Update, fix several issues

.gitignore

@@ -2,6 +2,8 @@
 /.gradle/
 /build/
 /examples/*/build/
+bin/
 
 # Intellij Project Files
 /.idea/
+/.vscode/

build.gradle

@@ -16,15 +16,15 @@ allprojects {
         maven { url = uri('https://frcmaven.wpi.edu/artifactory/release/') }
 
         // CTRE
-        maven { url = uri('https://devsite.ctr-electronics.com/maven/release/') }
+        maven { url = uri('https://maven.ctr-electronics.com/release/') }
 
         // REV
         maven { url = uri('https://maven.revrobotics.com/') }
     }
 }
 
 dependencies {
-    implementation 'edu.wpi.first.wpilibj:wpilibj-java:2022.1.1'
+    implementation 'edu.wpi.first.wpilibj:wpilibj-java:2022.3.1'
 
     // CTRE is implementation because it is not a hard requirement
     implementation 'com.ctre.phoenix:api-java:5.20.2'

examples/mk3-minibot/src/main/java/com/swervedrivespecialties/examples/mk3minibot/RobotContainer.java

@@ -2,7 +2,6 @@
 
 import com.swervedrivespecialties.examples.mk3minibot.commands.DriveCommand;
 import com.swervedrivespecialties.examples.mk3minibot.subsystems.DrivetrainSubsystem;
-import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.button.Button;
 

examples/mk3-testchassis/src/main/java/com/swervedrivespecialties/examples/mk3testchassis/RobotContainer.java

@@ -2,7 +2,6 @@
 
 import com.swervedrivespecialties.examples.mk3testchassis.commands.DriveCommand;
 import com.swervedrivespecialties.examples.mk3testchassis.subsystems.DrivetrainSubsystem;
-import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.button.Button;
 

src/main/java/com/swervedrivespecialties/swervelib/DriveController.java

@@ -1,6 +1,8 @@
 package com.swervedrivespecialties.swervelib;
 
 public interface DriveController {
+    Object getDriveMotor();
+
     void setReferenceVoltage(double voltage);
 
     double getStateVelocity();

src/main/java/com/swervedrivespecialties/swervelib/Mk3SwerveModuleHelper.java

@@ -1,9 +1,7 @@
 package com.swervedrivespecialties.swervelib;
 
 import com.swervedrivespecialties.swervelib.ctre.*;
-import com.swervedrivespecialties.swervelib.rev.NeoDriveControllerFactoryBuilder;
-import com.swervedrivespecialties.swervelib.rev.NeoSteerConfiguration;
-import com.swervedrivespecialties.swervelib.rev.NeoSteerControllerFactoryBuilder;
+import com.swervedrivespecialties.swervelib.rev.*;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 
 public final class Mk3SwerveModuleHelper {

src/main/java/com/swervedrivespecialties/swervelib/Mk4SwerveModuleHelper.java

@@ -1,9 +1,7 @@
 package com.swervedrivespecialties.swervelib;
 
 import com.swervedrivespecialties.swervelib.ctre.*;
-import com.swervedrivespecialties.swervelib.rev.NeoDriveControllerFactoryBuilder;
-import com.swervedrivespecialties.swervelib.rev.NeoSteerConfiguration;
-import com.swervedrivespecialties.swervelib.rev.NeoSteerControllerFactoryBuilder;
+import com.swervedrivespecialties.swervelib.rev.*;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 
 public final class Mk4SwerveModuleHelper {

src/main/java/com/swervedrivespecialties/swervelib/SteerController.java

@@ -1,6 +1,10 @@
 package com.swervedrivespecialties.swervelib;
 
 public interface SteerController {
+    Object getSteerMotor();
+
+    AbsoluteEncoder getSteerEncoder();
+
     double getReferenceAngle();
 
     void setReferenceAngle(double referenceAngleRadians);

src/main/java/com/swervedrivespecialties/swervelib/SwerveModule.java

@@ -1,6 +1,12 @@
 package com.swervedrivespecialties.swervelib;
 
 public interface SwerveModule {
+    Object getDriveMotor();
+
+    Object getSteerMotor();
+
+    AbsoluteEncoder getSteerEncoder();
+
     double getDriveVelocity();
 
     double getSteerAngle();

src/main/java/com/swervedrivespecialties/swervelib/SwerveModuleFactory.java

@@ -1,6 +1,5 @@
 package com.swervedrivespecialties.swervelib;
 
