Bump to WPILib 2025 Beta 1 & remove C++ protobuf (#1484)

Remove C++ protobuf support until https://github.com/wpilibsuite/allwpilib/issues/7250 is addressed. Developers should upgrade to wpilib vscode 2025 beta 1. --------- Co-authored-by: Matt <matthew.morley.ca@gmail.com>
2026-06-19 00:41:41 +00:00 · 2024-10-31 02:59:39 -04:00
parent 3d18ded3f6
commit 937bafa8e2
67 changed files with 185 additions and 824 deletions
--- a/photonlib-cpp-examples/aimandrange/.wpilib/wpilib_preferences.json
+++ b/photonlib-cpp-examples/aimandrange/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
    "enableCppIntellisense": true,
    "currentLanguage": "cpp",
-    "projectYear": "2024",
+    "projectYear": "2025",
    "teamNumber": 5
 }
--- a/photonlib-cpp-examples/aimandrange/build.gradle
+++ b/photonlib-cpp-examples/aimandrange/build.gradle
@@ -1,9 +1,7 @@
 plugins {
    id "cpp"
    id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.3.2"
-
-    id "com.dorongold.task-tree" version "2.1.0"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
 }

 repositories {
@@ -11,9 +9,10 @@ repositories {
    jcenter()
 }

-wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2024.3.2"
-wpi.versions.wpimathVersion = "2024.3.2"
+wpi.maven.useLocal = false
+wpi.maven.useDevelopment = false
+wpi.versions.wpilibVersion = "2025.1.1-beta-1"
+wpi.versions.wpimathVersion = "2025.1.1-beta-1"

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

--- a/photonlib-cpp-examples/aimandrange/settings.gradle
+++ b/photonlib-cpp-examples/aimandrange/settings.gradle
@@ -1,13 +1,13 @@
 import org.gradle.internal.os.OperatingSystem

-rootProject.name = 'aimattarget'
+rootProject.name = 'aimandrange'

 pluginManagement {
    repositories {
        mavenLocal()
        jcenter()
        gradlePluginPortal()
-        String frcYear = '2024'
+        String frcYear = '2025'
        File frcHome
        if (OperatingSystem.current().isWindows()) {
            String publicFolder = System.getenv('PUBLIC')
--- a/photonlib-cpp-examples/aimandrange/src/main/cpp/subsystems/SwerveDriveSim.cpp
+++ b/photonlib-cpp-examples/aimandrange/src/main/cpp/subsystems/SwerveDriveSim.cpp
@@ -44,20 +44,22 @@ SwerveDriveSim::SwerveDriveSim(
    : SwerveDriveSim(
          frc::LinearSystem<2, 1, 2>{
              (Eigen::MatrixXd(2, 2) << 0.0, 1.0, 0.0,
-               -driveFF.kV.to<double>() / driveFF.kA.to<double>())
+               -driveFF.GetKv().to<double>() / driveFF.GetKa().to<double>())
                  .finished(),
-              Eigen::Matrix<double, 2, 1>{0.0, 1.0 / driveFF.kA.to<double>()},
+              Eigen::Matrix<double, 2, 1>{0.0,
+                                          1.0 / driveFF.GetKa().to<double>()},
              (Eigen::MatrixXd(2, 2) << 1.0, 0.0, 0.0, 1.0).finished(),
              Eigen::Matrix<double, 2, 1>{0.0, 0.0}},
-          driveFF.kS, driveMotor, driveGearing, driveWheelRadius,
+          driveFF.GetKs(), driveMotor, driveGearing, driveWheelRadius,
          frc::LinearSystem<2, 1, 2>{
              (Eigen::MatrixXd(2, 2) << 0.0, 1.0, 0.0,
-               -steerFF.kV.to<double>() / steerFF.kA.to<double>())
+               -steerFF.GetKv().to<double>() / steerFF.GetKa().to<double>())
                  .finished(),
-              Eigen::Matrix<double, 2, 1>{0.0, 1.0 / steerFF.kA.to<double>()},
+              Eigen::Matrix<double, 2, 1>{0.0,
+                                          1.0 / steerFF.GetKa().to<double>()},
              (Eigen::MatrixXd(2, 2) << 1.0, 0.0, 0.0, 1.0).finished(),
              Eigen::Matrix<double, 2, 1>{0.0, 0.0}},
-          steerFF.kS, steerMotor, steerGearing, kinematics) {}
+          steerFF.GetKs(), steerMotor, steerGearing, kinematics) {}

