WPILIB and PathPlannerLib Updates

FRCTeam1987 · Mar 29, 2024 · 50a7729 · 50a7729
1 parent 095f4ef
commit 50a7729
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Showing 6 changed files with 22 additions and 27 deletions.
diff --git a/build.gradle b/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.3.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
     id 'com.diffplug.spotless' version '6.25.0'
 }
 

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -21,7 +21,6 @@
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.ConditionalCommand;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
@@ -42,8 +41,6 @@
 import frc.robot.commands.control.ShootSubwooferFlat;
 import frc.robot.commands.control.ShootTall;
 import frc.robot.commands.control.StopAll;
-import frc.robot.commands.control.amp.FireRevAmp;
-import frc.robot.commands.control.amp.PrepRevAmp;
 import frc.robot.commands.control.auto.AutoAimLockWrist;
 import frc.robot.commands.control.auto.AutoIdleShooter;
 import frc.robot.commands.control.auto.InstantShoot;
@@ -58,7 +55,6 @@
 import frc.robot.commands.movement.CollectNoteAuto;
 import frc.robot.commands.movement.DriveToNote;
 import frc.robot.commands.movement.DriveToNoteAuto;
-import frc.robot.commands.movement.PointAtAprilTag;
 import frc.robot.commands.movement.SwerveCommand;
 import frc.robot.commands.qol.AsyncRumble;
 import frc.robot.commands.qol.DefaultCANdle;
@@ -122,7 +118,7 @@ public RobotContainer() {
     configureShuffleboard();
     configureDrivetrain();
     configureDriverController();
-    //configureCoDriverController();
+    // configureCoDriverController();
     configureDefaultCommands();
   }
 
@@ -548,18 +544,18 @@ public void updatePoseVision() {
     // if (poseRight.tagCount >= 2) {
     //   DRIVETRAIN.addVisionMeasurement(
     //       poseRight.pose, poseRight.timestampSeconds, VecBuilder.fill(1.5, 1.5,1.5));
-      // } else {
-      //   if (pose.rawFiducials.length > 0 && pose.rawFiducials[0].ambiguity < 0.07) {
-      //     DriverStation.reportWarning(
-      //         "ADDING POSE BASED ON AMBIGUITY OF "
-      //             + pose.rawFiducials[0].ambiguity
-      //             + " ON TAG "
-      //             + pose.rawFiducials[0].id,
-      //         false);
-      //     DRIVETRAIN.addVisionMeasurement(
-      //         pose.pose, pose.timestampSeconds, VecBuilder.fill(.7, .7, 9999999));
-      //   }
-      //}
+    // } else {
+    //   if (pose.rawFiducials.length > 0 && pose.rawFiducials[0].ambiguity < 0.07) {
+    //     DriverStation.reportWarning(
+    //         "ADDING POSE BASED ON AMBIGUITY OF "
+    //             + pose.rawFiducials[0].ambiguity
+    //             + " ON TAG "
+    //             + pose.rawFiducials[0].id,
+    //         false);
+    //     DRIVETRAIN.addVisionMeasurement(
+    //         pose.pose, pose.timestampSeconds, VecBuilder.fill(.7, .7, 9999999));
+    //   }
+    // }
   }
 
   public static RobotContainer get() {

diff --git a/src/main/java/frc/robot/commands/control/auto/AutoAimLockWrist.java b/src/main/java/frc/robot/commands/control/auto/AutoAimLockWrist.java
@@ -28,7 +28,7 @@ public void initialize() {}
   public void execute() {
     double degrees = Util.getInterpolatedWristAngle();
     // TODO find actual values, prevent wrist collision when the elevator is all the way down.
-          DriverStation.reportWarning("Wrist Degrees Angle " + degrees, false);
+    DriverStation.reportWarning("Wrist Degrees Angle " + degrees, false);
     if (degrees > 10.0 && degrees < 35.0) {
 
       return;

diff --git a/src/main/java/frc/robot/commands/control/auto/AutoIdleShooter.java b/src/main/java/frc/robot/commands/control/auto/AutoIdleShooter.java
@@ -5,7 +5,6 @@
 package frc.robot.commands.control.auto;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.RobotContainer;
 import frc.robot.constants.Constants;
 import frc.robot.subsystems.Shooter;
 

diff --git a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
@@ -148,11 +148,11 @@ public Optional<Rotation2d> getRotationTargetOverride() {
     if (RobotContainer.aimAtTargetAuto) {
       Pose2d current = getPose();
       double desiredRotation =
-      current.getRotation().minus(Util.getRotationToAllianceSpeaker(current)).getDegrees();
+          current.getRotation().minus(Util.getRotationToAllianceSpeaker(current)).getDegrees();
 
-  // drivetrain.setChassisSpeeds(HOLO_CONTROLLER.calculate(current, new
-  // Pose2d(current.getTranslation(), new Rotation2d(desiredRotation)), 0, new
-  // Rotation2d(desiredRotation)));
+      // drivetrain.setChassisSpeeds(HOLO_CONTROLLER.calculate(current, new
+      // Pose2d(current.getTranslation(), new Rotation2d(desiredRotation)), 0, new
+      // Rotation2d(desiredRotation)));
       return Optional.of(Rotation2d.fromDegrees(desiredRotation + 90.0));
     } else {
       // return an empty optional when we don't want to override the path's rotation

diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2024.2.7",
+    "version": "2024.2.8",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2024",
     "mavenUrls": [
@@ -12,15 +12,15 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2024.2.7"
+            "version": "2024.2.8"
         }
     ],
     "jniDependencies": [],
     "cppDependencies": [
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2024.2.7",
+            "version": "2024.2.8",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,