Upgrade to Gradle 7.2 and WPILib 2022 (#316)

2026-06-19 00:41:41 +00:00 · 2021-11-21 17:22:56 -08:00
parent ffe34f00fe
commit 5ca39e7f84
316 changed files with 671 additions and 1019 deletions
--- a/photonlib-java-examples/build.gradle
+++ b/photonlib-java-examples/build.gradle
@@ -6,25 +6,44 @@ apply plugin: "edu.wpi.first.NativeUtils"

 apply from: "${rootDir}/shared/config.gradle"

+// Configure wpigui, libglass, libglassnt.
 nativeUtils {
-    dependencyConfigs {
-        gui {
-            groupId = "edu.wpi.first.halsim"
-            artifactId = "halsim_gui"
-            headerClassifier = "headers"
-            sourceClassifier = "sources"
-            ext = "zip"
-            version = wpilibVersion
-            sharedPlatforms << "osxx86-64" << "linuxx86-64" << "windowsx86-64"
-        }
+  nativeDependencyContainer {
+    wpigui(getNativeDependencyTypeClass('WPIStaticMavenDependency')) {
+      groupId = "edu.wpi.first.wpigui"
+      artifactId = "wpigui-cpp"
+      headerClassifier = "headers"
+      sourceClassifier = "sources"
+      ext = "zip"
+      version = wpilibVersion
+      targetPlatforms.addAll(nativeUtils.wpi.platforms.desktopPlatforms)
    }
-    combinedDependencyConfigs {
-        halsim_gui {
-            libraryName = "halsim_gui"
-            targetPlatforms << "osxx86-64" << "linuxx86-64" << "windowsx86-64"
-            dependencies << "gui_shared"
-        }
+    libglass(getNativeDependencyTypeClass('WPIStaticMavenDependency')) {
+      groupId = "edu.wpi.first.glass"
+      artifactId = "libglass"
+      headerClassifier = "headers"
+      sourceClassifier = "sources"
+      ext = "zip"
+      version = wpilibVersion
+      targetPlatforms.addAll(nativeUtils.wpi.platforms.desktopPlatforms)
    }
+    libglassnt(getNativeDependencyTypeClass('WPIStaticMavenDependency')) {
+      groupId = "edu.wpi.first.glass"
+      artifactId = "libglassnt"
+      headerClassifier = "headers"
+      sourceClassifier = "sources"
+      ext = "zip"
+      version = wpilibVersion
+      targetPlatforms.addAll(nativeUtils.wpi.platforms.desktopPlatforms)
+    }
+
+    // Combined
+    gui(getNativeDependencyTypeClass('AllPlatformsCombinedNativeDependency')) {
+      dependencies = [
+                      "libglassnt", "libglass", "wpigui", "imgui_static",
+                      "wpimath_static", "ntcore_static", "wpiutil_static"]
+    }
+  }
 }

 ext {
@@ -42,11 +61,10 @@ dependencies {
    implementation "edu.wpi.first.wpiutil:wpiutil-java:$wpilibVersion"
    implementation "edu.wpi.first.wpimath:wpimath-java:$wpilibVersion"
    implementation "edu.wpi.first.hal:hal-java:$wpilibVersion"
-    implementation "org.ejml:ejml-simple:0.38"
    implementation "com.fasterxml.jackson.core:jackson-annotations:2.10.0"
    implementation "com.fasterxml.jackson.core:jackson-core:2.10.0"
    implementation "com.fasterxml.jackson.core:jackson-databind:2.10.0"
-    implementation "edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:3.4.7-3"
+    implementation "edu.wpi.first.thirdparty.frc2022.opencv:opencv-java:$opencvVersion"
 }

 model {
@@ -67,10 +85,6 @@ model {
            binaries.all { binary ->
                nativeUtils.useRequiredLibrary(binary, "wpilib_executable_shared")
                nativeUtils.useRequiredLibrary(binary, "opencv_shared")
-
-                if (binary.targetPlatform.name == NativePlatforms.desktop) {
-                    nativeUtils.useRequiredLibrary(binary, "halsim_gui")
-                }
            }
        }
    }
--- a/photonlib-java-examples/src/dev/native/cpp/main.cpp
+++ b/photonlib-java-examples/src/dev/native/cpp/main.cpp
@@ -1,8 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2020 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-int main() {}
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+int main() {}
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/aimandrange/Main.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/aimandrange/Main.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonlib.examples.aimandrange;

 import edu.wpi.first.wpilibj.RobotBase;
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/aimandrange/Robot.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/aimandrange/Robot.java
@@ -14,16 +14,14 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonlib.examples.aimandrange;