 SwerveDriveSim::SwerveDriveSim(
    const frc::LinearSystem<2, 1, 2>& drivePlant, units::volt_t driveKs,
--- a/photonlib-cpp-examples/aimandrange/src/main/cpp/subsystems/SwerveModule.cpp
+++ b/photonlib-cpp-examples/aimandrange/src/main/cpp/subsystems/SwerveModule.cpp
@@ -64,12 +64,11 @@ void SwerveModule::Periodic() {
  driveMotor.SetVoltage(driveFF + drivePID);
 }

-void SwerveModule::SetDesiredState(const frc::SwerveModuleState& newState,
+void SwerveModule::SetDesiredState(frc::SwerveModuleState newState,
                                   bool shouldBeOpenLoop, bool steerInPlace) {
  frc::Rotation2d currentRotation = GetAbsoluteHeading();
-  frc::SwerveModuleState optimizedState =
-      frc::SwerveModuleState::Optimize(newState, currentRotation);
-  desiredState = optimizedState;
+  newState.Optimize(currentRotation);
+  desiredState = newState;
 }

 frc::Rotation2d SwerveModule::GetAbsoluteHeading() const {
--- a/photonlib-cpp-examples/aimandrange/src/main/include/Constants.h
+++ b/photonlib-cpp-examples/aimandrange/src/main/include/Constants.h
@@ -31,7 +31,11 @@
 #include <frc/controller/SimpleMotorFeedforward.h>
 #include <frc/geometry/Transform3d.h>
 #include <frc/geometry/Translation2d.h>
+#include <units/acceleration.h>
+#include <units/angular_acceleration.h>
+#include <units/angular_velocity.h>
 #include <units/length.h>
+#include <units/velocity.h>

 namespace constants {
 namespace Vision {
@@ -40,12 +44,13 @@ inline const frc::Transform3d kRobotToCam{
    frc::Translation3d{0.5_m, 0.0_m, 0.5_m},
    frc::Rotation3d{0_rad, -30_deg, 0_rad}};
 inline const frc::AprilTagFieldLayout kTagLayout{
-    frc::LoadAprilTagLayoutField(frc::AprilTagField::k2024Crescendo)};
+    frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::k2024Crescendo)};

 inline const Eigen::Matrix<double, 3, 1> kSingleTagStdDevs{4, 4, 8};
 inline const Eigen::Matrix<double, 3, 1> kMultiTagStdDevs{0.5, 0.5, 1};
 }  // namespace Vision
 namespace Swerve {
+using namespace units;

 inline constexpr units::meter_t kTrackWidth{18.5_in};
 inline constexpr units::meter_t kTrackLength{18.5_in};
@@ -73,6 +78,8 @@ inline constexpr double kSteerKP = 20.0;
 inline constexpr double kSteerKI = 0.0;
 inline constexpr double kSteerKD = 0.25;

+using namespace units;
+
 inline const frc::SimpleMotorFeedforward<units::meters> kDriveFF{
    0.25_V, 2.5_V / 1_mps, 0.3_V / 1_mps_sq};

--- a/photonlib-cpp-examples/aimandrange/src/main/include/subsystems/SwerveModule.h
+++ b/photonlib-cpp-examples/aimandrange/src/main/include/subsystems/SwerveModule.h
@@ -38,8 +38,8 @@ class SwerveModule {
 public:
  explicit SwerveModule(const constants::Swerve::ModuleConstants& consts);
  void Periodic();
-  void SetDesiredState(const frc::SwerveModuleState& newState,
-                       bool shouldBeOpenLoop, bool steerInPlace);
+  void SetDesiredState(frc::SwerveModuleState newState, bool shouldBeOpenLoop,
+                       bool steerInPlace);
  frc::Rotation2d GetAbsoluteHeading() const;
  frc::SwerveModuleState GetState() const;
  frc::SwerveModulePosition GetPosition() const;
--- a/photonlib-cpp-examples/aimattarget/.wpilib/wpilib_preferences.json
+++ b/photonlib-cpp-examples/aimattarget/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
    "enableCppIntellisense": true,
    "currentLanguage": "cpp",
-    "projectYear": "2024",
+    "projectYear": "2025",
    "teamNumber": 5
 }
--- a/photonlib-cpp-examples/aimattarget/build.gradle
+++ b/photonlib-cpp-examples/aimattarget/build.gradle
@@ -1,9 +1,7 @@
 plugins {
    id "cpp"
    id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.3.2"
-
-    id "com.dorongold.task-tree" version "2.1.0"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
 }

