From 4349286ecbc61a74c72b0dd37d6aaf27144a17ec Mon Sep 17 00:00:00 2001 From: BenG49 Date: Thu, 18 Jan 2024 12:44:41 -0500 Subject: [PATCH] Update vendordeps, stuylib, java version --- .github/workflows/gradle.yml | 4 +- build.gradle | 6 +-- .../stuypulse/robot/commands/AngleAlign.java | 10 +--- travis.yml | 2 +- vendordeps/PathplannerLib.json | 6 +-- vendordeps/Phoenix6.json | 50 +++++++++---------- 6 files changed, 35 insertions(+), 43 deletions(-) diff --git a/.github/workflows/gradle.yml b/.github/workflows/gradle.yml index d818809..6bafd3d 100644 --- 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 index ae0e028..69828b8 100644 --- 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 index 5f6afdc..a9a1d17 100644 --- 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 index 1a24e0d..91ffdb2 100644 --- 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 index 3c74146..f86862c 100644 --- 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": [ @@ -12,7 +12,7 @@ { "groupId": "com.pathplanner.lib", "artifactId": "PathplannerLib-java", - "version": "2024.1.2" + "version": "2024.1.3" } ], "jniDependencies": [], @@ -20,7 +20,7 @@ { "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 index 7020206..69a4079 100644 --- 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,