-import edu.wpi.first.wpilibj.GenericHID;
-import edu.wpi.first.wpilibj.PWMVictorSPX;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.XboxController;
-import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-import edu.wpi.first.wpilibj.util.Units;
+import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
 import org.photonvision.PhotonCamera;
 import org.photonvision.PhotonUtils;

@@ -83,11 +81,11 @@ public class Robot extends TimedRobot {

                // Use this range as the measurement we give to the PID controller.
                // -1.0 required to ensure positive PID controller effort _increases_ range
-                forwardSpeed = -1.0 * forwardController.calculate(range, GOAL_RANGE_METERS);
+                forwardSpeed = -forwardController.calculate(range, GOAL_RANGE_METERS);

                // Also calculate angular power
                // -1.0 required to ensure positive PID controller effort _increases_ yaw
-                rotationSpeed = -1.0 * turnController.calculate(result.getBestTarget().getYaw(), 0);
+                rotationSpeed = -turnController.calculate(result.getBestTarget().getYaw(), 0);
            } else {
                // If we have no targets, stay still.
                forwardSpeed = 0;
@@ -95,8 +93,8 @@ public class Robot extends TimedRobot {
            }
        } else {
            // Manual Driver Mode
-            forwardSpeed = -1.0 * xboxController.getY(GenericHID.Hand.kRight);
-            rotationSpeed = xboxController.getX(GenericHID.Hand.kLeft);
+            forwardSpeed = -xboxController.getRightY();
+            rotationSpeed = xboxController.getLeftX();
        }

        // Use our forward/turn speeds to control the drivetrain
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/aimattarget/Main.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/aimattarget/Main.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonlib.examples.aimattarget;

 import edu.wpi.first.wpilibj.RobotBase;
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/aimattarget/Robot.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/aimattarget/Robot.java
@@ -14,16 +14,14 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonlib.examples.aimattarget;

-import edu.wpi.first.wpilibj.GenericHID;
-import edu.wpi.first.wpilibj.PWMVictorSPX;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.XboxController;
-import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-import edu.wpi.first.wpilibj.util.Units;
+import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
 import org.photonvision.PhotonCamera;

 /**
@@ -66,7 +64,7 @@ public class Robot extends TimedRobot {
        double forwardSpeed;
        double rotationSpeed;

-        forwardSpeed = -1.0 * xboxController.getY(GenericHID.Hand.kRight);
+        forwardSpeed = -xboxController.getRightY();

        if (xboxController.getAButton()) {
            // Vision-alignment mode
@@ -76,14 +74,14 @@ public class Robot extends TimedRobot {
            if (result.hasTargets()) {
                // Calculate angular turn power
                // -1.0 required to ensure positive PID controller effort _increases_ yaw
-                rotationSpeed = -1.0 * turnController.calculate(result.getBestTarget().getYaw(), 0);
+                rotationSpeed = -turnController.calculate(result.getBestTarget().getYaw(), 0);
            } else {
                // If we have no targets, stay still.
                rotationSpeed = 0;
            }
        } else {
            // Manual Driver Mode
-            rotationSpeed = xboxController.getX(GenericHID.Hand.kLeft);
+            rotationSpeed = xboxController.getLeftX();
        }

        // Use our forward/turn speeds to control the drivetrain
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/examples.json
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/examples.json
@@ -59,4 +59,4 @@
    "dependencies": [],
    "foldername": "simposeest"
  }
-]
+]
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/getinrange/Main.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/getinrange/Main.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonlib.examples.getinrange;

 import edu.wpi.first.wpilibj.RobotBase;
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/getinrange/Robot.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/getinrange/Robot.java
@@ -14,16 +14,14 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonlib.examples.getinrange;