 repositories {
@@ -11,9 +9,10 @@ repositories {
    jcenter()
 }

-wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2024.3.2"
-wpi.versions.wpimathVersion = "2024.3.2"
+wpi.maven.useLocal = false
+wpi.maven.useDevelopment = false
+wpi.versions.wpilibVersion = "2025.1.1-beta-1"
+wpi.versions.wpimathVersion = "2025.1.1-beta-1"

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

--- a/photonlib-cpp-examples/aimattarget/settings.gradle
+++ b/photonlib-cpp-examples/aimattarget/settings.gradle
@@ -7,7 +7,7 @@ pluginManagement {
        mavenLocal()
        jcenter()
        gradlePluginPortal()
-        String frcYear = '2024'
+        String frcYear = '2025'
        File frcHome
        if (OperatingSystem.current().isWindows()) {
            String publicFolder = System.getenv('PUBLIC')
--- a/photonlib-cpp-examples/aimattarget/src/main/cpp/subsystems/SwerveDriveSim.cpp
+++ b/photonlib-cpp-examples/aimattarget/src/main/cpp/subsystems/SwerveDriveSim.cpp
@@ -44,20 +44,22 @@ SwerveDriveSim::SwerveDriveSim(
    : SwerveDriveSim(
          frc::LinearSystem<2, 1, 2>{
              (Eigen::MatrixXd(2, 2) << 0.0, 1.0, 0.0,
-               -driveFF.kV.to<double>() / driveFF.kA.to<double>())
+               -driveFF.GetKv().to<double>() / driveFF.GetKa().to<double>())
                  .finished(),
-              Eigen::Matrix<double, 2, 1>{0.0, 1.0 / driveFF.kA.to<double>()},
+              Eigen::Matrix<double, 2, 1>{0.0,
+                                          1.0 / driveFF.GetKa().to<double>()},
              (Eigen::MatrixXd(2, 2) << 1.0, 0.0, 0.0, 1.0).finished(),
              Eigen::Matrix<double, 2, 1>{0.0, 0.0}},
-          driveFF.kS, driveMotor, driveGearing, driveWheelRadius,
+          driveFF.GetKs(), driveMotor, driveGearing, driveWheelRadius,
          frc::LinearSystem<2, 1, 2>{
              (Eigen::MatrixXd(2, 2) << 0.0, 1.0, 0.0,
-               -steerFF.kV.to<double>() / steerFF.kA.to<double>())
+               -steerFF.GetKv().to<double>() / steerFF.GetKa().to<double>())
                  .finished(),
-              Eigen::Matrix<double, 2, 1>{0.0, 1.0 / steerFF.kA.to<double>()},
+              Eigen::Matrix<double, 2, 1>{0.0,
+                                          1.0 / steerFF.GetKa().to<double>()},
              (Eigen::MatrixXd(2, 2) << 1.0, 0.0, 0.0, 1.0).finished(),
              Eigen::Matrix<double, 2, 1>{0.0, 0.0}},
-          steerFF.kS, steerMotor, steerGearing, kinematics) {}
+          steerFF.GetKs(), steerMotor, steerGearing, kinematics) {}

 SwerveDriveSim::SwerveDriveSim(
    const frc::LinearSystem<2, 1, 2>& drivePlant, units::volt_t driveKs,
--- a/photonlib-cpp-examples/aimattarget/src/main/cpp/subsystems/SwerveModule.cpp
+++ b/photonlib-cpp-examples/aimattarget/src/main/cpp/subsystems/SwerveModule.cpp
@@ -64,12 +64,11 @@ void SwerveModule::Periodic() {
  driveMotor.SetVoltage(driveFF + drivePID);
 }

