud-storage-v2/2.36.1-alpha/proto-google-cloud-storage-v2-2.36.1-alpha-sources.jar"
+ "build_file": "\nconfig_setting(\n name = \"prefix_version_setting\",\n values = {\"java_runtime_version\": \"roboriojdk_17\"},\n visibility = [\"//visibility:private\"],\n)\nconfig_setting(\n name = \"version_setting\",\n values = {\"java_runtime_version\": \"17\"},\n visibility = [\"//visibility:private\"],\n)\nalias(\n name = \"version_or_prefix_version_setting\",\n actual = select({\n \":version_setting\": \":version_setting\",\n \"//conditions:default\": \":prefix_version_setting\",\n }),\n visibility = [\"//visibility:private\"],\n)\ntoolchain(\n name = \"toolchain\",\n target_compatible_with = [\"@platforms//os:macos\", \"@platforms//cpu:aarch64\"],\n target_settings = [\":version_or_prefix_version_setting\"],\n toolchain_type = \"@bazel_tools//tools/jdk:runtime_toolchain_type\",\n toolchain = \"@roboriojdk_mac_arm64//:jdk\",\n)\ntoolchain(\n name = \"bootstrap_runtime_toolchain\",\n # These constraints are not required for correctness, but prevent fetches of remote JDK for\n # different architectures. As every Java compilation toolchain depends on a bootstrap runtime in\n # the same configuration, this constraint will not result in toolchain resolution failures.\n exec_compatible_with = [\"@platforms//os:macos\", \"@platforms//cpu:aarch64\"],\n target_settings = [\":version_or_prefix_version_setting\"],\n toolchain_type = \"@bazel_tools//tools/jdk:bootstrap_runtime_toolchain_type\",\n toolchain = \"@roboriojdk_mac_arm64//:jdk\",\n)\n"
}
},
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- "bzlFile": "@@bazel_tools//tools/build_defs/repo:http.bzl",
- "ruleClassName": "http_file",
+ "roboriojdk_windows": {
+ "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
"attributes": {
- "sha256": "0dd578a67892b65b7c611717812bc78bf47ae689ce340ae1ae1ecededddabc51",
+ "build_file_content": "load(\"@rules_java//java/toolchains:java_runtime.bzl\", \"java_runtime\")\n\npackage(default_visibility = [\"//visibility:public\"])\n\nexports_files([\"WORKSPACE\", \"BUILD.bazel\"])\n\nfilegroup(\n name = \"jre\",\n srcs = glob(\n [\n \"jre/bin/**\",\n \"jre/lib/**\",\n ],\n allow_empty = True,\n # In some configurations, Java browser plugin is considered harmful and\n # common antivirus software blocks access to npjp2.dll interfering with Bazel,\n # so do not include it in JRE on Windows.\n exclude = [\"jre/bin/plugin2/**\"],\n ),\n)\n\nfilegroup(\n name = \"jdk-bin\",\n srcs = glob(\n [\"bin/**\"],\n # The JDK on Windows sometimes contains a directory called\n # \"%systemroot%\", which is not a valid label.\n exclude = [\"**/*%*/**\"],\n ),\n)\n\n# This folder holds security policies.\nfilegroup(\n name = \"jdk-conf\",\n srcs = glob(\n [\"conf/**\"],\n allow_empty = True,\n ),\n)\n\nfilegroup(\n name = \"jdk-include\",\n srcs = glob(\n [\"include/**\"],\n allow_empty = True,\n ),\n)\n\nfilegroup(\n name = \"jdk-lib\",\n srcs = glob(\n [\"lib/**\", \"release\"],\n allow_empty = True,\n exclude = [\n \"lib/missioncontrol/**\",\n \"lib/visualvm/**\",\n ],\n ),\n)\n\njava_runtime(\n name = \"jdk\",\n srcs = [\n \":jdk-bin\",\n \":jdk-conf\",\n \":jdk-include\",\n \":jdk-lib\",\n \":jre\",\n ],\n # Provide the 'java` binary explicitly so that the correct path is used by\n # Bazel even when the host platform differs from the execution platform.\n # Exactly one of the two globs will be empty depending on the host platform.\n # When --incompatible_disallow_empty_glob is enabled, each individual empty\n # glob will fail without allow_empty = True, even if the overall result is\n # non-empty.\n java = glob([\"bin/java.exe\", \"bin/java\"], allow_empty = True)[0],\n version = 17,\n)\n\nfilegroup(\n name = \"jdk-jmods\",\n srcs = glob(\n [\"jmods/**\"],\n allow_empty = True,\n ),\n)\n\njava_runtime(\n name = \"jdk-with-jmods\",\n srcs = [\n \":jdk-bin\",\n \":jdk-conf\",\n \":jdk-include\",\n \":jdk-lib\",\n \":jdk-jmods\",\n \":jre\",\n ],\n java = glob([\"bin/java.exe\", \"bin/java\"], allow_empty = True)[0],\n version = 17,\n)\n",
+ "sha256": "052049d687ebfda6a4032d54afcd0da6549a23bc2ed04cfaa509746eeacbae71",
"urls": [
- "https://repo1.maven.org/maven2/org/apache/maven/resolver/maven-resolver-connector-basic/1.9.18/maven-resolver-connector-basic-1.9.18-sources.jar"
+ "https://github.com/adoptium/temurin17-binaries/releases/download/jdk-17.0.12%2B7/OpenJDK17U-jdk_x64_windows_hotspot_17.0.12_7.zip"
],
- "downloaded_file_path": "v1/org/apache/maven/resolver/maven-resolver-connector-basic/1.9.18/maven-resolver-connector-basic-1.9.18-sources.jar"
+ "strip_prefix": "jdk-17.0.12+7",
+ "patch_cmds": [
+ "cp ../rules_bzlmodrio_jdk+/msvc_runtime/concrt140.dll bin/concrt140.dll",
+ "cp ../rules_bzlmodrio_jdk+/msvc_runtime/msvcp140.dll bin/msvcp140.dll",
+ "cp ../rules_bzlmodrio_jdk+/msvc_runtime/msvcp140_1.dll bin/msvcp140_1.dll",
+ "cp ../rules_bzlmodrio_jdk+/msvc_runtime/msvcp140_2.dll bin/msvcp140_2.dll",
+ "cp ../rules_bzlmodrio_jdk+/msvc_runtime/msvcp140_atomic_wait.dll bin/msvcp140_atomic_wait.dll",
+ "cp ../rules_bzlmodrio_jdk+/msvc_runtime/msvcp140_codecvt_ids.dll bin/msvcp140_codecvt_ids.dll",
+ "cp ../rules_bzlmodrio_jdk+/msvc_runtime/vccorlib140.dll bin/vccorlib140.dll",
+ "cp ../rules_bzlmodrio_jdk+/msvc_runtime/vcruntime140.dll bin/vcruntime140.dll",
+ "cp ../rules_bzlmodrio_jdk+/msvc_runtime/vcruntime140_1.dll bin/vcruntime140_1.dll",
+ "cp ../rules_bzlmodrio_jdk+/msvc_runtime/vcruntime140_threads.dll bin/vcruntime140_threads.dll"
+ ]
}
},
- "io_grpc_grpc_netty_shaded_1_62_2": {
- "bzlFile": "@@bazel_tools//tools/build_defs/repo:http.bzl",
- "ruleClassName": "http_file",
+ "roboriojdk_windows_toolchain_config_repo": {
+ "repoRuleId": "@@rules_java+//toolchains:remote_java_repository.bzl%_toolchain_config",
"attributes": {
- "sha256": "b3f1823ef30ca02ac721020f4b6492248efdbd0548c78e893d5d245cbca2cc60",
- "urls": [
- "https://repo1.maven.org/maven2/io/grpc/grpc-netty-shaded/1.62.2/grpc-netty-shaded-1.62.2.jar"
- ],
- "downloaded_file_path": "v1/io/grpc/grpc-netty-shaded/1.62.2/grpc-netty-shaded-1.62.2.jar"
+ "build_file": "\nconfig_setting(\n name = \"prefix_version_setting\",\n values = {\"java_runtime_version\": \"roboriojdk_17\"},\n visibility = [\"//visibility:private\"],\n)\nconfig_setting(\n name = \"version_setting\",\n values = {\"java_runtime_version\": \"17\"},\n visibility = [\"//visibility:private\"],\n)\nalias(\n name = \"version_or_prefix_version_setting\",\n actual = select({\n \":version_setting\": \":version_setting\",\n \"//conditions:default\": \":prefix_version_setting\",\n }),\n visibility = [\"//visibility:private\"],\n)\ntoolchain(\n name = \"toolchain\",\n target_compatible_with = [\"@platforms//os:windows\"],\n target_settings = [\":version_or_prefix_version_setting\"],\n toolchain_type = \"@bazel_tools//tools/jdk:runtime_toolchain_type\",\n toolchain = \"@roboriojdk_windows//:jdk\",\n)\ntoolchain(\n name = \"bootstrap_runtime_toolchain\",\n # These constraints are not required for correctness, but prevent fetches of remote JDK for\n # different architectures. As every Java compilation toolchain depends on a bootstrap runtime in\n # the same configuration, this constraint will not result in toolchain resolution failures.\n exec_compatible_with = [\"@platforms//os:windows\"],\n target_settings = [\":version_or_prefix_version_setting\"],\n toolchain_type = \"@bazel_tools//tools/jdk:bootstrap_runtime_toolchain_type\",\n toolchain = \"@roboriojdk_windows//:jdk\",\n)\n"
}
}
},
"recordedRepoMappingEntries": [
[
- "rules_jvm_external~",
- "",
- ""
+ "rules_bzlmodrio_jdk+",
+ "rules_bzlmodrio_jdk",
+ "rules_bzlmodrio_jdk+"
+ ],
+ [
+ "rules_bzlmodrio_jdk+",
+ "rules_java",
+ "rules_java+"
],
[
- "rules_jvm_external~",
+ "rules_java+",
"bazel_tools",
"bazel_tools"
]
]
}
},
- "@@rules_kotlin~//src/main/starlark/core/repositories:bzlmod_setup.bzl%rules_kotlin_extensions": {
+ "@@rules_bzlmodrio_toolchains+//:extensions.bzl%sh_configure": {
"general": {
- "bzlTransitiveDigest": "HEEa2807W1hMMbUfqsZEgS3IyuR2PxPE8mEPkwu03Bs=",
- "usagesDigest": "NVenRWDvHRhBixN7Qd3DonxYCvo8Bzu7GU5tHat0wps=",