-import edu.wpi.first.wpilibj.GenericHID;
-import edu.wpi.first.wpilibj.PWMVictorSPX;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.XboxController;
-import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-import edu.wpi.first.wpilibj.util.Units;
+import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
 import org.photonvision.PhotonCamera;
 import org.photonvision.PhotonUtils;

@@ -67,7 +65,7 @@ public class Robot extends TimedRobot {
    @Override
    public void teleopPeriodic() {
        double forwardSpeed;
-        double rotationSpeed = xboxController.getX(GenericHID.Hand.kLeft);
+        double rotationSpeed = xboxController.getLeftX();

        if (xboxController.getAButton()) {
            // Vision-alignment mode
@@ -85,14 +83,14 @@ public class Robot extends TimedRobot {

                // Use this range as the measurement we give to the PID controller.
                // -1.0 required to ensure positive PID controller effort _increases_ range
-                forwardSpeed = -1.0 * controller.calculate(range, GOAL_RANGE_METERS);
+                forwardSpeed = -controller.calculate(range, GOAL_RANGE_METERS);
            } else {
                // If we have no targets, stay still.
                forwardSpeed = 0;
            }
        } else {
            // Manual Driver Mode
-            forwardSpeed = -1.0 * xboxController.getY(GenericHID.Hand.kRight);
+            forwardSpeed = -xboxController.getRightY();
        }

        // Use our forward/turn speeds to control the drivetrain
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/Main.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/Main.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonlib.examples.simaimandrange;

 import edu.wpi.first.wpilibj.RobotBase;
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/Robot.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/Robot.java
@@ -14,16 +14,14 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonlib.examples.simaimandrange;

-import edu.wpi.first.wpilibj.GenericHID;
-import edu.wpi.first.wpilibj.PWMVictorSPX;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.XboxController;
-import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-import edu.wpi.first.wpilibj.util.Units;
+import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
 import org.photonlib.examples.simaimandrange.sim.DrivetrainSim;
 import org.photonvision.PhotonCamera;
 import org.photonvision.PhotonUtils;
@@ -86,11 +84,11 @@ public class Robot extends TimedRobot {

                // Use this range as the measurement we give to the PID controller.
                // -1.0 required to ensure positive PID controller effort _increases_ range
-                forwardSpeed = -1.0 * forwardController.calculate(range, GOAL_RANGE_METERS);
+                forwardSpeed = -forwardController.calculate(range, GOAL_RANGE_METERS);

                // Also calculate angular power
                // -1.0 required to ensure positive PID controller effort _increases_ yaw
-                rotationSpeed = -1.0 * turnController.calculate(result.getBestTarget().getYaw(), 0);
+                rotationSpeed = -turnController.calculate(result.getBestTarget().getYaw(), 0);
            } else {
                // If we have no targets, stay still.
                forwardSpeed = 0;
@@ -98,8 +96,8 @@ public class Robot extends TimedRobot {
            }
        } else {
            // Manual Driver Mode
-            forwardSpeed = -1.0 * xboxController.getY(GenericHID.Hand.kRight);
-            rotationSpeed = xboxController.getX(GenericHID.Hand.kLeft);
+            forwardSpeed = -xboxController.getRightY();
+            rotationSpeed = xboxController.getLeftX();
        }

        // Use our forward/turn speeds to control the drivetrain
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/sim/DrivetrainSim.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simaimandrange/sim/DrivetrainSim.java
@@ -14,24 +14,23 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonlib.examples.simaimandrange.sim;

