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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/getinrange/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.getinrange;
import edu.wpi.first.wpilibj.RobotBase;

14
photonlib-java-examples/src/main/java/org/photonlib/examples/getinrange/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.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