Update library to 2022

* feature/2022-update: Update examples to 2022 Update WPILib to 2022.1.1. Update Pheonix to 5.20.2. Migrate SPARK MAX API to REVLib. Update Gradle to 7.3.3.
SwerveDriveSpecialties · Jan 24, 2022 · 24d9d53 · 24d9d53
2 parents feb950b + 7ce11d3
commit 24d9d53
Show file tree

Hide file tree

Showing 24 changed files with 1,006 additions and 845 deletions.
diff --git a/build.gradle b/build.gradle
@@ -19,19 +19,19 @@ allprojects {
         maven { url = uri('https://devsite.ctr-electronics.com/maven/release/') }
 
         // REV
-        maven { url = uri('https://www.revrobotics.com/content/sw/max/sdk/maven/') }
+        maven { url = uri('https://maven.revrobotics.com/') }
     }
 }
 
 dependencies {
-    implementation 'edu.wpi.first.wpilibj:wpilibj-java:2021.3.1'
+    implementation 'edu.wpi.first.wpilibj:wpilibj-java:2022.1.1'
 
     // CTRE is implementation because it is not a hard requirement
-    implementation 'com.ctre.phoenix:api-java:5.19.4'
-    implementation 'com.ctre.phoenix:wpiapi-java:5.19.4'
+    implementation 'com.ctre.phoenix:api-java:5.20.2'
+    implementation 'com.ctre.phoenix:wpiapi-java:5.20.2'
 
     // REV is implementation because it is not a hard requirement
-    implementation 'com.revrobotics.frc:SparkMax-java:1.5.4'
+    implementation 'com.revrobotics.frc:REVLib-java:2022.1.0'
 
     testImplementation 'org.junit.jupiter:junit-jupiter-api:5.7.2'
     testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine'

diff --git a/examples/mk3-minibot/build.gradle b/examples/mk3-minibot/build.gradle
@@ -5,39 +5,52 @@ plugins {
 }
 
 application {
-    mainClassName('com.swervedrivespecialties.examples.mk3minibot.Main')
+    mainClass.set('com.swervedrivespecialties.examples.mk3minibot.Main')
 }
 
 targetCompatibility = JavaVersion.VERSION_11
 sourceCompatibility = JavaVersion.VERSION_11
 
 deploy {
     targets {
-        roboRIO('roborio') {
-            team frc.getTeamOrDefault(2910)
+        roborio(getTargetTypeClass('RoboRIO')) {
+            team = project.frc.getTeamOrDefault(2910)
+            debug = project.frc.getDebugOrDefault(false)
+
+            artifacts {
+                frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+                    jarTask = shadowJar
+                }
+            }
         }
     }
-    artifacts {
-        frcJavaArtifact('frcJava') {
-            jar 'shadowJar'
-            targets << 'roborio'
+}
 
-            debug frc.getDebugOrDefault(false)
-        }
-    }
+wpi {
+    sim.addDriverstation()
+    sim.addGui().defaultEnabled.set(true)
+
+    java.configureExecutableTasks(shadowJar)
+    java.configureTestTasks(test)
 }
 
 dependencies {
-    implementation wpi.deps.wpilib()
-    implementation wpi.deps.vendor.java()
+    implementation wpi.java.deps.wpilib()
+    implementation wpi.java.vendor.java()
+
+    roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
+    roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
 
-    nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio)
-    nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
+    roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
+    roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
 
-    nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)
-    nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
+    nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
+    nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
+    simulationDebug wpi.sim.enableDebug()
 
-    simulation wpi.deps.sim.gui(wpi.platforms.desktop, false)
+    nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
+    nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
+    simulationRelease wpi.sim.enableRelease()
 
     implementation project(':')
-}
+}
diff --git a/...-minibot/src/main/java/com/swervedrivespecialties/examples/mk3minibot/RobotContainer.java b/...-minibot/src/main/java/com/swervedrivespecialties/examples/mk3minibot/RobotContainer.java
@@ -16,9 +16,9 @@ public RobotContainer() {
 
         drivetrain.setDefaultCommand(new DriveCommand(
                 drivetrain,
-                () -> -modifyAxis(controller.getY(GenericHID.Hand.kLeft)), // Axes are flipped here on purpose
-                () -> -modifyAxis(controller.getX(GenericHID.Hand.kLeft)),
-                () -> -modifyAxis(controller.getX(GenericHID.Hand.kRight))
+                () -> -modifyAxis(controller.getLeftY()), // Axes are flipped here on purpose
+                () -> -modifyAxis(controller.getLeftX()),
+                () -> -modifyAxis(controller.getRightX())
         ));
 
         new Button(controller::getBackButtonPressed)

diff --git a/...t/src/main/java/com/swervedrivespecialties/examples/mk3minibot/commands/DriveCommand.java b/...t/src/main/java/com/swervedrivespecialties/examples/mk3minibot/commands/DriveCommand.java
@@ -1,7 +1,7 @@
 package com.swervedrivespecialties.examples.mk3minibot.commands;
 
 import com.swervedrivespecialties.examples.mk3minibot.subsystems.DrivetrainSubsystem;
-import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 
 import java.util.function.DoubleSupplier;

diff --git a/...n/java/com/swervedrivespecialties/examples/mk3minibot/subsystems/DrivetrainSubsystem.java b/...n/java/com/swervedrivespecialties/examples/mk3minibot/subsystems/DrivetrainSubsystem.java
@@ -4,13 +4,13 @@
 import com.swervedrivespecialties.examples.mk3minibot.Constants;
 import com.swervedrivespecialties.swervelib.Mk3SwerveModuleHelper;
 import com.swervedrivespecialties.swervelib.SwerveModule;
-import edu.wpi.first.wpilibj.geometry.Pose2d;
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
-import edu.wpi.first.wpilibj.geometry.Translation2d;
-import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
-import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
-import edu.wpi.first.wpilibj.kinematics.SwerveDriveOdometry;
-import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
+import edu.wpi.first.math.kinematics.SwerveDriveOdometry;
+import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;