+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Transform2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.numbers.N2;
+import edu.wpi.first.math.system.LinearSystem;
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.math.system.plant.LinearSystemId;
+import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.RobotController;
-import edu.wpi.first.wpilibj.geometry.Pose2d;
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
-import edu.wpi.first.wpilibj.geometry.Transform2d;
-import edu.wpi.first.wpilibj.geometry.Translation2d;
 import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim;
 import edu.wpi.first.wpilibj.simulation.PWMSim;
 import edu.wpi.first.wpilibj.smartdashboard.Field2d;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj.system.LinearSystem;
-import edu.wpi.first.wpilibj.system.plant.DCMotor;
-import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
-import edu.wpi.first.wpilibj.util.Units;
-import edu.wpi.first.wpiutil.math.numbers.N2;
 import org.photonlib.examples.simaimandrange.Robot;
 import org.photonvision.SimVisionSystem;
 import org.photonvision.SimVisionTarget;
@@ -44,7 +43,6 @@ import org.photonvision.SimVisionTarget;
 * real motors/sensors/physics are used instead.
 */
 public class DrivetrainSim {
-
    // Simulated Motor Controllers
    PWMSim leftLeader = new PWMSim(0);
    PWMSim rightLeader = new PWMSim(1);
@@ -53,7 +51,7 @@ public class DrivetrainSim {
    // Configure these to match your drivetrain's physical dimensions
    // and characterization results.
    LinearSystem<N2, N2, N2> drivetrainSystem =
-            LinearSystemId.identifyDrivetrainSystem(1.98, 0.2, 1.5, 0.3);
+            LinearSystemId.identifyDrivetrainSystem(1.98, 0.2, 1.5, 0.3, 1.0);
    DifferentialDrivetrainSim drivetrainSimulator =
            new DifferentialDrivetrainSim(
                    drivetrainSystem,
@@ -114,11 +112,10 @@ public class DrivetrainSim {
    * physics forward by a single 20ms step.
    */
    public void update() {
-
        double leftMotorCmd = 0;
        double rightMotorCmd = 0;

-        if (DriverStation.getInstance().isEnabled() && !RobotController.isBrownedOut()) {
+        if (DriverStation.isEnabled() && !RobotController.isBrownedOut()) {
            leftMotorCmd = leftLeader.getSpeed();
            rightMotorCmd = rightLeader.getSpeed();
        }
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/Main.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/Main.java
@@ -14,7 +14,6 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonlib.examples.simposeest;

 import edu.wpi.first.wpilibj.RobotBase;
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/AutoController.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/AutoController.java
@@ -14,17 +14,16 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonlib.examples.simposeest.robot;

+import edu.wpi.first.math.controller.RamseteController;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.math.trajectory.Trajectory;
+import edu.wpi.first.math.trajectory.TrajectoryConfig;
+import edu.wpi.first.math.trajectory.TrajectoryGenerator;
 import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.controller.RamseteController;
-import edu.wpi.first.wpilibj.geometry.Pose2d;
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
-import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
-import edu.wpi.first.wpilibj.trajectory.Trajectory;
-import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
-import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
 import java.util.List;

 /**
@@ -34,7 +33,6 @@ import java.util.List;
 * thinks it ought to be.
 */
 public class AutoController {
-
    private Trajectory trajectory;

    private RamseteController ramsete = new RamseteController();
@@ -46,7 +44,6 @@ public class AutoController {
    Trajectory.State desiredDtState;

    public AutoController() {
-
        // Change this trajectory if you need the robot to follow different paths.
        trajectory =
                TrajectoryGenerator.generateTrajectory(
@@ -83,7 +80,6 @@ public class AutoController {
    * @return The commanded drivetrain motion
    */
    public ChassisSpeeds getCurMotorCmds(Pose2d curEstPose) {
-
        if (isRunning) {
            double elapsed = timer.get();
            desiredDtState = trajectory.sample(elapsed);
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/Constants.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/Constants.java
@@ -14,14 +14,13 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonlib.examples.simposeest.robot;

-import edu.wpi.first.wpilibj.geometry.Pose2d;
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
-import edu.wpi.first.wpilibj.geometry.Transform2d;
-import edu.wpi.first.wpilibj.geometry.Translation2d;
-import edu.wpi.first.wpilibj.util.Units;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Transform2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.util.Units;
 import org.photonvision.SimVisionTarget;

 /**
@@ -31,7 +30,6 @@ import org.photonvision.SimVisionTarget;
 * at the field drawings 3) Match with how your vision coprocessor is configured.
 */
 public class Constants {
-
    //////////////////////////////////////////////////////////////////
    // Drivetrain Physical
    //////////////////////////////////////////////////////////////////
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/Drivetrain.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/Drivetrain.java
@@ -14,18 +14,17 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonlib.examples.simposeest.robot;