+ "bzlTransitiveDigest": "q+0LgnvjpZ9Y2r2JYzNeYCKGLphbczG73lZ3rBg+XhM=",
+ "usagesDigest": "GDmrGrGUFDQDca0uG7B/XTodWp01aMWaCpnngNSnKNE=",
"recordedFileInputs": {},
"recordedDirentsInputs": {},
"envVariables": {},
"generatedRepoSpecs": {
- "rules_android": {
- "bzlFile": "@@bazel_tools//tools/build_defs/repo:http.bzl",
- "ruleClassName": "http_archive",
- "attributes": {
- "sha256": "cd06d15dd8bb59926e4d65f9003bfc20f9da4b2519985c27e190cddc8b7a7806",
- "strip_prefix": "rules_android-0.1.1",
- "urls": [
- "https://github.com/bazelbuild/rules_android/archive/v0.1.1.zip"
- ]
- }
- },
- "com_github_pinterest_ktlint": {
- "bzlFile": "@@bazel_tools//tools/build_defs/repo:http.bzl",
- "ruleClassName": "http_file",
+ "local_bookworm_32": {
+ "repoRuleId": "@@rules_bzlmodrio_toolchains+//toolchains:configure_cross_compiler.bzl%configure_cross_compiler",
"attributes": {
- "sha256": "2b3f6f674a944d25bb8d283c3539947bbe86074793012909a55de4b771f74bcc",
- "urls": [
- "https://github.com/pinterest/ktlint/releases/download/0.49.1/ktlint"
- ],
- "executable": true
+ "bin_subfolder": "bookworm/bin",
+ "bin_prefix": "armv7-bookworm-linux-gnueabihf-",
+ "sysroot_subfolder": "bookworm/arm-linux-gnueabihf/sysroot",
+ "cxx_version": "12",
+ "target_cpu": "armv7",
+ "target_system_name": "arm-linux-gnueabihf",
+ "sysroot_include_folder": "arm-linux-gnueabihf",
+ "repo_shortname": "bookworm_32"
}
},
- "buildkite_config": {
- "bzlFile": "@@bazel_tools//tools/build_defs/repo:http.bzl",
- "ruleClassName": "http_archive",
+ "local_bookworm_64": {
+ "repoRuleId": "@@rules_bzlmodrio_toolchains+//toolchains:configure_cross_compiler.bzl%configure_cross_compiler",
"attributes": {
- "urls": [
- "https://storage.googleapis.com/rbe-toolchain/bazel-configs/rbe-ubuntu1604/latest/rbe_default.tar"
- ]
+ "bin_subfolder": "bookworm/bin",
+ "bin_prefix": "aarch64-bookworm-linux-gnu-",
+ "sysroot_subfolder": "bookworm/aarch64-linux-gnu/sysroot",
+ "cxx_version": "12",
+ "target_cpu": "armv8a",
+ "target_system_name": "aarch64-linux-gnu",
+ "sysroot_include_folder": "aarch64-linux-gnu",
+ "repo_shortname": "bookworm_64"
}
},
- "com_github_jetbrains_kotlin": {
- "bzlFile": "@@rules_kotlin~//src/main/starlark/core/repositories:compiler.bzl",
- "ruleClassName": "kotlin_compiler_repository",
+ "local_raspi_bookworm_32": {
+ "repoRuleId": "@@rules_bzlmodrio_toolchains+//toolchains:configure_cross_compiler.bzl%configure_cross_compiler",
"attributes": {
- "urls": [
- "https://github.com/JetBrains/kotlin/releases/download/v1.9.10/kotlin-compiler-1.9.10.zip"
- ],
- "sha256": "7d74863deecf8e0f28ea54c3735feab003d0eac67e8d3a791254b16889c20342",
- "compiler_version": "1.9.10"
+ "bin_subfolder": "raspi-bookworm/bin",
+ "bin_prefix": "armv6-bookworm-linux-gnueabihf-",
+ "sysroot_subfolder": "raspi-bookworm/arm-linux-gnueabihf/sysroot",
+ "cxx_version": "12",
+ "target_cpu": "armv7",
+ "target_system_name": "arm-linux-gnueabihf",
+ "sysroot_include_folder": "arm-linux-gnueabihf",
+ "repo_shortname": "raspi_bookworm_32"
}
},
- "com_github_google_ksp": {
- "bzlFile": "@@rules_kotlin~//src/main/starlark/core/repositories:ksp.bzl",
- "ruleClassName": "ksp_compiler_plugin_repository",
+ "local_roborio": {
+ "repoRuleId": "@@rules_bzlmodrio_toolchains+//toolchains:configure_cross_compiler.bzl%configure_cross_compiler",
"attributes": {
- "urls": [
- "https://github.com/google/ksp/releases/download/1.9.10-1.0.13/artifacts.zip"
- ],
- "sha256": "5b0b1179e8af40877d9d5929ec0260afb104956eabf2f23bb5568cfd6c20b37b",
- "strip_version": "1.9.10-1.0.13"
+ "bin_subfolder": "roborio-academic/bin",
+ "bin_prefix": "arm-frc2025-linux-gnueabi-",
+ "sysroot_subfolder": "roborio-academic/arm-nilrt-linux-gnueabi/sysroot",
+ "cxx_version": "12",
+ "target_cpu": "armv7",
+ "target_system_name": "arm-nilrt-linux-gnueabi",
+ "sysroot_include_folder": "arm-nilrt-linux-gnueabi",
+ "repo_shortname": "roborio"
}
},
- "kt_java_stub_template": {
- "bzlFile": "@@bazel_tools//tools/build_defs/repo:http.bzl",
- "ruleClassName": "http_file",
+ "local_systemcore": {
+ "repoRuleId": "@@rules_bzlmodrio_toolchains+//toolchains:configure_cross_compiler.bzl%configure_cross_compiler",
"attributes": {
- "urls": [
- "https://raw.githubusercontent.com/bazelbuild/bazel/6.2.1/src/main/java/com/google/devtools/build/lib/bazel/rules/java/java_stub_template.txt"
+ "extra_defines": [
+ "-D__FRC_SYSTEMCORE__=1"
],
- "sha256": "78e29525872594ffc783c825f428b3e61d4f3e632f46eaa64f004b2814c4a612"
+ "bin_subfolder": "bookworm/bin",
+ "bin_prefix": "aarch64-bookworm-linux-gnu-",
+ "sysroot_subfolder": "bookworm/aarch64-linux-gnu/sysroot",
+ "cxx_version": "12",
+ "target_cpu": "armv8a",
+ "target_system_name": "aarch64-linux-gnu",
+ "sysroot_include_folder": "aarch64-linux-gnu",
+ "repo_shortname": "systemcore"
}
}
},
- "recordedRepoMappingEntries": [
- [
- "rules_kotlin~",
- "bazel_tools",
- "bazel_tools"
- ]
- ]
+ "recordedRepoMappingEntries": []
}
},
- "@@rules_python~//python/extensions:python.bzl%python": {
+ "@@rules_kotlin+//src/main/starlark/core/repositories:bzlmod_setup.bzl%rules_kotlin_extensions": {
"general": {
- "bzlTransitiveDigest": "XaaZIw4dO4l6naftU5IBdrfCE1mOmelaT/Sq9uyBnhs=",
- "usagesDigest": "9rlrm2M/kJEEPWIo3UEIjkAFxHjzsbMIAFR9yrYnKsQ=",
+ "bzlTransitiveDigest": "OlvsB0HsvxbR8ZN+J9Vf00X/+WVz/Y/5Xrq2LgcVfdo=",
+ "usagesDigest": "QI2z8ZUR+mqtbwsf2fLqYdJAkPOHdOV+tF2yVAUgRzw=",
"recordedFileInputs": {},
"recordedDirentsInputs": {},
"envVariables": {},
"generatedRepoSpecs": {
- "python_aliases": {
- "bzlFile": "@@rules_python~//python/private:toolchains_repo.bzl",
- "ruleClassName": "multi_toolchain_aliases",
- "attributes": {
- "python_versions": {
- "3.11": "python_3_11"
- }
- }
- },
- "python_3_11": {
- "bzlFile": "@@rules_python~//python/private:toolchains_repo.bzl",
- "ruleClassName": "toolchain_aliases",
- "attributes": {
- "python_version": "3.11.1",
- "user_repository_name": "python_3_11"
- }
- },
- "python_3_11_aarch64-unknown-linux-gnu": {
- "bzlFile": "@@rules_python~//python:repositories.bzl",
- "ruleClassName": "python_repository",
+ "com_github_jetbrains_kotlin_git": {
+ "repoRuleId": "@@rules_kotlin+//src/main/starlark/core/repositories:compiler.bzl%kotlin_compiler_git_repository",
"attributes": {
- "sha256": "debf15783bdcb5530504f533d33fda75a7b905cec5361ae8f33da5ba6599f8b4",
- "patches": [],
- "platform": "aarch64-unknown-linux-gnu",
- "python_version": "3.11.1",
- "release_filename": "20230116/cpython-3.11.1+20230116-aarch64-unknown-linux-gnu-install_only.tar.gz",
"urls": [
- "https://github.com/indygreg/python-build-standalone/releases/download/20230116/cpython-3.11.1+20230116-aarch64-unknown-linux-gnu-install_only.tar.gz"
+ "https://github.com/JetBrains/kotlin/releases/download/v1.9.23/kotlin-compiler-1.9.23.zip"
],
- "distutils_content": "",
- "strip_prefix": "python",
- "ignore_root_user_error": false
+ "sha256": "93137d3aab9afa9b27cb06a824c2324195c6b6f6179d8a8653f440f5bd58be88"
}
},
- "python_3_11_aarch64-apple-darwin": {
- "bzlFile": "@@rules_python~//python:repositories.bzl",
- "ruleClassName": "python_repository",
+ "com_github_jetbrains_kotlin": {
+ "repoRuleId": "@@rules_kotlin+//src/main/starlark/core/repositories:compiler.bzl%kotlin_capabilities_repository",
"attributes": {
- "sha256": "4918cdf1cab742a90f85318f88b8122aeaa2d04705803c7b6e78e81a3dd40f80",
- "patches": [],
- "platform": "aarch64-apple-darwin",
- "python_version": "3.11.1",
- "release_filename": "20230116/cpython-3.11.1+20230116-aarch64-apple-darwin-install_only.tar.gz",
- "urls": [
- "https://github.com/indygreg/python-build-standalone/releases/download/20230116/cpython-3.11.1+20230116-aarch64-apple-darwin-install_only.tar.gz"
- ],
- "distutils_content": "",
- "strip_prefix": "python",
- "ignore_root_user_error": false
+ "git_repository_name": "com_github_jetbrains_kotlin_git",
+ "compiler_version": "1.9.23"
}
},
- "python_3_11_x86_64-apple-darwin": {
- "bzlFile": "@@rules_python~//python:repositories.bzl",
- "ruleClassName": "python_repository",
+ "com_github_google_ksp": {
+ "repoRuleId": "@@rules_kotlin+//src/main/starlark/core/repositories:ksp.bzl%ksp_compiler_plugin_repository",
