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Upgrade to Gradle 7.2 and WPILib 2022 (#316)

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This commit is contained in:
Tyler Veness
2021-11-21 17:22:56 -08:00
committed by GitHub
parent ffe34f00fe
commit 5ca39e7f84
316 changed files with 671 additions and 1019 deletions
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1
photonlib-java-examples/src/main/java/org/photonlib/examples/aimattarget/Main.java
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@@ -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;

14
photonlib-java-examples/src/main/java/org/photonlib/examples/aimattarget/Robot.java
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@@ -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