+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.controller.SimpleMotorFeedforward;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
+import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.PWMVictorSPX;
-import edu.wpi.first.wpilibj.SpeedControllerGroup;
-import edu.wpi.first.wpilibj.controller.PIDController;
-import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
-import edu.wpi.first.wpilibj.geometry.Pose2d;
-import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
-import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
-import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
+import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
+import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;

 /**
 * Implements a controller for the drivetrain. Converts a set of chassis motion commands into motor
@@ -33,15 +32,14 @@ import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
 * speed.
 */
 public class Drivetrain {
-
    // PWM motor controller output definitions
    PWMVictorSPX leftLeader = new PWMVictorSPX(Constants.kDtLeftLeaderPin);
    PWMVictorSPX leftFollower = new PWMVictorSPX(Constants.kDtLeftFollowerPin);
    PWMVictorSPX rightLeader = new PWMVictorSPX(Constants.kDtRightLeaderPin);
    PWMVictorSPX rightFollower = new PWMVictorSPX(Constants.kDtRightFollowerPin);

-    SpeedControllerGroup leftGroup = new SpeedControllerGroup(leftLeader, leftFollower);
-    SpeedControllerGroup rightGroup = new SpeedControllerGroup(rightLeader, rightFollower);
+    MotorControllerGroup leftGroup = new MotorControllerGroup(leftLeader, leftFollower);
+    MotorControllerGroup rightGroup = new MotorControllerGroup(rightLeader, rightFollower);

    // Drivetrain wheel speed sensors
    // Used both for speed control and pose estimation.
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/DrivetrainPoseEstimator.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/DrivetrainPoseEstimator.java
@@ -14,21 +14,20 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonlib.examples.simposeest.robot;

+import edu.wpi.first.math.Matrix;
+import edu.wpi.first.math.VecBuilder;
+import edu.wpi.first.math.estimator.DifferentialDrivePoseEstimator;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Transform2d;
+import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
+import edu.wpi.first.math.numbers.N1;
+import edu.wpi.first.math.numbers.N3;
+import edu.wpi.first.math.numbers.N5;
+import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.estimator.DifferentialDrivePoseEstimator;
-import edu.wpi.first.wpilibj.geometry.Pose2d;
-import edu.wpi.first.wpilibj.geometry.Transform2d;
-import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
-import edu.wpi.first.wpilibj.util.Units;
-import edu.wpi.first.wpiutil.math.Matrix;
-import edu.wpi.first.wpiutil.math.VecBuilder;
-import edu.wpi.first.wpiutil.math.numbers.N1;
-import edu.wpi.first.wpiutil.math.numbers.N3;
-import edu.wpi.first.wpiutil.math.numbers.N5;
 import org.photonvision.PhotonCamera;

 /**
@@ -37,7 +36,6 @@ import org.photonvision.PhotonCamera;
 * filter. This in turn creates a best-guess at a Pose2d of where our drivetrain is currently at.
 */
 public class DrivetrainPoseEstimator {
-
    // Sensors used as part of the Pose Estimation
    private final AnalogGyro gyro = new AnalogGyro(Constants.kGyroPin);
    private PhotonCamera cam = new PhotonCamera(Constants.kCamName);
@@ -75,7 +73,6 @@ public class DrivetrainPoseEstimator {
    */
    public void update(
            DifferentialDriveWheelSpeeds actWheelSpeeds, double leftDist, double rightDist) {
-
        m_poseEstimator.update(gyro.getRotation2d(), actWheelSpeeds, leftDist, rightDist);

        var res = cam.getLatestResult();
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/OperatorInterface.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/OperatorInterface.java
@@ -14,11 +14,9 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonlib.examples.simposeest.robot;

