Merge pull request #28 from DeepBlueRobotics/2023-update

Update libraries and code for the 2023 release of WPILib

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2022",
+    "projectYear": "2023",
     "teamNumber": 199
 }

build.gradle

@@ -1,8 +1,6 @@
-import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO
-
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2022.4.1"
+    id "edu.wpi.first.GradleRIO" version "2023.1.1"
     id "maven-publish"
 }
 
@@ -94,7 +92,7 @@ publishing {
         gpr(MavenPublication) {
             groupId = 'org.carlmontrobotics'
             artifactId = 'lib199'
-            version = '1.0.2'
+            version = '2.0.0'
 
             from components.java
         }
@@ -105,3 +103,8 @@ publishing {
 deployArtifact.jarTask = jar
 wpi.java.configureExecutableTasks(jar)
 wpi.java.configureTestTasks(test)
+
+// Configure string concat to always inline compile
+tasks.withType(JavaCompile) {
+    options.compilerArgs.add '-XDstringConcat=inline'
+}

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.3.3-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists

gradlew

@@ -1,7 +1,7 @@
 #!/bin/sh
 
 #
-# Copyright © 2015-2021 the original 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.
@@ -32,10 +32,10 @@
 #       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 «$( cmd )»;
-#         * compound commands having a testable exit status, especially «case»;
-#         * various built-in commands including «command», «set», and «ulimit».
+#         * expansions «$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:
 #
@@ -205,6 +205,12 @@ set -- \
         org.gradle.wrapper.GradleWrapperMain \
         "$@"
 
+# Stop when "xargs" is not available.
+if ! command -v xargs >/dev/null 2>&1
+then
+    die "xargs is not available"
+fi
+
 # Use "xargs" to parse quoted args.
 #
 # With -n1 it outputs one arg per line, with the quotes and backslashes removed.

gradlew.bat

@@ -14,7 +14,7 @@
 @rem limitations under the License.
 @rem
 
-@if "%DEBUG%" == "" @echo off
+@if "%DEBUG%"=="" @echo off
 @rem ##########################################################################
 @rem
 @rem  Gradle startup script for Windows
@@ -25,7 +25,7 @@
 if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
-if "%DIRNAME%" == "" set DIRNAME=.
+if "%DIRNAME%"=="" set DIRNAME=.
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
@@ -40,7 +40,7 @@ if defined JAVA_HOME goto findJavaFromJavaHome
 
 set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
-if "%ERRORLEVEL%" == "0" goto execute
+if %ERRORLEVEL% equ 0 goto execute
 
 echo.
 echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
@@ -75,13 +75,15 @@ set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
 
 :end
 @rem End local scope for the variables with windows NT shell
-if "%ERRORLEVEL%"=="0" goto mainEnd
+if %ERRORLEVEL% equ 0 goto mainEnd
 
 :fail
 rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
 rem the _cmd.exe /c_ return code!
-if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
-exit /b 1
+set EXIT_CODE=%ERRORLEVEL%
+if %EXIT_CODE% equ 0 set EXIT_CODE=1
+if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
+exit /b %EXIT_CODE%
 
 :mainEnd
 if "%OS%"=="Windows_NT" endlocal

settings.gradle

@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2022'
+        String frcYear = '2023'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')

src/main/java/org/carlmontrobotics/lib199/path/DifferentialDriveInterface.java

@@ -60,6 +60,16 @@ public interface DifferentialDriveInterface extends DrivetrainInterface {
      */
     public void setOdometry(DifferentialDriveOdometry odometry);
 
+    /**
+     * @return The left encoder position in meters
+     */
+    public double getLeftEncoderPosition();
+
+    /**
+     * @return The right encoder position in meters
+     */
+    public double getRightEncoderPosition();
+
     /**
      * Creates Ramsete Controller
      * 
@@ -105,14 +115,13 @@ public default Command createAutoCommand(Trajectory trajectory, Supplier<Rotatio
     }
 
     /**
-     * Sets odometry based on current gyro angle and pose
+     * Sets odometry to the specified pose
      * 
-     * @param gyroAngle   The angle reported by the gyroscope.
      * @param initialPose The starting position of the robot on the field.
      */
     @Override
-    public default void setOdometry(Rotation2d gyroAngle, Pose2d initialPose) {
-        setOdometry(new DifferentialDriveOdometry(gyroAngle, initialPose));
+    public default void setOdometry(Pose2d initialPose) {
+        setOdometry(new DifferentialDriveOdometry(Rotation2d.fromDegrees(getHeadingDeg()), getLeftEncoderPosition(), getRightEncoderPosition(), initialPose));
     }
 
 }