"attributes": {
- "sha256": "20a4203d069dc9b710f70b09e7da2ce6f473d6b1110f9535fb6f4c469ed54733",
- "patches": [],
- "platform": "x86_64-apple-darwin",
- "python_version": "3.11.1",
- "release_filename": "20230116/cpython-3.11.1+20230116-x86_64-apple-darwin-install_only.tar.gz",
"urls": [
- "https://github.com/indygreg/python-build-standalone/releases/download/20230116/cpython-3.11.1+20230116-x86_64-apple-darwin-install_only.tar.gz"
- ],
- "distutils_content": "",
- "strip_prefix": "python",
- "ignore_root_user_error": false
- }
- },
- "pythons_hub": {
- "bzlFile": "@@rules_python~//python/extensions/private:pythons_hub.bzl",
- "ruleClassName": "hub_repo",
- "attributes": {
- "toolchain_prefixes": [
- "_0000_python_3_11_"
- ],
- "toolchain_python_versions": [
- "3.11"
+ "https://github.com/google/ksp/releases/download/1.9.23-1.0.20/artifacts.zip"
],
- "toolchain_set_python_version_constraints": [
- "False"
- ],
- "toolchain_user_repository_names": [
- "python_3_11"
- ]
+ "sha256": "ee0618755913ef7fd6511288a232e8fad24838b9af6ea73972a76e81053c8c2d",
+ "strip_version": "1.9.23-1.0.20"
}
},
- "python_3_11_x86_64-pc-windows-msvc": {
- "bzlFile": "@@rules_python~//python:repositories.bzl",
- "ruleClassName": "python_repository",
+ "com_github_pinterest_ktlint": {
+ "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_file",
"attributes": {
- "sha256": "edc08979cb0666a597466176511529c049a6f0bba8adf70df441708f766de5bf",
- "patches": [],
- "platform": "x86_64-pc-windows-msvc",
- "python_version": "3.11.1",
- "release_filename": "20230116/cpython-3.11.1+20230116-x86_64-pc-windows-msvc-shared-install_only.tar.gz",
+ "sha256": "01b2e0ef893383a50dbeb13970fe7fa3be36ca3e83259e01649945b09d736985",
"urls": [
- "https://github.com/indygreg/python-build-standalone/releases/download/20230116/cpython-3.11.1+20230116-x86_64-pc-windows-msvc-shared-install_only.tar.gz"
+ "https://github.com/pinterest/ktlint/releases/download/1.3.0/ktlint"
],
- "distutils_content": "",
- "strip_prefix": "python",
- "ignore_root_user_error": false
+ "executable": true
}
},
- "python_3_11_x86_64-unknown-linux-gnu": {
- "bzlFile": "@@rules_python~//python:repositories.bzl",
- "ruleClassName": "python_repository",
+ "rules_android": {
+ "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
"attributes": {
- "sha256": "02a551fefab3750effd0e156c25446547c238688a32fabde2995c941c03a6423",
- "patches": [],
- "platform": "x86_64-unknown-linux-gnu",
- "python_version": "3.11.1",
- "release_filename": "20230116/cpython-3.11.1+20230116-x86_64-unknown-linux-gnu-install_only.tar.gz",
+ "sha256": "cd06d15dd8bb59926e4d65f9003bfc20f9da4b2519985c27e190cddc8b7a7806",
+ "strip_prefix": "rules_android-0.1.1",
"urls": [
- "https://github.com/indygreg/python-build-standalone/releases/download/20230116/cpython-3.11.1+20230116-x86_64-unknown-linux-gnu-install_only.tar.gz"
- ],
- "distutils_content": "",
- "strip_prefix": "python",
- "ignore_root_user_error": false
+ "https://github.com/bazelbuild/rules_android/archive/v0.1.1.zip"
+ ]
}
}
},
"recordedRepoMappingEntries": [
[
- "rules_python~",
+ "rules_kotlin+",
"bazel_tools",
"bazel_tools"
]
diff --git a/WORKSPACE b/WORKSPACE
deleted file mode 100644
index 8de9331..0000000
--- a/WORKSPACE
+++ /dev/null
@@ -1,60 +0,0 @@
-load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
-load("//build_scripts/bazel/deps:download_external_archives.bzl", "download_external_archives")
-
-http_archive(
- name = "rules_bzlmodrio_jdk",
- sha256 = "43a475e46852305ffc87f7499e772a42dc5343d7bfcc7631dbca83568712f44f",
- strip_prefix = "rules_bzlmodrio_jdk-d5f0db20a611e4ec4b26f95d9c772e2436b69b55",
- urls = ["https://github.com/wpilibsuite/rules_bzlmodRio_jdk/archive/d5f0db20a611e4ec4b26f95d9c772e2436b69b55.tar.gz"],
-)
-
-http_archive(
- name = "bzlmodrio-studica",
- sha256 = "530fb5c88def87fe86db491c8e61fe73fb5435330f831d39723b379817777ad6",
- strip_prefix = "bzlmodRio-studica-b190c1fcfaf6e2fd242e934c5109a1073ff84082",
- urls = ["https://github.com/bzlmodrio/bzlmodRio-studica/archive/b190c1fcfaf6e2fd242e934c5109a1073ff84082.tar.gz"],
-)
-
-download_external_archives()
-
-load("//build_scripts/bazel/deps:setup_dependencies.bzl", "setup_dependencies")
-
-setup_dependencies()
-
-load("//build_scripts/bazel/deps:activate_dependencies.bzl", "activate_dependencies")
-
-activate_dependencies()
-
-load("@maven//:defs.bzl", "pinned_maven_install")
-
-pinned_maven_install()
-
-load("@rules_wpi_styleguide//dependencies:load_rule_dependencies.bzl", "load_styleguide_rule_dependencies")
-
-load_styleguide_rule_dependencies()
-
-load("@rules_wpi_styleguide//dependencies:load_dependencies.bzl", "load_styleguide_dependencies")
-
-load_styleguide_dependencies()
-
-load("@rules_wpi_styleguide//dependencies:load_transitive_dependencies.bzl", "load_styleguide_transitive_dependencies")
-
-load_styleguide_transitive_dependencies()
-
-load("@rules_wpi_styleguide//dependencies:setup_styleguide.bzl", "setup_styleguide")
-
-setup_styleguide()
-
-load("@rules_wpi_styleguide//dependencies:load_pins.bzl", "load_styleguide_pins")
-
-load_styleguide_pins()
-
-http_archive(
- name = "rules_bzlmodrio_jdk",
- sha256 = "36cd468c867817ec460d76c28ec0ccd2d9fac4a2cf966af3935243a8a4a08108",
- url = "https://github.com/bzlmodRio/rules_bzlmodRio_jdk/releases/download/17.0.8-7/rules_bzlmodRio_jdk-17.0.8-7.tar.gz",
-)
-
-load("@rules_bzlmodrio_jdk//:maven_deps.bzl", "setup_legacy_setup_jdk_dependencies")
-
-setup_legacy_setup_jdk_dependencies()
diff --git a/WORKSPACE.bzlmod b/WORKSPACE.bzlmod
deleted file mode 100644
index 8b13789..0000000
--- a/WORKSPACE.bzlmod
+++ /dev/null
@@ -1 +0,0 @@
-
diff --git a/build_scripts/base_java.gradle b/build_scripts/base_java.gradle
index 524eb2d..6e7c034 100644
--- a/build_scripts/base_java.gradle
+++ b/build_scripts/base_java.gradle
@@ -3,7 +3,7 @@ repositories {
mavenLocal()
maven { url "https://frcmaven.wpi.edu/artifactory/release/" }
maven { url 'https://devsite.ctr-electronics.com/maven/release/' }
- maven { url 'https://dev.studica.com/maven/release/2025/' }
+ maven { url 'https://dev.studica.com/maven/release/2026/' }
maven { url 'https://maven.revrobotics.com/' }
}
@@ -41,13 +41,15 @@ ext.getCurrentOs = {
}
ext {
- wpiVersion = '2025.1.1'
+ wpiVersion = '2026.1.1-beta-1'
opencvYear = '2025'
opencvVersion = '4.10.0-3'
- phoenix5Version = '5.35.0'
- phoenix6Version = "25.1.0"
- revVersion = '2025.0.0'
- navxVersion = '2025.1.1-beta-4'
+ phoenix5Version = '5.36.0-beta-1'
+ phoenix6Version = "26.0.0-beta-1"
+ revVersion = '2026.0.0-beta-1'
+ navxVersion = '2026.0.0-beta'
+
+ jacksonVersion = '2.19.2'
nativeOs = getCurrentOs() + getCurrentArch()
}
@@ -59,6 +61,9 @@ configurations {
}
dependencies {
+ implementation group: "com.fasterxml.jackson.core", name: "jackson-annotations", version: jacksonVersion
+ implementation group: "com.fasterxml.jackson.core", name: "jackson-core", version: jacksonVersion
+ implementation group: "com.fasterxml.jackson.core", name: "jackson-databind", version: jacksonVersion
nativeDesktopZip "edu.wpi.first.hal:hal-cpp:${wpiVersion}:${nativeOs}@zip"
nativeDesktopZip "edu.wpi.first.ntcore:ntcore-cpp:${wpiVersion}:${nativeOs}@zip"
@@ -73,17 +78,21 @@ dependencies {
nativeDesktopZip "com.ctre.phoenix.sim:cci-sim:${phoenix5Version}:${nativeOs}@zip"
nativeDesktopZip "com.ctre.phoenix6.sim:api-cpp-sim:${phoenix6Version}:${nativeOs}@zip"
- nativeDesktopZip "com.ctre.phoenix6.sim:simCANCoder:${phoenix6Version}:${nativeOs}@zip"
nativeDesktopZip "com.ctre.phoenix6.sim:simProCANrange:${phoenix6Version}:${nativeOs}@zip"
+ nativeDesktopZip "com.ctre.phoenix6.sim:simProCANdi:${phoenix6Version}:${nativeOs}@zip"
+ nativeDesktopZip "com.ctre.phoenix6.sim:simProCANdle:${phoenix6Version}:${nativeOs}@zip"
nativeDesktopZip "com.ctre.phoenix6.sim:simPigeonIMU:${phoenix6Version}:${nativeOs}@zip"
nativeDesktopZip "com.ctre.phoenix6.sim:simProCANcoder:${phoenix6Version}:${nativeOs}@zip"
nativeDesktopZip "com.ctre.phoenix6.sim:simProPigeon2:${phoenix6Version}:${nativeOs}@zip"
nativeDesktopZip "com.ctre.phoenix6.sim:simProTalonFX:${phoenix6Version}:${nativeOs}@zip"