-void SwerveModule::SetDesiredState(const frc::SwerveModuleState& newState,
+void SwerveModule::SetDesiredState(frc::SwerveModuleState newState,
                                   bool shouldBeOpenLoop, bool steerInPlace) {
  frc::Rotation2d currentRotation = GetAbsoluteHeading();
-  frc::SwerveModuleState optimizedState =
-      frc::SwerveModuleState::Optimize(newState, currentRotation);
-  desiredState = optimizedState;
+  newState.Optimize(currentRotation);
+  desiredState = newState;
 }

 frc::Rotation2d SwerveModule::GetAbsoluteHeading() const {
--- a/photonlib-cpp-examples/aimattarget/src/main/include/Constants.h
+++ b/photonlib-cpp-examples/aimattarget/src/main/include/Constants.h
@@ -31,7 +31,11 @@
 #include <frc/controller/SimpleMotorFeedforward.h>
 #include <frc/geometry/Transform3d.h>
 #include <frc/geometry/Translation2d.h>
+#include <units/acceleration.h>
+#include <units/angular_acceleration.h>
+#include <units/angular_velocity.h>
 #include <units/length.h>
+#include <units/velocity.h>

 namespace constants {
 namespace Vision {
@@ -40,12 +44,13 @@ inline const frc::Transform3d kRobotToCam{
    frc::Translation3d{0.5_m, 0.0_m, 0.5_m},
    frc::Rotation3d{0_rad, -30_deg, 0_rad}};
 inline const frc::AprilTagFieldLayout kTagLayout{
-    frc::LoadAprilTagLayoutField(frc::AprilTagField::k2024Crescendo)};
+    frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::k2024Crescendo)};

 inline const Eigen::Matrix<double, 3, 1> kSingleTagStdDevs{4, 4, 8};
 inline const Eigen::Matrix<double, 3, 1> kMultiTagStdDevs{0.5, 0.5, 1};
 }  // namespace Vision
 namespace Swerve {
+using namespace units;

 inline constexpr units::meter_t kTrackWidth{18.5_in};
 inline constexpr units::meter_t kTrackLength{18.5_in};
@@ -73,6 +78,8 @@ inline constexpr double kSteerKP = 20.0;
 inline constexpr double kSteerKI = 0.0;
 inline constexpr double kSteerKD = 0.25;

+using namespace units;
+
 inline const frc::SimpleMotorFeedforward<units::meters> kDriveFF{
    0.25_V, 2.5_V / 1_mps, 0.3_V / 1_mps_sq};

--- a/photonlib-cpp-examples/aimattarget/src/main/include/subsystems/SwerveModule.h
+++ b/photonlib-cpp-examples/aimattarget/src/main/include/subsystems/SwerveModule.h
@@ -38,8 +38,8 @@ class SwerveModule {
 public:
  explicit SwerveModule(const constants::Swerve::ModuleConstants& consts);
  void Periodic();
-  void SetDesiredState(const frc::SwerveModuleState& newState,
-                       bool shouldBeOpenLoop, bool steerInPlace);
+  void SetDesiredState(frc::SwerveModuleState newState, bool shouldBeOpenLoop,
+                       bool steerInPlace);
  frc::Rotation2d GetAbsoluteHeading() const;
  frc::SwerveModuleState GetState() const;
  frc::SwerveModulePosition GetPosition() const;
--- a/photonlib-cpp-examples/gradle/wrapper/gradle-wrapper.properties
+++ b/photonlib-cpp-examples/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
-distributionPath=wrapper/dists
-distributionUrl=https\://services\.gradle\.org/distributions/gradle-8\.4-bin\.zip
+distributionPath=permwrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
-zipStorePath=wrapper/dists
+zipStorePath=permwrapper/dists
--- a/photonlib-cpp-examples/poseest/.wpilib/wpilib_preferences.json
+++ b/photonlib-cpp-examples/poseest/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
 {
    "enableCppIntellisense": true,
    "currentLanguage": "cpp",
-    "projectYear": "2024",
+    "projectYear": "2025",
    "teamNumber": 5
 }
--- a/photonlib-cpp-examples/poseest/build.gradle
+++ b/photonlib-cpp-examples/poseest/build.gradle
@@ -1,9 +1,7 @@
 plugins {
    id "cpp"
    id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.3.2"
-
-    id "com.dorongold.task-tree" version "2.1.0"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
 }

