Upgrade Gradle, fix build, and format

2026-06-19 00:41:41 +00:00 · 2025-06-24 00:25:30 -04:00
parent a5f9a0b673
commit 3ace6122b0
8 changed files with 19 additions and 35 deletions
--- a/photonlib-cpp-examples/aimandrange/src/main/include/subsystems/SwerveDrive.h
+++ b/photonlib-cpp-examples/aimandrange/src/main/include/subsystems/SwerveDrive.h
@@ -24,9 +24,9 @@

 #pragma once

+#include <frc/OnboardIMU.h>
 #include <frc/estimator/SwerveDrivePoseEstimator.h>
 #include <frc/kinematics/SwerveDriveKinematics.h>
-#include <frc/OboardIMU.h>

 #include "SwerveDriveSim.h"
 #include "SwerveModule.h"
@@ -72,8 +72,8 @@ class SwerveDrive {
  frc::SwerveDrivePoseEstimator<4> poseEstimator;
  frc::ChassisSpeeds targetChassisSpeeds{};

-  //TODO(Jade) onboard imu doesn't have sim yet
-  // frc::sim::ADXRS450_GyroSim gyroSim;
+  // TODO(Jade) onboard imu doesn't have sim yet
+  //  frc::sim::ADXRS450_GyroSim gyroSim;
  SwerveDriveSim swerveDriveSim;
  units::ampere_t totalCurrentDraw{0};
 };
--- a/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java
+++ b/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java
@@ -122,8 +122,7 @@ public class SwerveDrive {
     * @param omega Angular velocity (rotation CCW+)
     */
    public void drive(double vx, double vy, double omega) {
-        var targetChassisSpeeds =
-                new ChassisSpeeds(vx, vy, omega).toRobotRelative(getHeading());
+        var targetChassisSpeeds = new ChassisSpeeds(vx, vy, omega).toRobotRelative(getHeading());
        setChassisSpeeds(targetChassisSpeeds, true, false);
    }

@@ -269,8 +268,7 @@ public class SwerveDrive {
        ChassisSpeeds chassisSpeeds = getChassisSpeeds();
        SmartDashboard.putNumber(table + "VX", chassisSpeeds.vx);
        SmartDashboard.putNumber(table + "VY", chassisSpeeds.vy);
-        SmartDashboard.putNumber(
-                table + "Omega Degrees", Math.toDegrees(chassisSpeeds.omega));
+        SmartDashboard.putNumber(table + "Omega Degrees", Math.toDegrees(chassisSpeeds.omega));
        SmartDashboard.putNumber(table + "Target VX", targetChassisSpeeds.vx);
        SmartDashboard.putNumber(table + "Target VY", targetChassisSpeeds.vy);
        SmartDashboard.putNumber(
--- a/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java
+++ b/photonlib-java-examples/aimandrange/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java
@@ -92,8 +92,7 @@ public class SwerveModule {
        double drivePid = 0;
        if (!openLoop) {
            // Perform PID feedback control to compensate for disturbances
-            drivePid =
-                    drivePidController.calculate(driveEncoder.getRate(), desiredState.speed);
+            drivePid = drivePidController.calculate(driveEncoder.getRate(), desiredState.speed);
        }

        driveMotor.setVoltage(driveFF + drivePid);
@@ -156,11 +155,9 @@ public class SwerveModule {
                table + "Steer Degrees", Math.toDegrees(MathUtil.angleModulus(state.angle.getRadians())));
        SmartDashboard.putNumber(
                table + "Steer Target Degrees", Math.toDegrees(steerPidController.getSetpoint()));
+        SmartDashboard.putNumber(table + "Drive Velocity Feet", Units.metersToFeet(state.speed));
        SmartDashboard.putNumber(
-                table + "Drive Velocity Feet", Units.metersToFeet(state.speed));
-        SmartDashboard.putNumber(
-                table + "Drive Velocity Target Feet",
-                Units.metersToFeet(desiredState.speed));
+                table + "Drive Velocity Target Feet", Units.metersToFeet(desiredState.speed));
        SmartDashboard.putNumber(table + "Drive Current", driveCurrentSim);
        SmartDashboard.putNumber(table + "Steer Current", steerCurrentSim);
    }
--- a/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java
+++ b/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java
@@ -122,8 +122,7 @@ public class SwerveDrive {
     * @param omega Angular velocity (rotation CCW+)
     */
    public void drive(double vx, double vy, double omega) {
-        var targetChassisSpeeds =
-                new ChassisSpeeds(vx, vy, omega).toRobotRelative(getHeading());
+        var targetChassisSpeeds = new ChassisSpeeds(vx, vy, omega).toRobotRelative(getHeading());
        setChassisSpeeds(targetChassisSpeeds, true, false);
    }

