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Make 2027 build (#2422)

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This PR updates everything for 2027. This includes removing GradleRIO, simplifying our wpilib version defintion, updating APIs, updating to Java 21, and more.

Note that photonlibpy is failing because robotpy has not been fully updated yet. Examples are omitted because they need to be updated for our new PhotonPoseEstimator API and still need some changes from WPILIB. photonlib windows build is failing because we're waiting for some upstream changes. Finally, images are failing since they don't have Java 21 yet.
This commit is contained in:
Sam Freund
2026-04-11 12:14:42 -05:00
committed by samfreund
parent 4412df1516
commit 68fc1e7129
111 changed files with 630 additions and 578 deletions
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5
photon-targeting/src/main/java/org/photonvision/estimation/OpenCVHelp.java
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@@ -48,7 +48,6 @@ import org.wpilib.math.linalg.VecBuilder;
import org.wpilib.math.numbers.*;
import org.wpilib.math.util.Nat;
import org.wpilib.math.util.Num;
import org.wpilib.vision.camera.OpenCvLoader;
/**
* A set of various utility functions for getting non-OpenCV data into an OpenCV-compatible format,
@@ -269,7 +268,7 @@ public final class OpenCVHelp {
* @return The converted rotation in the NWU coordinate system
*/
private static Rotation3d rotationEDNtoNWU(Rotation3d rot) {
return EDN_TO_NWU.unaryMinus().plus(rot.plus(EDN_TO_NWU));
return EDN_TO_NWU.inverse().rotateBy(rot.rotateBy(EDN_TO_NWU));
}
/**
@@ -279,7 +278,7 @@ public final class OpenCVHelp {
* @return The converted rotation in the EDN coordinate system
*/
private static Rotation3d rotationNWUtoEDN(Rotation3d rot) {
return NWU_TO_EDN.unaryMinus().plus(rot.plus(NWU_TO_EDN));
return NWU_TO_EDN.inverse().rotateBy(rot.rotateBy(NWU_TO_EDN));
}
/**