 repositories {
@@ -11,9 +9,10 @@ repositories {
    jcenter()
 }

-wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2024.3.2"
-wpi.versions.wpimathVersion = "2024.3.2"
+wpi.maven.useLocal = false
+wpi.maven.useDevelopment = false
+wpi.versions.wpilibVersion = "2025.1.1-beta-1"
+wpi.versions.wpimathVersion = "2025.1.1-beta-1"

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

--- a/photonlib-cpp-examples/poseest/settings.gradle
+++ b/photonlib-cpp-examples/poseest/settings.gradle
@@ -1,13 +1,13 @@
 import org.gradle.internal.os.OperatingSystem

-rootProject.name = 'aimattarget'
+rootProject.name = 'poseest'

 pluginManagement {
    repositories {
        mavenLocal()
        jcenter()
        gradlePluginPortal()
-        String frcYear = '2024'
+        String frcYear = '2025'
        File frcHome
        if (OperatingSystem.current().isWindows()) {
            String publicFolder = System.getenv('PUBLIC')
--- a/photonlib-cpp-examples/poseest/src/main/cpp/subsystems/SwerveDriveSim.cpp
+++ b/photonlib-cpp-examples/poseest/src/main/cpp/subsystems/SwerveDriveSim.cpp
@@ -44,20 +44,22 @@ SwerveDriveSim::SwerveDriveSim(
    : SwerveDriveSim(
          frc::LinearSystem<2, 1, 2>{
              (Eigen::MatrixXd(2, 2) << 0.0, 1.0, 0.0,
-               -driveFF.kV.to<double>() / driveFF.kA.to<double>())
+               -driveFF.GetKv().to<double>() / driveFF.GetKa().to<double>())
                  .finished(),
-              Eigen::Matrix<double, 2, 1>{0.0, 1.0 / driveFF.kA.to<double>()},
+              Eigen::Matrix<double, 2, 1>{0.0,
+                                          1.0 / driveFF.GetKa().to<double>()},
              (Eigen::MatrixXd(2, 2) << 1.0, 0.0, 0.0, 1.0).finished(),
              Eigen::Matrix<double, 2, 1>{0.0, 0.0}},
-          driveFF.kS, driveMotor, driveGearing, driveWheelRadius,
+          driveFF.GetKs(), driveMotor, driveGearing, driveWheelRadius,
          frc::LinearSystem<2, 1, 2>{
              (Eigen::MatrixXd(2, 2) << 0.0, 1.0, 0.0,
-               -steerFF.kV.to<double>() / steerFF.kA.to<double>())
+               -steerFF.GetKv().to<double>() / steerFF.GetKa().to<double>())
                  .finished(),
-              Eigen::Matrix<double, 2, 1>{0.0, 1.0 / steerFF.kA.to<double>()},
+              Eigen::Matrix<double, 2, 1>{0.0,
+                                          1.0 / steerFF.GetKa().to<double>()},
              (Eigen::MatrixXd(2, 2) << 1.0, 0.0, 0.0, 1.0).finished(),
              Eigen::Matrix<double, 2, 1>{0.0, 0.0}},
-          steerFF.kS, steerMotor, steerGearing, kinematics) {}
+          steerFF.GetKs(), steerMotor, steerGearing, kinematics) {}

 SwerveDriveSim::SwerveDriveSim(
    const frc::LinearSystem<2, 1, 2>& drivePlant, units::volt_t driveKs,
--- a/photonlib-cpp-examples/poseest/src/main/cpp/subsystems/SwerveModule.cpp
+++ b/photonlib-cpp-examples/poseest/src/main/cpp/subsystems/SwerveModule.cpp
@@ -64,12 +64,11 @@ void SwerveModule::Periodic() {
  driveMotor.SetVoltage(driveFF + drivePID);
 }