@@ -269,8 +268,7 @@ public class SwerveDrive {
        ChassisSpeeds chassisSpeeds = getChassisSpeeds();
        SmartDashboard.putNumber(table + "VX", chassisSpeeds.vx);
        SmartDashboard.putNumber(table + "VY", chassisSpeeds.vy);
-        SmartDashboard.putNumber(
-                table + "Omega Degrees", Math.toDegrees(chassisSpeeds.omega));
+        SmartDashboard.putNumber(table + "Omega Degrees", Math.toDegrees(chassisSpeeds.omega));
        SmartDashboard.putNumber(table + "Target VX", targetChassisSpeeds.vx);
        SmartDashboard.putNumber(table + "Target VY", targetChassisSpeeds.vy);
        SmartDashboard.putNumber(
--- a/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java
+++ b/photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java
@@ -92,8 +92,7 @@ public class SwerveModule {
        double drivePid = 0;
        if (!openLoop) {
            // Perform PID feedback control to compensate for disturbances
-            drivePid =
-                    drivePidController.calculate(driveEncoder.getRate(), desiredState.speed);
+            drivePid = drivePidController.calculate(driveEncoder.getRate(), desiredState.speed);
        }

        driveMotor.setVoltage(driveFF + drivePid);
@@ -156,11 +155,9 @@ public class SwerveModule {
                table + "Steer Degrees", Math.toDegrees(MathUtil.angleModulus(state.angle.getRadians())));
        SmartDashboard.putNumber(
                table + "Steer Target Degrees", Math.toDegrees(steerPidController.getSetpoint()));
+        SmartDashboard.putNumber(table + "Drive Velocity Feet", Units.metersToFeet(state.speed));
        SmartDashboard.putNumber(
-                table + "Drive Velocity Feet", Units.metersToFeet(state.speed));
-        SmartDashboard.putNumber(
-                table + "Drive Velocity Target Feet",
-                Units.metersToFeet(desiredState.speed));
+                table + "Drive Velocity Target Feet", Units.metersToFeet(desiredState.speed));
        SmartDashboard.putNumber(table + "Drive Current", driveCurrentSim);
        SmartDashboard.putNumber(table + "Steer Current", steerCurrentSim);
    }
--- a/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/GamepieceLauncher.java
+++ b/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/GamepieceLauncher.java
@@ -50,8 +50,7 @@ public class GamepieceLauncher {
    }

    public void periodic() {
-        double maxRPM =
-                Units.radiansPerSecondToRotationsPerMinute(DCMotor.getFalcon500(1).freeSpeed);
+        double maxRPM = Units.radiansPerSecondToRotationsPerMinute(DCMotor.getFalcon500(1).freeSpeed);
        curMotorCmd = curDesSpd / maxRPM;
        curMotorCmd = MathUtil.clamp(curMotorCmd, 0.0, 1.0);
        motor.set(curMotorCmd);
--- a/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java
+++ b/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java
@@ -122,8 +122,7 @@ public class SwerveDrive {
     * @param omega Angular velocity (rotation CCW+)
     */
    public void drive(double vx, double vy, double omega) {
-        var targetChassisSpeeds =
-                new ChassisSpeeds(vx, vy, omega).toRobotRelative(getHeading());
+        var targetChassisSpeeds = new ChassisSpeeds(vx, vy, omega).toRobotRelative(getHeading());
        setChassisSpeeds(targetChassisSpeeds, true, false);
    }

@@ -269,8 +268,7 @@ public class SwerveDrive {
        ChassisSpeeds chassisSpeeds = getChassisSpeeds();
        SmartDashboard.putNumber(table + "VX", chassisSpeeds.vx);
        SmartDashboard.putNumber(table + "VY", chassisSpeeds.vy);
-        SmartDashboard.putNumber(
-                table + "Omega Degrees", Math.toDegrees(chassisSpeeds.omega));
+        SmartDashboard.putNumber(table + "Omega Degrees", Math.toDegrees(chassisSpeeds.omega));
        SmartDashboard.putNumber(table + "Target VX", targetChassisSpeeds.vx);
        SmartDashboard.putNumber(table + "Target VY", targetChassisSpeeds.vy);
        SmartDashboard.putNumber(
--- a/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java
+++ b/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java
@@ -92,8 +92,7 @@ public class SwerveModule {
        double drivePid = 0;
        if (!openLoop) {
            // Perform PID feedback control to compensate for disturbances
-            drivePid =
-                    drivePidController.calculate(driveEncoder.getRate(), desiredState.speed);
+            drivePid = drivePidController.calculate(driveEncoder.getRate(), desiredState.speed);
        }

        driveMotor.setVoltage(driveFF + drivePid);
@@ -156,11 +155,9 @@ public class SwerveModule {
                table + "Steer Degrees", Math.toDegrees(MathUtil.angleModulus(state.angle.getRadians())));
        SmartDashboard.putNumber(
                table + "Steer Target Degrees", Math.toDegrees(steerPidController.getSetpoint()));
+        SmartDashboard.putNumber(table + "Drive Velocity Feet", Units.metersToFeet(state.speed));
        SmartDashboard.putNumber(
-                table + "Drive Velocity Feet", Units.metersToFeet(state.speed));
-        SmartDashboard.putNumber(
-                table + "Drive Velocity Target Feet",
-                Units.metersToFeet(desiredState.speed));
+                table + "Drive Velocity Target Feet", Units.metersToFeet(desiredState.speed));
        SmartDashboard.putNumber(table + "Drive Current", driveCurrentSim);
        SmartDashboard.putNumber(table + "Steer Current", steerCurrentSim);
    }