Merge branch 'main' of https://github.com/StuyPulse/2024-Kitbot

StuyPulse · Jan 26, 2024 · d446c18 · d446c18
2 parents 23367ea + 4349286
commit d446c18
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Showing 6 changed files with 35 additions and 43 deletions.
diff --git a/.github/workflows/gradle.yml b/.github/workflows/gradle.yml
@@ -16,10 +16,10 @@ jobs:
 
     steps:
     - uses: actions/checkout@v2
-    - name: Set up JDK 1.11
+    - name: Set up JDK 1.17
       uses: actions/setup-java@v1
       with:
-        java-version: 1.11
+        java-version: 1.17
     - name: Grant execute permission for gradlew
       run: chmod +x gradlew
     - name: Build with Gradle

diff --git a/build.gradle b/build.gradle
@@ -12,12 +12,12 @@ allprojects {
 
 // Set this to the latest version of StuyLib.
 // You can check here: https://github.com/StuyPulse/StuyLib/releases.
-final String STUYLIB_VERSION = 'v2024.1.2'
+final String STUYLIB_VERSION = 'v2024.1.4'
 
 def ROBOT_MAIN_CLASS = "com.stuypulse.robot.Main"
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+sourceCompatibility = JavaVersion.VERSION_17
+targetCompatibility = JavaVersion.VERSION_17
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.

diff --git a/src/main/java/com/stuypulse/robot/commands/AngleAlign.java b/src/main/java/com/stuypulse/robot/commands/AngleAlign.java
@@ -7,7 +7,6 @@
 import com.stuypulse.robot.subsystems.vision.AbstractVision;
 import com.stuypulse.stuylib.control.angle.feedback.AnglePIDController;
 import com.stuypulse.stuylib.math.Angle;
-import com.stuypulse.stuylib.streams.angles.AFuser;
 import com.stuypulse.stuylib.streams.booleans.BStream;
 import com.stuypulse.stuylib.streams.booleans.filters.BDebounceRC;
 import com.stuypulse.stuylib.streams.numbers.filters.IFilter;
@@ -20,7 +19,6 @@ public class AngleAlign extends Command {
     private final AbstractOdometry odometry;
     private final AbstractVision vision;
 
-    private final AFuser angleError;
     private IFilter speedAdjFilter;
 
     protected final AnglePIDController angleController;
@@ -32,11 +30,6 @@ public AngleAlign() {
         this.odometry = Odometry.getInstance();
         this.vision = AbstractVision.getInstance();
 
-        this.angleError = new AFuser(Alignment.FUSION_FILTER.get(),
-            () -> Angle.fromRotation2d(vision.getOutput().get(0).getPrimaryTag().getPose().toPose2d().getRotation()),
-            () -> Angle.fromRotation2d(odometry.getPose().getRotation())
-        );
-
         this.speedAdjFilter = new LowPassFilter(Alignment.SPEED_ADJ_FILTER.get());
 
         this.angleController = new AnglePIDController(Alignment.Rotation.P, Alignment.Rotation.I, Alignment.Rotation.D);
@@ -51,7 +44,7 @@ public AngleAlign() {
 
     public boolean isAligned() {
         // check to see if the robot is within a threshold of the april tag target
-        return Math.abs(angleError.get().toDegrees()) < Alignment.ALIGNED_THRESHOLD_ANGLE.get();
+        return false;
     }
 
     private double getTurn() {
@@ -68,7 +61,6 @@ private double getTurn() {
     public void initialize() {
         odometry.resetOdometery(odometry.getPose());
         angleController.reset();
-        angleError.reset();
     }
 
     @Override

diff --git a/travis.yml b/travis.yml
@@ -1,6 +1,6 @@
 language: java
 jdk:
-- openjdk11
+- openjdk17
 notifications:
   slack:
     secure: GWdq7VvpCs+Z1Q3+VIsL6q0eRetGibSWKsNn5OwDgWSnbgKfLEWGPYcvzz6LPV5xE1dOO8aD6NyMhFotxSCDRXC34L4piExFSeY7bCpGaqRMEO2uolSu8hmyowJ6arksl20acnAGCf9UbwEDKKqcM13aOIMeBzbvJHzA18bWsSvnMDFOdGzTgG1577ZODb2D9iTI6gTK5aYQg0jvySG0jN0AFTFGEkJegOepflLsjOfWuX5OXRpUqrkBrh0YYrTL+v7qUdgvYxXjCqCU2iy1+cl21J31cbYirYxrW0z9T2wpdsCufSmPsd6OrMdH7gYpo7vBPNbiY4XLsQ2iMufGcLCpQ6pwGBkHc44MQGIMxV3y6RTAkmoDYYJhaO8eIngo8xUvmXeTV3Pc/qqCv/3TZxJzpFamak6bHbMBi/FObYuUU2OaQHSkzQQseEnjilX25KZ+axiaOkZBEj0UxHvQO6+UZxVbQAM2lBjf3KI6Q2209EiY83XcvA85qI3cF36lmIYmdM0pKPHglT3DwIC1KcbtzgTTX9Xhi96rBOgh6ReYcuQUpm5wjs+BWey+P6vJLcm3NpmMHoTEbMMa5Jm/T6iKQPsjXEoh5b2gwx9EUTGcfhXzwbybLyMjgReWDfHUXfyZU+mX9PYWSeCPXTIJ1TVpx7F10au8d7vJQC7IOUU=
diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2024.1.2",
+    "version": "2024.1.3",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2024",
     "mavenUrls": [
@@ -12,15 +12,15 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2024.1.2"
+            "version": "2024.1.3"
         }
     ],
     "jniDependencies": [],
     "cppDependencies": [
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2024.1.2",
+            "version": "2024.1.3",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,

diff --git a/vendordeps/Phoenix6.json b/vendordeps/Phoenix6.json
@@ -1,13 +1,13 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "24.0.0-beta-8",
+    "version": "24.1.0",
     "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-beta-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
     "conflictsWith": [
         {
             "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
@@ -19,14 +19,14 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "24.0.0-beta-8"
+            "version": "24.1.0"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "24.0.0-beta-8",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -39,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "24.0.0-beta-8",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -52,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "24.0.0-beta-8",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -65,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "24.0.0-beta-8",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -78,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "24.0.0-beta-8",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -91,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "24.0.0-beta-8",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -104,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "24.0.0-beta-8",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -117,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "24.0.0-beta-8",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -130,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "24.0.0-beta-8",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -143,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "24.0.0-beta-8",
+            "version": "24.1.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -158,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "24.0.0-beta-8",
+            "version": "24.1.0",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -173,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "24.0.0-beta-8",
+            "version": "24.1.0",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -188,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "24.0.0-beta-8",
+            "version": "24.1.0",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -203,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "24.0.0-beta-8",
+            "version": "24.1.0",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -218,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "24.0.0-beta-8",
+            "version": "24.1.0",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -233,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "24.0.0-beta-8",
+            "version": "24.1.0",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -248,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "24.0.0-beta-8",
+            "version": "24.1.0",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -263,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "24.0.0-beta-8",
+            "version": "24.1.0",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -278,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "24.0.0-beta-8",
+            "version": "24.1.0",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -293,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "24.0.0-beta-8",
+            "version": "24.1.0",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -308,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "24.0.0-beta-8",
+            "version": "24.1.0",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -323,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "24.0.0-beta-8",
+            "version": "24.1.0",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,