-void SwerveModule::SetDesiredState(const frc::SwerveModuleState& newState,
+void SwerveModule::SetDesiredState(frc::SwerveModuleState newState,
                                   bool shouldBeOpenLoop, bool steerInPlace) {
  frc::Rotation2d currentRotation = GetAbsoluteHeading();
-  frc::SwerveModuleState optimizedState =
-      frc::SwerveModuleState::Optimize(newState, currentRotation);
-  desiredState = optimizedState;
+  newState.Optimize(currentRotation);
+  desiredState = newState;
 }

 frc::Rotation2d SwerveModule::GetAbsoluteHeading() const {
--- a/photonlib-cpp-examples/poseest/src/main/include/Constants.h
+++ b/photonlib-cpp-examples/poseest/src/main/include/Constants.h
@@ -31,21 +31,26 @@
 #include <frc/controller/SimpleMotorFeedforward.h>
 #include <frc/geometry/Transform3d.h>
 #include <frc/geometry/Translation2d.h>
+#include <units/acceleration.h>
+#include <units/angular_acceleration.h>
+#include <units/angular_velocity.h>
 #include <units/length.h>
+#include <units/velocity.h>

 namespace constants {
 namespace Vision {
 inline constexpr std::string_view kCameraName{"YOUR CAMERA NAME"};
 inline const frc::Transform3d kRobotToCam{
    frc::Translation3d{0.5_m, 0.0_m, 0.5_m},
-    frc::Rotation3d{0_rad, 0_rad, 0_rad}};
+    frc::Rotation3d{0_rad, -30_deg, 0_rad}};
 inline const frc::AprilTagFieldLayout kTagLayout{
-    frc::LoadAprilTagLayoutField(frc::AprilTagField::k2024Crescendo)};
+    frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::k2024Crescendo)};

 inline const Eigen::Matrix<double, 3, 1> kSingleTagStdDevs{4, 4, 8};
 inline const Eigen::Matrix<double, 3, 1> kMultiTagStdDevs{0.5, 0.5, 1};
 }  // namespace Vision
 namespace Swerve {
+using namespace units;

 inline constexpr units::meter_t kTrackWidth{18.5_in};
 inline constexpr units::meter_t kTrackLength{18.5_in};
@@ -73,6 +78,8 @@ inline constexpr double kSteerKP = 20.0;
 inline constexpr double kSteerKI = 0.0;
 inline constexpr double kSteerKD = 0.25;

+using namespace units;
+
 inline const frc::SimpleMotorFeedforward<units::meters> kDriveFF{
    0.25_V, 2.5_V / 1_mps, 0.3_V / 1_mps_sq};

--- a/photonlib-cpp-examples/poseest/src/main/include/subsystems/GamepieceLauncher.h
+++ b/photonlib-cpp-examples/poseest/src/main/include/subsystems/GamepieceLauncher.h
@@ -58,7 +58,7 @@ class GamepieceLauncher {
  frc::LinearSystem<1, 1, 1> m_plant{frc::LinearSystemId::FlywheelSystem(
      m_gearbox, kFlywheelMomentOfInertia, 1.0)};

-  frc::sim::FlywheelSim launcherSim{m_plant, m_gearbox, 1.0};
+  frc::sim::FlywheelSim launcherSim{m_plant, m_gearbox};

  void simulationInit();  // Method to initialize simulation components
 };
--- a/photonlib-cpp-examples/poseest/src/main/include/subsystems/SwerveModule.h
+++ b/photonlib-cpp-examples/poseest/src/main/include/subsystems/SwerveModule.h
@@ -38,8 +38,8 @@ class SwerveModule {
 public:
  explicit SwerveModule(const constants::Swerve::ModuleConstants& consts);
  void Periodic();
-  void SetDesiredState(const frc::SwerveModuleState& newState,
-                       bool shouldBeOpenLoop, bool steerInPlace);
+  void SetDesiredState(frc::SwerveModuleState newState, bool shouldBeOpenLoop,
+                       bool steerInPlace);
  frc::Rotation2d GetAbsoluteHeading() const;
  frc::SwerveModuleState GetState() const;
  frc::SwerveModulePosition GetPosition() const;