+ nativeDesktopZip "com.ctre.phoenix6.sim:simProTalonFXS:${phoenix6Version}:${nativeOs}@zip"
nativeDesktopZip "com.ctre.phoenix6.sim:simTalonSRX:${phoenix6Version}:${nativeOs}@zip"
nativeDesktopZip "com.ctre.phoenix6.sim:simVictorSPX:${phoenix6Version}:${nativeOs}@zip"
nativeDesktopZip "com.ctre.phoenix6.sim:tools-sim:${phoenix6Version}:${nativeOs}@zip"
nativeDesktopZip "com.revrobotics.frc:REVLib-driver:${revVersion}:${nativeOs}@zip"
+ nativeDesktopZip "com.revrobotics.frc:RevLibBackendDriver:${revVersion}:${nativeOs}@zip"
+ nativeDesktopZip "com.revrobotics.frc:RevLibWpiBackendDriver:${revVersion}:${nativeOs}@zip"
}
tasks.withType(JavaCompile) {
diff --git a/examples/create_standalone_projects.py b/examples/create_standalone_projects.py
index 3d6afd7..d7ae94c 100644
--- a/examples/create_standalone_projects.py
+++ b/examples/create_standalone_projects.py
@@ -31,14 +31,6 @@ def run():
"catchall", "Catchall", ["navx_frc.json", "REVLib.json", "Phoenix.json"]
)
)
- projects.append(
- ExampleConfig(
- "phoenix5_swerve",
- "Phoenix5Swerve",
- ["Phoenix.json"],
- "test_robot_base_swerve",
- )
- )
projects.append(
ExampleConfig(
"rev_swerve",
diff --git a/examples/test_robot_catchall/src/main/java/org/snobotv2/examples/catchall/Robot.java b/examples/test_robot_catchall/src/main/java/org/snobotv2/examples/catchall/Robot.java
index 6257218..7cab590 100644
--- a/examples/test_robot_catchall/src/main/java/org/snobotv2/examples/catchall/Robot.java
+++ b/examples/test_robot_catchall/src/main/java/org/snobotv2/examples/catchall/Robot.java
@@ -76,7 +76,7 @@ public void autonomousInit()
// schedule the autonomous command (example)
if (mAutonomousCommand != null)
{
- mAutonomousCommand.schedule();
+ CommandScheduler.getInstance().schedule(mAutonomousCommand);
}
}
diff --git a/examples/test_robot_catchall/src/main/java/org/snobotv2/examples/catchall/subsystems/CatchallSubsystem.java b/examples/test_robot_catchall/src/main/java/org/snobotv2/examples/catchall/subsystems/CatchallSubsystem.java
index 540be5a..6134177 100644
--- a/examples/test_robot_catchall/src/main/java/org/snobotv2/examples/catchall/subsystems/CatchallSubsystem.java
+++ b/examples/test_robot_catchall/src/main/java/org/snobotv2/examples/catchall/subsystems/CatchallSubsystem.java
@@ -21,14 +21,11 @@
import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
-import edu.wpi.first.wpilibj.motorcontrol.DMC60;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DigitalOutput;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.I2C;
-import edu.wpi.first.wpilibj.motorcontrol.Jaguar;
-import edu.wpi.first.wpilibj.motorcontrol.NidecBrushless;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.motorcontrol.PWMTalonFX;
import edu.wpi.first.wpilibj.motorcontrol.PWMTalonSRX;
@@ -36,14 +33,12 @@
import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
import edu.wpi.first.wpilibj.PowerDistribution;
import edu.wpi.first.wpilibj.Relay;
-import edu.wpi.first.wpilibj.motorcontrol.SD540;
import edu.wpi.first.wpilibj.SPI;
import edu.wpi.first.wpilibj.Servo;
import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj.motorcontrol.Talon;
import edu.wpi.first.wpilibj.Ultrasonic;
-import edu.wpi.first.wpilibj.motorcontrol.Victor;
import edu.wpi.first.wpilibj.motorcontrol.VictorSP;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -64,12 +59,9 @@ public class CatchallSubsystem extends SubsystemBase
protected final Compressor mCompressor;
protected final DigitalInput mDigitalInput;
protected final DigitalOutput mDigitalOutput;
- protected final DMC60 mDmc60;
protected final DoubleSolenoid mDoubleSolenoid;
protected final Encoder mEncoder;
protected final I2C mCustomI2c;
- protected final Jaguar mJaguar;
- protected final NidecBrushless mNidec;
protected final PowerDistribution mPdp;
protected final PWMSparkMax mPwmSparkMax;
protected final PWMTalonFX mPwmTalonFx;
@@ -77,14 +69,12 @@ public class CatchallSubsystem extends SubsystemBase
protected final PWMVenom mVenom;
protected final PWMVictorSPX mPwmVictorSPX;
protected final Relay mRelay;
- protected final SD540 mSd540;
protected final Servo mServo;
protected final Solenoid mSolenoid;
protected final Spark mSpark;
protected final SPI mCustomSpi;
protected final Talon mTalon;
protected final Ultrasonic mUltrasonic;
- protected final Victor mVictor;
protected final VictorSP mVictorSP;
protected final AHRS mNavx;
@@ -124,17 +114,12 @@ public CatchallSubsystem()
mServo = new Servo(1);
mSpark = new Spark(2);
mTalon = new Talon(3);
- mVictor = new Victor(4);
mVictorSP = new VictorSP(5);
- mJaguar = new Jaguar(6);
mPwmSparkMax = new PWMSparkMax(7);
mPwmTalonFx = new PWMTalonFX(8);
mPwmTalonSRX = new PWMTalonSRX(9);
- mNidec = new NidecBrushless(15, 8);
- mDmc60 = new DMC60(11);
mVenom = new PWMVenom(12);
mPwmVictorSPX = new PWMVictorSPX(13);
- mSd540 = new SD540(14);
mCanSparkMax = new SparkMax(15, SparkBase.MotorType.kBrushed);
mCanSparkFlex = new SparkFlex(17, SparkLowLevel.MotorType.kBrushed);
@@ -149,17 +134,12 @@ public void simulationPeriodic()
mServo.set(.25);
mSpark.set(-0.9);
mTalon.set(-0.8);
- mVictor.set(-0.7);
mVictorSP.set(-0.6);
- mJaguar.set(-0.5);
mPwmSparkMax.set(-0.4);
mPwmTalonFx.set(-0.3);
mPwmTalonSRX.set(-0.2);
- mNidec.set(-0.1);
- mDmc60.set(0.1);
mVenom.set(0.2);
mPwmVictorSPX.set(0.3);
- mSd540.set(0.4);
mCanSparkMax.set(0.5);
mCanSparkFlex.set(0.5);
diff --git a/examples/test_robot_phoenix5/src/main/java/org/snobotv2/examples/phoenix5/Robot.java b/examples/test_robot_phoenix5/src/main/java/org/snobotv2/examples/phoenix5/Robot.java
index 5feb72c..d985cd0 100644
--- a/examples/test_robot_phoenix5/src/main/java/org/snobotv2/examples/phoenix5/Robot.java
+++ b/examples/test_robot_phoenix5/src/main/java/org/snobotv2/examples/phoenix5/Robot.java
@@ -79,7 +79,7 @@ public void autonomousInit()
// schedule the autonomous command (example)
if (mAutonomousCommand != null)
{
- mAutonomousCommand.schedule();
+ CommandScheduler.getInstance().schedule(mAutonomousCommand);
}
}
diff --git a/examples/test_robot_phoenix5_swerve/BUILD.bazel b/examples/test_robot_phoenix5_swerve/BUILD.bazel
deleted file mode 100644
index 2226fab..0000000
--- a/examples/test_robot_phoenix5_swerve/BUILD.bazel
+++ /dev/null
@@ -1,9 +0,0 @@
-alias(
- name = "test_robot_phoenix5_swerve",
- actual = "//examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve:Main",
-)
-
-alias(
- name = "sim",
- actual = "//examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve:Main.sim",
-)
diff --git a/examples/test_robot_phoenix5_swerve/build.gradle b/examples/test_robot_phoenix5_swerve/build.gradle
deleted file mode 100644
index db4e548..0000000
--- a/examples/test_robot_phoenix5_swerve/build.gradle
+++ /dev/null
@@ -1,33 +0,0 @@
-plugins {
- id 'java'
- id 'edu.wpi.first.WpilibTools' version '1.1.0'
-}
-
-group 'org.snobotv2'
-
-ext.baseId = "test_robot_ctre_swerve"
-apply from: "${rootDir}/build_scripts/base_java.gradle"
-dependencies {
-
- implementation wpilibTools.deps.wpilibJava("wpiunits")
- implementation wpilibTools.deps.wpilibJava("wpimath")
- implementation wpilibTools.deps.wpilibJava("hal")
- implementation wpilibTools.deps.wpilibJava("wpiutil")
- implementation wpilibTools.deps.wpilibJava("wpilibj")
- implementation wpilibTools.deps.wpilibJava("cscore")
- implementation wpilibTools.deps.wpilibJava("ntcore")
- implementation wpilibTools.deps.wpilibJava("cameraserver")
- implementation wpilibTools.deps.wpilibJava("wpilibNewCommands")
-
- implementation "com.ctre.phoenix:api-java:${phoenix5Version}"
- implementation "com.ctre.phoenix:wpiapi-java:${phoenix5Version}"
-
- implementation project(":snobot_sim_java_base")
- implementation project(":snobot_sim_java_phoenix5")
- implementation project(":snobot_swerve_sim")
- implementation project(":examples:test_robot_base_swerve")
-
- testImplementation project(":snobot_sim_java_test_utils")
- testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'
- testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
-}
diff --git a/examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/BUILD b/examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/BUILD