-import edu.wpi.first.wpilibj.GenericHID;
-import edu.wpi.first.wpilibj.SlewRateLimiter;
+import edu.wpi.first.math.filter.SlewRateLimiter;
 import edu.wpi.first.wpilibj.XboxController;

 public class OperatorInterface {
@@ -34,7 +32,7 @@ public class OperatorInterface {
    public double getFwdRevSpdCmd() {
        // Get the x speed. We are inverting this because Xbox controllers return
        // negative values when we push forward.
-        return -speedLimiter.calculate(opCtrl.getY(GenericHID.Hand.kLeft)) * Constants.kMaxSpeed;
+        return -speedLimiter.calculate(opCtrl.getLeftY()) * Constants.kMaxSpeed;
    }

    public double getRotateSpdCmd() {
@@ -42,7 +40,7 @@ public class OperatorInterface {
        // positive value when we pull to the left (remember, CCW is positive in
        // mathematics). Xbox controllers return positive values when you pull to
        // the right by default.
-        return -rotLimiter.calculate(opCtrl.getX(GenericHID.Hand.kRight)) * Constants.kMaxAngularSpeed;
+        return -rotLimiter.calculate(opCtrl.getRightX()) * Constants.kMaxAngularSpeed;
    }

    public boolean getSimKickCmd() {
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/PoseTelemetry.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/PoseTelemetry.java
@@ -14,16 +14,14 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonlib.examples.simposeest.robot;

-import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.wpilibj.smartdashboard.Field2d;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

 /** Reports our expected, desired, and actual poses to dashboards */
 public class PoseTelemetry {
-
    Field2d field = new Field2d();

    Pose2d actPose = new Pose2d();
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/Robot.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/Robot.java
@@ -14,16 +14,14 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonlib.examples.simposeest.robot;

+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj.geometry.Pose2d;
-import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
 import org.photonlib.examples.simposeest.sim.DrivetrainSim;

 public class Robot extends TimedRobot {
-
    AutoController autoCtrl = new AutoController();
    Drivetrain dt = new Drivetrain();
    OperatorInterface opInf = new OperatorInterface();
--- a/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/sim/DrivetrainSim.java
+++ b/photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/sim/DrivetrainSim.java
@@ -14,23 +14,22 @@
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
-
 package org.photonlib.examples.simposeest.sim;

+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Transform2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.numbers.N2;
+import edu.wpi.first.math.system.LinearSystem;
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.math.system.plant.LinearSystemId;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.RobotController;
-import edu.wpi.first.wpilibj.geometry.Pose2d;
-import edu.wpi.first.wpilibj.geometry.Rotation2d;
-import edu.wpi.first.wpilibj.geometry.Transform2d;
-import edu.wpi.first.wpilibj.geometry.Translation2d;
 import edu.wpi.first.wpilibj.simulation.AnalogGyroSim;
 import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim;
 import edu.wpi.first.wpilibj.simulation.EncoderSim;
 import edu.wpi.first.wpilibj.simulation.PWMSim;
-import edu.wpi.first.wpilibj.system.LinearSystem;
-import edu.wpi.first.wpilibj.system.plant.DCMotor;
-import edu.wpi.first.wpilibj.system.plant.LinearSystemId;
-import edu.wpi.first.wpiutil.math.numbers.N2;
 import org.photonlib.examples.simposeest.robot.Constants;
 import org.photonvision.SimVisionSystem;

@@ -42,7 +41,6 @@ import org.photonvision.SimVisionSystem;
 * real motors/sensors/physics are used instead.
 */
 public class DrivetrainSim {
-
    // Simulated Sensors
    AnalogGyroSim gyroSim = new AnalogGyroSim(Constants.kGyroPin);
    EncoderSim leftEncoderSim = EncoderSim.createForChannel(Constants.kDtLeftEncoderPinA);
@@ -100,11 +98,10 @@ public class DrivetrainSim {
    * physics forward by a single 20ms step.
    */
    public void update() {
-
        double leftMotorCmd = 0;
        double rightMotorCmd = 0;

-        if (DriverStation.getInstance().isEnabled() && !RobotController.isBrownedOut()) {
+        if (DriverStation.isEnabled() && !RobotController.isBrownedOut()) {
            // If the motor controllers are enabled...
            // Roughly model the effect of leader and follower motor pushing on the same
            // gearbox.