-import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 
 public class SwerveModuleFactory<DriveConfiguration, SteerConfiguration> {
@@ -47,6 +46,21 @@ private ModuleImplementation(DriveController driveController, SteerController st
             this.steerController = steerController;
         }
 
+        @Override
+        public Object getDriveMotor() {
+            return driveController.getDriveMotor();
+        }
+
+        @Override
+        public Object getSteerMotor() {
+            return steerController.getSteerMotor();
+        }
+
+        @Override
+        public AbsoluteEncoder getSteerEncoder() {
+            return steerController.getSteerEncoder();
+        }
+
         @Override
         public double getDriveVelocity() {
             return driveController.getStateVelocity();

src/main/java/com/swervedrivespecialties/swervelib/ctre/CtreUtils.java

@@ -2,13 +2,13 @@
 
 import com.ctre.phoenix.ErrorCode;
 import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.RobotBase;
 
 public final class CtreUtils {
-    private CtreUtils() {
-    }
+    private CtreUtils() {}
 
     public static void checkCtreError(ErrorCode errorCode, String message) {
-        if (errorCode != ErrorCode.OK) {
+        if (RobotBase.isReal() && errorCode != ErrorCode.OK) {
             DriverStation.reportError(String.format("%s: %s", message, errorCode.toString()), false);
         }
     }

src/main/java/com/swervedrivespecialties/swervelib/ctre/Falcon500DriveControllerFactoryBuilder.java

@@ -95,6 +95,11 @@ private ControllerImplementation(TalonFX motor, double sensorVelocityCoefficient
             this.sensorVelocityCoefficient = sensorVelocityCoefficient;
         }
 
+        @Override
+        public Object getDriveMotor() {
+            return this.motor;
+        }
+
         @Override
         public void setReferenceVoltage(double voltage) {
             motor.set(TalonFXControlMode.PercentOutput, voltage / nominalVoltage);

src/main/java/com/swervedrivespecialties/swervelib/ctre/Falcon500SteerControllerFactoryBuilder.java

@@ -172,6 +172,16 @@ private ControllerImplementation(TalonFX motor,
             this.absoluteEncoder = absoluteEncoder;
         }
 
+        @Override
+        public Object getSteerMotor() {
+            return this.motor;
+        }
+
+        @Override
+        public AbsoluteEncoder getSteerEncoder() {
+            return this.absoluteEncoder;
+        }
+
         @Override
         public double getReferenceAngle() {
             return referenceAngleRadians;

src/main/java/com/swervedrivespecialties/swervelib/rev/NeoDriveControllerFactoryBuilder.java

@@ -75,6 +75,11 @@ private ControllerImplementation(CANSparkMax motor, RelativeEncoder encoder) {
             this.encoder = encoder;
         }
 
+        @Override
+        public Object getDriveMotor() {
+            return this.motor;
+        }
+
         @Override
         public void setReferenceVoltage(double voltage) {
             motor.setVoltage(voltage);

src/main/java/com/swervedrivespecialties/swervelib/rev/NeoSteerControllerFactoryBuilder.java

@@ -99,7 +99,7 @@ public static class ControllerImplementation implements SteerController {
         private static final int ENCODER_RESET_ITERATIONS = 500;
         private static final double ENCODER_RESET_MAX_ANGULAR_VELOCITY = Math.toRadians(0.5);
 
-        @SuppressWarnings({"FieldCanBeLocal", "unused"})
+        @SuppressWarnings("FieldCanBeLocal")
         private final CANSparkMax motor;
         private final SparkMaxPIDController controller;
         private final RelativeEncoder motorEncoder;
@@ -116,6 +116,16 @@ public ControllerImplementation(CANSparkMax motor, AbsoluteEncoder absoluteEncod
             this.absoluteEncoder = absoluteEncoder;
         }
 
+        @Override
+        public Object getSteerMotor() {
+            return this.motor;
+        }
+
+        @Override
+        public AbsoluteEncoder getSteerEncoder() {
+            return this.absoluteEncoder;
+        }
+
         @Override
         public double getReferenceAngle() {
             return referenceAngleRadians;

src/main/java/com/swervedrivespecialties/swervelib/rev/RevUtils.java

@@ -2,12 +2,13 @@
 
 import com.revrobotics.REVLibError;
 import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.RobotBase;
 
 public final class RevUtils {
     private RevUtils() {}
 
     public static void checkNeoError(REVLibError error, String message) {
-        if (error != REVLibError.kOk) {
+        if (RobotBase.isReal() && error != REVLibError.kOk) {
             DriverStation.reportError(String.format("%s: %s", message, error.toString()), false);
         }
     }