deleted file mode 100644
index c6ea8c8..0000000
--- a/examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/BUILD
+++ /dev/null
@@ -1,34 +0,0 @@
-load("//build_scripts/bazel:java_rules.bzl", "snobot_sim_java_library", "snobot_sim_java_robot")
-
-snobot_sim_java_library(
- name = "phoenix5_swerve",
- srcs = glob(["**/*.java"]),
- visibility = [
- "//examples/test_robot_phoenix5_swerve:__subpackages__",
- ],
- deps = [
- "//examples/test_robot_base_swerve/src/main/java/org/snobotv2/examples/base_swerve",
- "//examples/test_robot_base_swerve/src/main/java/org/snobotv2/examples/base_swerve/commands",
- "//examples/test_robot_base_swerve/src/main/java/org/snobotv2/examples/base_swerve/commands/auto",
- "//examples/test_robot_base_swerve/src/main/java/org/snobotv2/examples/base_swerve/commands/tuning",
- "//examples/test_robot_base_swerve/src/main/java/org/snobotv2/examples/base_swerve/subsystems",
- "//snobot_sim_java_base/src/main/java/org/snobotv2/sim_wrappers",
- "//snobot_sim_java_phoenix5/src/main/java/org/snobotv2/module_wrappers/phoenix5",
- "//snobot_swerve_sim/src/main/java/edu/wpi/first/wpilibj/simulation/swerve",
- "@bzlmodrio-allwpilib//libraries/cpp/wpiutil:jni",
- "@bzlmodrio-allwpilib//libraries/java/cameraserver",
- "@bzlmodrio-allwpilib//libraries/java/wpilibNewCommands",
- "@bzlmodrio-allwpilib//libraries/java/wpilibj",
- "@bzlmodrio-allwpilib//libraries/java/wpimath",
- "@bzlmodrio-allwpilib//libraries/java/wpiutil",
- "@bzlmodrio-phoenix//libraries/java/api-java",
- "@bzlmodrio-phoenix//libraries/java/wpiapi-java",
- ],
-)
-
-snobot_sim_java_robot(
- name = "Main",
- main_class = "org.snobotv2.examples.phoenix5_swerve.Main",
- visibility = ["//examples/test_robot_phoenix5_swerve:__subpackages__"],
- runtime_deps = [":phoenix5_swerve"],
-)
diff --git a/examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/CtreUtils.java b/examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/CtreUtils.java
deleted file mode 100644
index 49b4403..0000000
--- a/examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/CtreUtils.java
+++ /dev/null
@@ -1,64 +0,0 @@
-package org.snobotv2.examples.phoenix5_swerve;
-
-/**
- * A collection of static utility methods.
- */
-public final class CtreUtils
-{
- private CtreUtils()
- {
- }
-
- /***
- * Converts from degrees to Falcon encoder position
- *
- * @param degrees Input degrees
- * @param gearRatio Mechanism gear ratio
- * @return Falcon encoder position
- */
- public static double degreesToFalcon(double degrees, double gearRatio)
- {
- return degrees / (360.0 / (gearRatio * 2048));
- }
-
- /**
- * @param counts Falcon Counts
- * @param gearRatio Gear Ratio between Falcon and Mechanism
- * @return Degrees of Rotation of Mechanism
- */
- public static double falconToDegrees(double counts, double gearRatio)
- {
- return counts * (360.0 / (gearRatio * 2048.0));
- }
-
- /***
- * Converts RPM to Falcon Encoder Counts per 100 ms.
- *
- * @param rpm Input RPM
- * @param gearRatio Mechanism RPM
- * @return Falcon Velocity
- */
- public static double rpmToFalcon(double rpm, double gearRatio)
- {
- double motorRPM = rpm * gearRatio;
- return motorRPM * (2048.0 / 600.0);
- }
-
- public static double falconToRpm(double velocityCounts, double gearRatio)
- {
- double motorRPM = velocityCounts * (600.0 / 2048.0);
- return motorRPM / gearRatio;
- }
-
- public static double mpsToFalcon(double velocity, double circumference, double gearRatio)
- {
- double wheelRPM = velocity * 60 / circumference;
- return rpmToFalcon(wheelRPM, gearRatio);
- }
-
- public static double falconToMps(double velocityCounts, double circumference, double gearRatio)
- {
- double wheelRPM = falconToRpm(velocityCounts, gearRatio);
- return wheelRPM * circumference / 60;
- }
-}
diff --git a/examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/Main.java b/examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/Main.java
deleted file mode 100644
index 745c6c3..0000000
--- a/examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/Main.java
+++ /dev/null
@@ -1,32 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package org.snobotv2.examples.phoenix5_swerve;
-
-import edu.wpi.first.wpilibj.RobotBase;
-
-/**
- * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
- * you are doing, do not modify this file except to change the parameter class to the startRobot
- * call.
- */
-public final class Main
-{
- private Main()
- {
- }
-
- /**
- * Main initialization function. Do not perform any initialization here.
- *
- * If you change your main frc.robot class, change the parameter type.
- */
- public static void main(String... args)
- {
- RobotBase.startRobot(Robot::new);
- }
-}
diff --git a/examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/Robot.java b/examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/Robot.java
deleted file mode 100644
index 50b1b5a..0000000
--- a/examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/Robot.java
+++ /dev/null
@@ -1,136 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package org.snobotv2.examples.phoenix5_swerve;
-
-import com.ctre.phoenix.unmanaged.Unmanaged;
-import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.CommandScheduler;
-
-/**
- * The VM is configured to automatically run this class, and to call the functions corresponding to
- * each mode, as described in the TimedRobot documentation. If you change the name of this class or
- * the package after creating this project, you must also update the build.gradle file in the
- * project.
- */
-@SuppressWarnings("PMD.TooManyMethods")
-public class Robot extends TimedRobot
-{
- private Command mAutonomousCommand;
-
- private RobotContainer mRobotContainer;
-
- /**
- * This function is run when the frc.robot is first started up and should be used for any
- * initialization code.
- */
- @Override
- public void robotInit()
- {
- // Instantiate our RobotContainer. This will perform all our button bindings, and put our
- // autonomous chooser on the dashboard.
- mRobotContainer = new RobotContainer();
-
- }
-
- /**
- * This function is called every frc.robot packet, no matter the mode. Use this for items like
- * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
- *
- *
This runs after the mode specific periodic functions, but before
- * LiveWindow and SmartDashboard integrated updating.
- */
- @Override
- public void robotPeriodic()
- {
- // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
- // commands, running already-scheduled commands, removing finished or interrupted commands,
- // and running subsystem periodic() methods. This must be called from the frc.robot's periodic
- // block in order for anything in the Command-based framework to work.
- CommandScheduler.getInstance().run();
- }
-
- /**
- * This function is called once each time the frc.robot enters Disabled mode.
- */
- @Override
- public void disabledInit()
- {
- }
-
- @Override
- public void disabledPeriodic()
- {
- }
-
- /**
- * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
- */
- @Override
- public void autonomousInit()
- {
- mAutonomousCommand = mRobotContainer.getAutonomousCommand();
-
- // schedule the autonomous command (example)
- if (mAutonomousCommand != null)
- {
- mAutonomousCommand.schedule();
- }
- }
-
- /**
- * This function is called periodically during autonomous.
- */
- @Override
- public void autonomousPeriodic()
- {
- }
-
- @Override
- public void teleopInit()
- {
- // This makes sure that the autonomous stops running when
- // teleop starts running. If you want the autonomous to
- // continue until interrupted by another command, remove
- // this line or comment it out.
- if (mAutonomousCommand != null)
- {
- mAutonomousCommand.cancel();
- }
- }
-
- /**
- * This function is called periodically during operator control.
- */
- @Override
- public void teleopPeriodic()
- {
- }
-
- @Override
- public void testInit()
- {
- // Cancels all running commands at the start of test mode.
- CommandScheduler.getInstance().cancelAll();
- }
-
- /**
- * This function is called periodically during test mode.
- */
- @Override
- public void testPeriodic()
- {
- }
-
- @Override
- public void simulationPeriodic()
- {
- Unmanaged.feedEnable(100);
-// SnobotSim.update();
- }
-}
diff --git a/examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/RobotContainer.java b/examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/RobotContainer.java
deleted file mode 100644
index fb1c3ad..0000000
--- a/examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/RobotContainer.java
+++ /dev/null
@@ -1,49 +0,0 @@
-package org.snobotv2.examples.phoenix5_swerve;
-
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.wpilibj.XboxController;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
-import edu.wpi.first.wpilibj2.command.Command;
-import org.snobotv2.examples.base_swerve.commands.TeleopSwerveDrive;
-import org.snobotv2.examples.base_swerve.commands.auto.SetStartingPosition;
-import org.snobotv2.examples.base_swerve.commands.tuning.ManualMoveSwerveModuleCommand;
-import org.snobotv2.examples.phoenix5_swerve.subsystems.DriveSubsystem;
-
-public class RobotContainer
-{
- private final DriveSubsystem mDrivetrain;
-
- private final XboxController mDriverJoystick = new XboxController(0);
-
-
- public RobotContainer()
- {
- mDrivetrain = new DriveSubsystem(true);
- configureButtonBindings();
- addTestCommands();
- }
-
- private void addTestCommands()
- {
- ShuffleboardTab debugTab = Shuffleboard.getTab("Test Commands");
- debugTab.add("Move FL", new ManualMoveSwerveModuleCommand(mDrivetrain, DriveSubsystem.SwerveModulePositionTypes.FRONT_LEFT));
- debugTab.add("Move FR", new ManualMoveSwerveModuleCommand(mDrivetrain, DriveSubsystem.SwerveModulePositionTypes.FRONT_RIGHT));
- debugTab.add("Move RL", new ManualMoveSwerveModuleCommand(mDrivetrain, DriveSubsystem.SwerveModulePositionTypes.REAR_LEFT));
- debugTab.add("Move RR", new ManualMoveSwerveModuleCommand(mDrivetrain, DriveSubsystem.SwerveModulePositionTypes.REAR_RIGHT));
-
- debugTab.add("Reset Position", new SetStartingPosition(mDrivetrain, new Pose2d(0, 0, Rotation2d.fromDegrees(0))));
- }
-
- private void configureButtonBindings()
- {
- mDrivetrain.setDefaultCommand(new TeleopSwerveDrive(mDrivetrain, mDriverJoystick));
- }
-
- public Command getAutonomousCommand()
- {
- return null;
- }
-
-}
diff --git a/examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/subsystems/DriveSubsystem.java b/examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/subsystems/DriveSubsystem.java
deleted file mode 100644
index dade3a3..0000000
--- a/examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/subsystems/DriveSubsystem.java
+++ /dev/null
@@ -1,20 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package org.snobotv2.examples.phoenix5_swerve.subsystems;
-
-import org.snobotv2.examples.base_swerve.subsystems.BaseSwerveDriveSubsystem;
-
-public class DriveSubsystem extends BaseSwerveDriveSubsystem
-{
- public DriveSubsystem()
- {
- this(false);
- }
-
- public DriveSubsystem(boolean addDebugTab)
- {
- super(SwerveModule::new, addDebugTab);
- }
-}
diff --git a/examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/subsystems/SwerveModule.java b/examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/subsystems/SwerveModule.java
deleted file mode 100644
index 6a17012..0000000
--- a/examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/subsystems/SwerveModule.java
+++ /dev/null
@@ -1,268 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package org.snobotv2.examples.phoenix5_swerve.subsystems;
-
-import com.ctre.phoenix.motorcontrol.ControlMode;
-import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
-import com.ctre.phoenix.sensors.AbsoluteSensorRange;
-import com.ctre.phoenix.sensors.SensorInitializationStrategy;
-import com.ctre.phoenix.sensors.WPI_CANCoder;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.kinematics.SwerveModulePosition;
-import edu.wpi.first.math.kinematics.SwerveModuleState;
-import edu.wpi.first.math.system.plant.DCMotor;
-import edu.wpi.first.math.util.Units;
-import edu.wpi.first.util.sendable.SendableBuilder;
-import edu.wpi.first.wpilibj.RobotBase;
-import edu.wpi.first.wpilibj.simulation.swerve.SwerveModuleSim;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import org.snobotv2.examples.base_swerve.SwerveModuleOptimizationUtils;
-import org.snobotv2.examples.base_swerve.subsystems.BaseSwerveModule;
-import org.snobotv2.examples.phoenix5_swerve.CtreUtils;
-import org.snobotv2.module_wrappers.phoenix5.CtreEncoderSimWrapper;
-import org.snobotv2.module_wrappers.phoenix5.CtreMotorControllerSimWrapper;
-import org.snobotv2.sim_wrappers.SwerveModuleSimWrapper;
-
-@SuppressWarnings("removal")
-public class SwerveModule implements BaseSwerveModule
-{
- private static final double DEFAULT_TFF = 0.0;
- private static final double DEFAULT_TP = 0.1;
-
- private static final double DEFAULT_DFF = 0.0;
- private static final double DEFAULT_DP = 0;
-
- private final String mName;
-
- private final WPI_TalonSRX mDriveMotor;
- private final WPI_TalonSRX mAzimuthMotor;
- private final WPI_CANCoder mAbsoluteEncoder;
-
- private SwerveModuleState mCurrentState;
- private SwerveModuleState mDesiredState;
- private SwerveModulePosition mCurrentPosition = new SwerveModulePosition();
- private double mTurnGoalTicks;
- private double mDriveGoalTicks;
-
- private SwerveModuleSimWrapper mSimWrapper;
-
- public SwerveModule(
- int driveMotorChannel,
- int turningMotorChannel,
- int turningEncoderChannels,
- double encoderOffset,
- String name)
- {
- mDriveMotor = new WPI_TalonSRX(driveMotorChannel);
- mAzimuthMotor = new WPI_TalonSRX(turningMotorChannel);
-
- mAbsoluteEncoder = new WPI_CANCoder(turningEncoderChannels);
-
- // Set the distance (in this case, angle) per pulse for the turning encoder.
- // This is the angle through an entire rotation (2 * pi) divided by the
- // encoder resolution.
- mAbsoluteEncoder.configAbsoluteSensorRange(AbsoluteSensorRange.Unsigned_0_to_360);
- mAbsoluteEncoder.configSensorInitializationStrategy(SensorInitializationStrategy.BootToAbsolutePosition);
- mAbsoluteEncoder.configMagnetOffset(encoderOffset);
- mAbsoluteEncoder.configSensorDirection(false);
- mAbsoluteEncoder.setPositionToAbsolute();
-
- mAzimuthMotor.setInverted(true);
-
- mDriveMotor.configVoltageCompSaturation(10);
- mDriveMotor.configClosedloopRamp(0.5);
- mDriveMotor.configOpenloopRamp(0.5);
-
- SmartDashboard.putNumber("DFF", DEFAULT_DFF);
- SmartDashboard.putNumber("DP", DEFAULT_DP);
-
- SmartDashboard.putNumber("TFF", DEFAULT_TFF);
- SmartDashboard.putNumber("TP", DEFAULT_TP);
-
- mDesiredState = new SwerveModuleState(0, Rotation2d.fromDegrees(0));
- mCurrentState = new SwerveModuleState(0, Rotation2d.fromDegrees(0));
- mName = name;
-
- if (RobotBase.isSimulation())
- {
- SwerveModuleSim moduleSim = new SwerveModuleSim(
- DCMotor.getNEO(1),
- DCMotor.getNEO(1),
- DriveSubsystem.kWheelDiameterMeters / 2,
- TURNING_GEAR_RATION,
- DRIVE_GEAR_RATION
- );
- mSimWrapper = new SwerveModuleSimWrapper(
- moduleSim,
- new CtreMotorControllerSimWrapper(mDriveMotor),
- new CtreMotorControllerSimWrapper(mAzimuthMotor),
- new CtreEncoderSimWrapper(mDriveMotor, CtreUtils.falconToDegrees(1, DRIVE_GEAR_RATION) / 360 / DriveSubsystem.kWheelCircumfranceMeters),
- new CtreEncoderSimWrapper(mAzimuthMotor, CtreUtils.falconToDegrees(1, TURNING_GEAR_RATION)),
- DriveSubsystem.kWheelDiameterMeters * Math.PI);
- }
- }
-
- @Override
- public void close()
- {
- mAbsoluteEncoder.close();
- mDriveMotor.close();
- mAzimuthMotor.close();
- }
-
- /**
- * Returns the current state of the module.
- *
- * @return The current state of the module.
- */
- @Override
- public SwerveModuleState getState()
- {
- return mCurrentState;
- }
-
- @Override
- public SwerveModulePosition getPosition()
- {
- return mCurrentPosition;
- }
-
- public Rotation2d getCancoderCurrentAngle()
- {
- return new Rotation2d(Units.degreesToRadians(mAbsoluteEncoder.getAbsolutePosition()));
- }
-
- public Rotation2d getTurningMotorAngle()
- {
- return Rotation2d.fromDegrees(CtreUtils.falconToDegrees(mAzimuthMotor.getSelectedSensorPosition(), TURNING_GEAR_RATION));
- }
-
- public double getDriveSpeedMps()
- {
- return CtreUtils.falconToMps(mDriveMotor.getSelectedSensorVelocity(), DriveSubsystem.kWheelCircumfranceMeters, DRIVE_GEAR_RATION);
-
- }
-
- @Override
- public SwerveModuleState getDesiredState()
- {
- return mDesiredState;
- }
-
- /**
- * Sets the desired state for the module.
- *
- * @param inputState Desired state with speed and angle.
- */
- @Override
- public void setDesiredState(SwerveModuleState inputState, boolean openLoopDriving)
- {
- // Optimize the reference state to avoid spinning further than 90 degrees
- mDesiredState = SwerveModuleOptimizationUtils.optimize(inputState, getState().angle);
-
- mDriveGoalTicks = CtreUtils.mpsToFalcon(mDesiredState.speedMetersPerSecond, DriveSubsystem.kWheelCircumfranceMeters, DRIVE_GEAR_RATION);
- mTurnGoalTicks = CtreUtils.degreesToFalcon(mDesiredState.angle.getDegrees(), TURNING_GEAR_RATION);
-
- if (openLoopDriving)
- {
- mDriveMotor.set(mDesiredState.speedMetersPerSecond / DriveSubsystem.kMaxSpeedMetersPerSecond);
- } else
- {
- mDriveMotor.set(ControlMode.Velocity, mDriveGoalTicks);
- }
- mAzimuthMotor.set(ControlMode.Position, mTurnGoalTicks);
-
- }
-
- @Override
- public double getDriveMotorPercentage()
- {
- return mDriveMotor.getMotorOutputPercent();
- }
-
- @Override
- public double getTurningMotorPercentage()
- {
- return mAzimuthMotor.getMotorOutputPercent();
- }
-
- /**
- * Zeroes all the SwerveModule encoders.
- */
- @Override
- public void resetEncoders()
- {
- mDriveMotor.setSelectedSensorPosition(0);
- mAbsoluteEncoder.setPosition(0);
- }
-
- @Override
- public String getName()
- {
- return mName;
- }
-
- @Override
- public void initSendable(SendableBuilder builder)
- {
- builder.addDoubleProperty("CancoderAngle", () -> getCancoderCurrentAngle().getDegrees(), null);
- builder.addDoubleProperty("MotorAngle", () -> getTurningMotorAngle().getDegrees(), null);
-
- builder.addDoubleProperty("TurnTicks", mAzimuthMotor::getSelectedSensorPosition, null);
- builder.addDoubleProperty("TurnGoalDegrees", mDesiredState.angle::getDegrees, null);
- builder.addDoubleProperty("TurnGoalTicks", () -> mTurnGoalTicks, null);
-
- builder.addDoubleProperty("DriveVelTicks", mDriveMotor::getSelectedSensorVelocity, null);
- builder.addDoubleProperty("DriveGoalMps", () -> mDesiredState.speedMetersPerSecond, null);
- builder.addDoubleProperty("DriveGoalTicks", () -> mDriveGoalTicks, null);
- }
-
-
- @Override
- public void periodic()
- {
- mDriveMotor.config_kF(0, SmartDashboard.getNumber("DFF", DEFAULT_DFF));
- mDriveMotor.config_kP(0, SmartDashboard.getNumber("DP", DEFAULT_DP));
-
-
- mAzimuthMotor.config_kF(0, SmartDashboard.getNumber("TFF", DEFAULT_TFF));
- mAzimuthMotor.config_kP(0, SmartDashboard.getNumber("TP", DEFAULT_TP));
-
-
- mCurrentState = new SwerveModuleState(
- getDriveSpeedMps(),
- getTurningMotorAngle());
-
- mCurrentPosition = new SwerveModulePosition(
- getDriveDistance(),
- getTurningMotorAngle()
- );
- }
-
- private double getDriveDistance()
- {
- return mDriveMotor.getSelectedSensorPosition();
- }
-
- @Override
- public SwerveModuleSimWrapper getSimWrapper()
- {
- return mSimWrapper;
- }
-
- @Override
- public void stop()
- {
- mAzimuthMotor.stopMotor();
- mDriveMotor.stopMotor();
- }
-
- @Override
- public void setOpenLoop(double turnSpeed, double driveSpeed)
- {
- mAzimuthMotor.set(ControlMode.PercentOutput, turnSpeed);
- mDriveMotor.set(ControlMode.PercentOutput, driveSpeed);
- }
-}
diff --git a/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/Robot.java b/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/Robot.java
index 8e45552..a85c74b 100644
--- a/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/Robot.java
+++ b/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/Robot.java
@@ -76,7 +76,7 @@ public void autonomousInit()
// schedule the autonomous command (example)
if (mAutonomousCommand != null)
{
- mAutonomousCommand.schedule();
+ CommandScheduler.getInstance().schedule(mAutonomousCommand);
}
}
diff --git a/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevDrivetrain.java b/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevDrivetrain.java
index c40527a..7232a7b 100644
--- a/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevDrivetrain.java
+++ b/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevDrivetrain.java
@@ -64,8 +64,8 @@ public RevDrivetrain()
commonConfig.closedLoop.p(.03);
commonConfig.closedLoop.i(0);
commonConfig.closedLoop.d(0);
- commonConfig.closedLoop.velocityFF(0.21);
- commonConfig.closedLoop.maxMotion.maxVelocity(Units.inchesToMeters(144));
+ commonConfig.closedLoop.feedForward.kV(0.21);
+ commonConfig.closedLoop.maxMotion.cruiseVelocity(Units.inchesToMeters(144));
commonConfig.closedLoop.maxMotion.maxAcceleration(Units.inchesToMeters(144));
mLeadLeft = new SparkMax(BaseConstants.DRIVETRAIN_LEFT_MOTOR_A, MotorType.kBrushless);
@@ -120,7 +120,7 @@ public RevDrivetrain()
new RevMotorControllerSimWrapper(mLeadRight, DRIVETRAIN_CONSTANTS.getMotor()),
RevEncoderSimWrapper.create(mLeadLeft),
RevEncoderSimWrapper.create(mLeadRight),
- new NavxWrapper().getYawGyro());
+ new NavxWrapper(mGyro).getYawGyro());
mSimulator.setRightInverted(false);
mSimulator.setLeftPdpChannels(BaseConstants.DRIVETRAIN_LEFT_MOTOR_A_PDP, BaseConstants.DRIVETRAIN_LEFT_MOTOR_B_PDP);
mSimulator.setRightPdpChannels(BaseConstants.DRIVETRAIN_RIGHT_MOTOR_A_PDP, BaseConstants.DRIVETRAIN_RIGHT_MOTOR_B_PDP);
@@ -186,16 +186,16 @@ public void tankDriveVolts(double left, double right)
@Override
public void smartVelocityControlMetersPerSec(double leftVelocityMetersPerSec, double rightVelocityMetersPerSec)
{
- mLeftPidController.setReference(leftVelocityMetersPerSec, ControlType.kVelocity);
- mRightPidController.setReference(rightVelocityMetersPerSec, ControlType.kVelocity);
+ mLeftPidController.setSetpoint(leftVelocityMetersPerSec, ControlType.kVelocity);
+ mRightPidController.setSetpoint(rightVelocityMetersPerSec, ControlType.kVelocity);
mDrive.feed();
}
@Override
public void driveDistance(double leftPosition, double rightPosition)
{
- mLeftPidController.setReference(leftPosition, ControlType.kMAXMotionPositionControl);
- mRightPidController.setReference(rightPosition, ControlType.kMAXMotionPositionControl);
+ mLeftPidController.setSetpoint(leftPosition, ControlType.kMAXMotionPositionControl);
+ mRightPidController.setSetpoint(rightPosition, ControlType.kMAXMotionPositionControl);
mDrive.feed();
}
diff --git a/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevElevatorSubsystem.java b/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevElevatorSubsystem.java
index 24514e5..ab2f66a 100644
--- a/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevElevatorSubsystem.java
+++ b/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevElevatorSubsystem.java
@@ -83,14 +83,14 @@ public void moveManually(double speed)
public void goToPosition(double inches)
{
double meters = Units.inchesToMeters(inches);
- mPidController.setReference(meters, ControlType.kPosition, POSITION_SLOT, GRAVITY_COMPENSATION_VOLTS, SparkClosedLoopController.ArbFFUnits.kVoltage);
+ mPidController.setSetpoint(meters, ControlType.kPosition, POSITION_SLOT, GRAVITY_COMPENSATION_VOLTS, SparkClosedLoopController.ArbFFUnits.kVoltage);
}
@Override
public void goToPositionMotionMagic(double inches)
{
double meters = Units.inchesToMeters(inches);
- mPidController.setReference(meters, ControlType.kMAXMotionPositionControl, SMART_MOTION_SLOT);
+ mPidController.setSetpoint(meters, ControlType.kMAXMotionPositionControl, SMART_MOTION_SLOT);
}
@Override
diff --git a/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevShooterSubsystem.java b/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevShooterSubsystem.java
index 7c3341c..a27a50e 100644
--- a/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevShooterSubsystem.java
+++ b/examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevShooterSubsystem.java
@@ -29,7 +29,7 @@ public RevShooterSubsystem()
{
SparkMaxConfig commonConfig = new SparkMaxConfig();
commonConfig.closedLoop.p(0.0005);
- commonConfig.closedLoop.velocityFF(1.0 / 4700);
+ commonConfig.closedLoop.feedForward.kV(1.0 / 4700);
ResetMode resetMode = ResetMode.kResetSafeParameters;
PersistMode persistMode = PersistMode.kPersistParameters;
@@ -66,7 +66,7 @@ public void close()
@Override
public void spinAtRpm(double rpm)
{
- mPidController.setReference(rpm, ControlType.kVelocity);
+ mPidController.setSetpoint(rpm, ControlType.kVelocity);
}
@Override
diff --git a/examples/test_robot_rev_swerve/src/main/java/org/snobotv2/examples/rev_swerve/Robot.java b/examples/test_robot_rev_swerve/src/main/java/org/snobotv2/examples/rev_swerve/Robot.java
index ad9b0b6..22220cc 100644
--- a/examples/test_robot_rev_swerve/src/main/java/org/snobotv2/examples/rev_swerve/Robot.java
+++ b/examples/test_robot_rev_swerve/src/main/java/org/snobotv2/examples/rev_swerve/Robot.java
@@ -78,7 +78,7 @@ public void autonomousInit()
// schedule the autonomous command (example)
if (mAutonomousCommand != null)
{
- mAutonomousCommand.schedule();
+ CommandScheduler.getInstance().schedule(mAutonomousCommand);
}
}
diff --git a/examples/test_robot_rev_swerve/src/main/java/org/snobotv2/examples/rev_swerve/subsystems/SwerveModule.java b/examples/test_robot_rev_swerve/src/main/java/org/snobotv2/examples/rev_swerve/subsystems/SwerveModule.java
index 425d318..fea658c 100644
--- a/examples/test_robot_rev_swerve/src/main/java/org/snobotv2/examples/rev_swerve/subsystems/SwerveModule.java
+++ b/examples/test_robot_rev_swerve/src/main/java/org/snobotv2/examples/rev_swerve/subsystems/SwerveModule.java
@@ -181,9 +181,9 @@ public void setDesiredState(SwerveModuleState inputState, boolean openLoopDrivin
mDriveMotor.set(mDesiredState.speedMetersPerSecond / DriveSubsystem.kMaxSpeedMetersPerSecond);
} else
{
- mDriveController.setReference(mDesiredState.speedMetersPerSecond, SparkBase.ControlType.kVelocity);
+ mDriveController.setSetpoint(mDesiredState.speedMetersPerSecond, SparkBase.ControlType.kVelocity);
}
- mAzimuthController.setReference(mDesiredState.angle.getDegrees(), SparkBase.ControlType.kPosition);
+ mAzimuthController.setSetpoint(mDesiredState.angle.getDegrees(), SparkBase.ControlType.kPosition);
}
@Override
@@ -230,7 +230,7 @@ public void initSendable(SendableBuilder builder)
@Override
public void periodic()
{
- mDriveConfig.closedLoop.velocityFF(SmartDashboard.getNumber("FF", DEFAULT_FF));
+ mDriveConfig.closedLoop.feedForward.kV(SmartDashboard.getNumber("FF", DEFAULT_FF));
mDriveConfig.closedLoop.p(SmartDashboard.getNumber("P", DEFAULT_P));
mDriveMotor.configure(mDriveConfig, SparkBase.ResetMode.kNoResetSafeParameters, SparkBase.PersistMode.kPersistParameters);
diff --git a/examples/test_robot_wpi/src/main/java/org/snobotv2/examples/wpi/Robot.java b/examples/test_robot_wpi/src/main/java/org/snobotv2/examples/wpi/Robot.java
index b2960db..2c75794 100644
--- a/examples/test_robot_wpi/src/main/java/org/snobotv2/examples/wpi/Robot.java
+++ b/examples/test_robot_wpi/src/main/java/org/snobotv2/examples/wpi/Robot.java
@@ -76,7 +76,7 @@ public void autonomousInit()
// schedule the autonomous command (example)
if (mAutonomousCommand != null)
{
- mAutonomousCommand.schedule();
+ CommandScheduler.getInstance().schedule(mAutonomousCommand);
}
}
diff --git a/settings.gradle b/settings.gradle
index 6ed79ef..2babc22 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -5,6 +5,7 @@ include 'snobot_swerve_sim'
include 'snobot_sim_java_test_utils'
include 'snobot_sim_java_phoenix5'
+include 'snobot_sim_java_phoenix6'
include 'snobot_sim_java_revlib'
include 'snobot_sim_java_navx'
@@ -12,8 +13,6 @@ include 'examples:test_robot_base'
include 'examples:test_robot_base_swerve'
include 'examples:test_robot_catchall'
include 'examples:test_robot_phoenix5'
-include 'examples:test_robot_phoenix5_swerve'
include 'examples:test_robot_rev'
include 'examples:test_robot_rev_swerve'
include 'examples:test_robot_wpi'
-include 'snobot_sim_java_phoenix6'
diff --git a/snobot_sim_java_navx/build.gradle b/snobot_sim_java_navx/build.gradle
index c17d4fc..996a435 100644
--- a/snobot_sim_java_navx/build.gradle
+++ b/snobot_sim_java_navx/build.gradle
@@ -26,6 +26,8 @@ dependencies {
implementation wpilibTools.deps.wpilibJava("wpilibNewCommands")
implementation project(":snobot_sim_java_base")
+ implementation "com.studica.frc:Studica-java:${navxVersion}"
+
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'
diff --git a/snobot_sim_java_navx/src/main/java/org/snobotv2/module_wrappers/navx/BUILD.bazel b/snobot_sim_java_navx/src/main/java/org/snobotv2/module_wrappers/navx/BUILD.bazel
index c7f2272..50d9250 100644
--- a/snobot_sim_java_navx/src/main/java/org/snobotv2/module_wrappers/navx/BUILD.bazel
+++ b/snobot_sim_java_navx/src/main/java/org/snobotv2/module_wrappers/navx/BUILD.bazel
@@ -8,5 +8,6 @@ snobot_sim_java_library(
"//snobot_sim_java_base/src/main/java/org/snobotv2/interfaces",
"//snobot_sim_java_base/src/main/java/org/snobotv2/module_wrappers",
"@bzlmodrio-allwpilib//libraries/java/wpilibj",
+ "@bzlmodrio-studica//libraries/java/studica-java",
],
)
diff --git a/snobot_sim_java_navx/src/main/java/org/snobotv2/module_wrappers/navx/NavxWrapper.java b/snobot_sim_java_navx/src/main/java/org/snobotv2/module_wrappers/navx/NavxWrapper.java
index 888ea54..d159071 100644
--- a/snobot_sim_java_navx/src/main/java/org/snobotv2/module_wrappers/navx/NavxWrapper.java
+++ b/snobot_sim_java_navx/src/main/java/org/snobotv2/module_wrappers/navx/NavxWrapper.java
@@ -1,5 +1,6 @@
package org.snobotv2.module_wrappers.navx;
+import com.studica.frc.AHRS;
import edu.wpi.first.wpilibj.simulation.SimDeviceSim;
import org.snobotv2.interfaces.IGyroWrapper;
import org.snobotv2.module_wrappers.BaseGyroWrapper;
@@ -10,9 +11,9 @@ public class NavxWrapper
private final IGyroWrapper mPitchGyro;
private final IGyroWrapper mRollGyro;
- public NavxWrapper()
+ public NavxWrapper(AHRS gyro)
{
- SimDeviceSim deviceSim = new SimDeviceSim("navX-Sensor[0]");
+ SimDeviceSim deviceSim = new SimDeviceSim("navX-Sensor[" + gyro.getPort() + "]");
mYawGyro = new BaseGyroWrapper(deviceSim.getDouble("Yaw"));
mPitchGyro = new BaseGyroWrapper(deviceSim.getDouble("Pitch"));
diff --git a/snobot_sim_java_phoenix6/src/test/java/org/snobotv2/module_wrappers/phoenix6/TestPigeon2.java b/snobot_sim_java_phoenix6/src/test/java/org/snobotv2/module_wrappers/phoenix6/TestPigeon2.java
index 6cbd5b3..564667a 100644
--- a/snobot_sim_java_phoenix6/src/test/java/org/snobotv2/module_wrappers/phoenix6/TestPigeon2.java
+++ b/snobot_sim_java_phoenix6/src/test/java/org/snobotv2/module_wrappers/phoenix6/TestPigeon2.java
@@ -27,14 +27,14 @@ private void runTests(Pigeon2 pigeon)
{
IGyroWrapper wrapper = new Pigeon2Wrapper(pigeon);
- assertEquals(0, pigeon.getAngle(), PIGEON_EPSILON);
+ assertEquals(0, pigeon.getRotation2d().getDegrees(), PIGEON_EPSILON);
wrapper.setAngle(20);
ctreSimLoop();
- assertEquals(20, pigeon.getAngle(), PIGEON_EPSILON);
+ assertEquals(-20, pigeon.getRotation2d().getDegrees(), PIGEON_EPSILON);
wrapper.setAngle(-43.2);
ctreSimLoop();
- assertEquals(-43.2, pigeon.getAngle(), PIGEON_EPSILON);
+ assertEquals(43.2, pigeon.getRotation2d().getDegrees(), PIGEON_EPSILON);
}
}
diff --git a/snobot_sim_java_revlib/src/main/java/com/revrobotics/spark/SparkSimHelper.java b/snobot_sim_java_revlib/src/main/java/com/revrobotics/spark/SparkSimHelper.java
index dc03a3e..b49a31d 100644
--- a/snobot_sim_java_revlib/src/main/java/com/revrobotics/spark/SparkSimHelper.java
+++ b/snobot_sim_java_revlib/src/main/java/com/revrobotics/spark/SparkSimHelper.java
@@ -124,8 +124,6 @@ public void updateSim()
break;
case kMAXMotionVelocityControl:
case kCurrent:
- case kSmartVelocity:
- case kSmartMotion:
default:
throw new IllegalArgumentException("Unsupported control type " + controlType);
}
@@ -169,7 +167,7 @@ private void refreshValues(ClosedLoopSlot slotId, ClosedLoopConfigAccessor acces
double kp = accessor.getP(slotId);
double ki = accessor.getI(slotId);
double kd = accessor.getD(slotId);
- mF = accessor.getFF(slotId);
+ mF = accessor.feedForward.getkV(slotId);
mBasicPidController.setP(kp);
mProfiledPidController.setP(kp);
@@ -180,7 +178,7 @@ private void refreshValues(ClosedLoopSlot slotId, ClosedLoopConfigAccessor acces
mBasicPidController.setD(kd);
mProfiledPidController.setD(kd);
- mMaxVelocity = accessor.maxMotion.getMaxVelocity(slotId);
+ mMaxVelocity = accessor.maxMotion.getCruiseVelocity(slotId);
mMaxAcceleration = accessor.maxMotion.getMaxAcceleration(slotId);
mConstraints = new Constraints(mMaxVelocity, mMaxAcceleration);
mProfiledPidController.setConstraints(mConstraints);
diff --git a/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/TestRevCanSpark.java b/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/TestRevCanSpark.java
index a47a60f..f9fc54e 100644
--- a/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/TestRevCanSpark.java
+++ b/snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/TestRevCanSpark.java
@@ -45,18 +45,18 @@ private